CN111282180B - Intelligent indoor fire-fighting robot and flame striking method thereof - Google Patents
Intelligent indoor fire-fighting robot and flame striking method thereof Download PDFInfo
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- CN111282180B CN111282180B CN202010150484.3A CN202010150484A CN111282180B CN 111282180 B CN111282180 B CN 111282180B CN 202010150484 A CN202010150484 A CN 202010150484A CN 111282180 B CN111282180 B CN 111282180B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
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- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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Abstract
The invention provides an intelligent indoor fire-fighting robot, which comprises a launching platform, a dial magazine, a gun barrel, a launcher and an actuator, wherein the launcher is arranged on the gun barrel; the launching platform is arranged on the track through a rotary connector, and the rotary driver comprises a fixed end and an output end; the fixed end is movably arranged on the track, the output end is fixedly connected with the connecting piece, and the connecting piece is fixedly connected with the launching platform; fire extinguishing bombs are arranged in the drive plate magazine; and the fire extinguishing bomb is launched through the gun barrel by the launcher. The invention also provides a flame striking method. The fire-fighting robot and the flame striking method thereof provided by the invention realize the unmanned fire-fighting overall process, and the adjustment of the spatial angle of the gun barrel is carried out in the fire-fighting moving process, so that the effect of accurate and transient fire-fighting is really realized; the position can be adjusted continuously along with the flame, and dynamic accompanying type striking fire extinguishing is carried out; the quantity of fire extinguishing bombs can be selected according to the actual situation of the fire, and the waste situation of the fire extinguishing agent is reduced.
Description
Technical Field
The invention relates to the technical field of fire fighting, in particular to an intelligent indoor fire fighting robot and a flame striking method thereof.
Background
The deflagration event in the narrow closed space has strong emergencies, weak preventability, serious disasters and bad influence. Once an emergency occurs, dense people in a narrow closed space are difficult to evacuate in time, and huge losses of personnel and social public property are often caused, for example, the narrow closed space with extremely high density of personnel such as buses, KTVs and subway stations. At present, the fire-fighting facilities in the places are relatively weak, the disaster response is judged slowly, water mist type or fixed fire extinguishment is mostly adopted, and the fire extinguishing effect is poor.
For example, in the prior art, the start of the fire control system on the bus completely depends on the judgment of a driver, and complete unmanned and intelligent control cannot be realized. In addition, because the existing fire-fighting system mostly adopts a fixed fire-fighting mode, once the system is started, nozzles at all places simultaneously spray fire-fighting agents, the release of specific positions cannot be carried out according to actual fire conditions, the system is an undifferentiated fire-fighting mode, accurate fire fighting cannot be realized, the fire-fighting effect is poor, and waste to a certain extent can be generated. Therefore, an intelligent fire-fighting robot with fast fire treatment and good fire extinguishing effect is needed to solve the technical problem of the deflagration in the narrow closed space.
Disclosure of Invention
In order to solve at least one of the above technical problems, an object of the present invention is to provide an intelligent indoor fire-fighting robot with unmanned and intelligent fire extinguishing, fast fire treatment and good fire extinguishing effect, which realizes unmanned fire extinguishing in the whole process, does not need human participation and reduces personal injury. Meanwhile, a flame striking method (fire extinguishing method) is also provided, and the transient fire extinguishing of accurate and dynamic adjoint striking can be realized.
In order to at least achieve one of the above purposes, the invention adopts the technical scheme that:
a fire-fighting robot comprises a launching platform, a drive plate magazine, a gun barrel, a launcher and an actuator; the launching platform is arranged on the track through a rotary connector, and the rotary connector comprises a rotary driver and a connecting piece; the rotary driver comprises a fixed end and an output end; the fixed end is movably arranged on the track, the output end is fixedly connected with the connecting piece, and the connecting piece is fixedly connected with the launching platform; the drive plate magazine is arranged on one side of the launching platform, and fire extinguishing bombs are arranged in the drive plate magazine; the gun barrel, the launcher and the actuator are arranged on the other side of the launching platform; and the fire extinguishing bomb is launched through the gun barrel by the launcher.
Further, the rotation driver actuates the barrel to horizontally rotate within a range of 360 degrees; the actuator actuates the barrel to rotate within 90 degrees in the vertical direction.
Further, the transmitter is a friction wheel transmitter.
Further, the fire extinguishing bomb is a water-based fire extinguishing bomb and comprises a spherical shell and a water-based fire extinguishing agent; the spherical shell is two hemispherical shells made of fragile materials, and a closed space is formed in the spherical shell formed by assembling the two hemispherical shells; the water-based fire extinguishing agent is stored in the enclosed space.
The present invention also provides a fire extinguishing method according to the above fire fighting robot,
step 2, carrying out initialization detection to enable the fire-fighting robot to be in an initialization state;
step 3, detecting fire sources in the networking; receiving fire source characteristic values of a plurality of nodes in a networking in real time, judging that a fire has occurred if the numerical value of the fire source characteristic values exceeds a critical value, and entering the next step;
step 4, selecting one node as a striking node, and launching fire extinguishing bombs to the striking node by the fire-fighting robot; continuously detecting the temperature of the striking node in real time after the fire is launched, and continuously launching fire extinguishing bombs to the striking node before the temperature of the striking node is reduced to be below a critical value; when the temperature of the striking node is reduced to be below a critical value; returning to the step 3;
and 5, continuously and circularly executing the step 3 and the step 4 until the fire source characteristic values of all the nodes in the group network are detected normally, returning the fire-fighting robot to the initial position, and finishing fire extinguishing.
Further, in step 1, if the data index is abnormal, an error reporting procedure is entered and stopped.
Further, in the step 2, if the fire-fighting robot is not in an initialized state, adjusting the gun barrel to a horizontal position, and moving the fire-fighting robot to an initial position on the track; and if the fire-fighting robot is in the initialization state, entering the step 3.
Further, in the step 3, the fire source characteristic value is data output by a flame sensor and/or a temperature sensor and/or a smoke sensor arranged at the node.
Further, in the step 4, when the fire source characteristic values of the plurality of nodes exceed a critical value, selecting the node with the shortest straight-line distance from the fire-fighting robot as a striking node; and setting a preset terminal point of the fire-fighting robot after the attack node is selected, wherein the preset terminal point is a point on the track corresponding to the position right above the attack node, and when the fire-fighting robot cannot reach the point on the track corresponding to the position right above the attack node, the terminal point of the track closest to the linear distance of the attack node is used as the preset terminal point.
Further, in the step 4, after determining the striking node and a predetermined end point, the fire fighting robot will move from a start position to the predetermined end point; when the movement starts, the fire-fighting robot compares the horizontal angle and the vertical angle of the gun barrel at the current position with the optimal horizontal launching angle and the optimal vertical launching angle at the current position in real time; the optimal horizontal launching angle and the optimal vertical launching angle are +/-1 degrees and serve as the optimal launching angle interval, and when the horizontal angle and the vertical angle of the gun barrel are located in the optimal launching angle interval at the same time, the fire-fighting robot can launch fire extinguishing bombs.
Further, the optimal horizontal launching angle and the optimal vertical launching angle of the fire-fighting robot from the starting position to each position in the preset end point are calculated through the coordinates of the striking nodes in the space coordinate system and the horizontal speed of the fire-fighting robot along the track.
Further, the calculating step of the optimal horizontal emission angle and the optimal vertical emission angle comprises the following steps:
a. establishing a dynamic space rectangular coordinate system according to a right-hand system by taking the intersection point of the central axis of the gun barrel and the central axis of the actuator for controlling the vertical rotation angle as a coordinate origin O and taking the horizontal movement direction of the fire-fighting robot along the track as the positive direction of an x axis;
b. assuming that the initial velocity of the fire extinguishing bomb is V0The direction is unknown; the horizontal speed of the fire-fighting robot at any position along the track is Vm(ii) a The position of the striking node is P (x)0,y0,h0) (ii) a Space vector
The included angle between the X axis and the X axis is a horizontal angle theta; the included angle with the z axis is a vertical angle
c. Intercepting an xy plane, wherein the coordinate of the striking node P in the xy plane is Pxy(x0,y0) (ii) a Setting straight line OPxyIs alpha, then
And the speed vector of the fire-fighting robot in the xy plane is
Namely, it is
Component in the xy plane
And
of vector sum of (a) and (b), wherein
From the sine theorem one can derive:
d. order to
Simultaneously has S0＝VxyT; t is the flight time of the fire extinguishing bomb; and is
And
collineation to obtain a relation
e. After being launched, the fire extinguishing bomb makes uniform acceleration motion in the vertical direction:
f. the above relationships are combined to obtain the equation:
g. let cot α -cot θ be x; the equation is substituted into a standard unitary quartic equation: ax4+bx3+cx2+ dx + e ═ 0; wherein: a is 1, b is 0,
combining the root equation of a unitary quartic equation with known constraints, a unique solution for x can be obtained:
wherein:
h. thereby obtaining the optimum horizontal emission angle theta0Comprises the following steps: theta0Arccot (cot α -x); optimum vertical emission angle
Comprises the following steps:
compared with the prior art, the fire-fighting robot provided by the invention has the beneficial effects that:
the fire-fighting robot can realize the unmanned fire-fighting process without human participation, thereby reducing the possibility of personal injury;
the fire-fighting robot provided by the invention can adjust the space angle of the gun barrel in the process of fire-fighting movement, and immediately launches fire-fighting bombs to quickly extinguish fire once entering an optimal launching area, thereby truly realizing the effects of accurate and transient fire-fighting;
the fire-fighting robot provided by the invention can continuously adjust the position along with the flame, always aim at the flame and continuously launch fire extinguishing bombs until the flame disappears, so that the effect of dynamic adjoint type striking is achieved;
the fire-fighting robot provided by the invention can select the quantity of fire-fighting bombs to be launched according to the actual situation of a fire, and compared with a non-differential fire-fighting mode of a fixed fire-fighting system, the fire-fighting robot reduces the waste situation of fire-fighting agents and greatly reduces the cost.
In a word, the invention provides the fire-fighting robot and the fire-fighting method thereof with unmanned and intelligent fire extinguishing, fast fire treatment and good fire-fighting effect, and the fire-fighting robot and the fire-fighting method thereof have wide application prospects in the field of fire fighting.
Drawings
FIG. 1 is a schematic structural diagram of a fire fighting robot provided by the present invention;
FIG. 2 is a schematic structural view from another perspective of the fire fighting robot provided by the present invention;
FIG. 3 is a flow chart of the fire fighting steps of the fire fighting robot provided by the present invention;
FIG. 4 is a rectangular coordinate system of dynamic space provided by the present invention;
fig. 5 is a schematic diagram of coordinates in the xy plane provided by the present invention.
Wherein the reference numerals are as follows:
1 fire-fighting robot, 1-1 launching platform, 1-2 drive plate magazine, 1-3 gun barrel, 1-4 launcher and 1-5 actuator.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to specific examples. Note that the following described embodiments are illustrative only for explaining the present invention, and are not to be construed as limiting the present invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Hereinafter, the fire fighting robot of the present invention will be described in detail by way of specific examples:
as shown in fig. 1-2, the fire-fighting robot 1 of the present invention includes a launching platform 1-1, a dial magazine 1-2, a barrel 1-3, a launcher 1-4, an actuator 1-5, and other components. The launching platform 1-1 is used as a fixed supporting device of the fire-fighting robot and can be connected to a track on the top in a bus compartment through a rotary connector (not shown in the figure), and the track is fixedly connected with the top of the compartment along the length direction of the bus; of course, the device can also be directly connected to the top in the carriage according to the actual working condition and the requirement. The rotary connector is preferably provided as a motor and a connector; the motor fixed end is movably arranged on the track, the motor output end is fixedly connected with the connecting piece, and the connecting piece is fixedly connected with the launching platform 1-1, so that the launching platform 1-1 can be driven by the motor to rotate within 360 degrees in the horizontal direction.
The upper part of the launching platform 1-1 is provided with the drive plate magazine 1-2, and the drive plate magazine 1-2 is internally provided with fire extinguishing bombs. The gun barrel 1-3, the launcher 1-4 and the actuator 1-5 are arranged at the lower part of the launching platform 1-1. The gun barrel is horizontally arranged below the launching platform 1-1, and the fire extinguishing bomb is launched out of the gun barrel 1-3 through the launcher 1-4 to extinguish fire; the emitters 1-4 of the present invention are preferably friction wheel emitters. The actuator 1-5 can drive the gun barrel 1-3 to rotate within 90 degrees in the vertical direction, and the launching angle of the gun barrel 1-3 is adjusted. The actuators 1-5 are preferably motors commonly used in the art. In conclusion, the horizontal angle of the gun barrel 1-3 in the horizontal direction and the vertical angle of the gun barrel in the vertical direction can be adjusted through the rotary connector and the actuator 1-5 until the optimal launching angle is reached, so that multi-directional fire extinguishment without dead angles is realized.
The fire extinguishing bomb is a water-based fire extinguishing bomb and comprises a spherical shell and a water-based fire extinguishing agent. The spherical shell is two hemispherical shells made of fragile materials, and a closed space is formed in the spherical shell formed by assembling the two hemispherical shells; the water-based fire extinguishing agent is stored in the enclosed space. The diameter of the spherical shell can be adjusted according to actual needs, for example, the diameter can be 4cm, 5cm, 6cm, etc., preferably 6 cm.
The spherical shell of the fragile material of the fire extinguishing bomb has enough strength and rigidity to bear certain external pressure, so that the spherical shell can be extruded and launched by the launcher; and can disintegrate under certain triggering conditions, such as impact. After the fire extinguishing bomb is launched and falls to a fire place, the fragile spherical shell is broken when the fire extinguishing bomb is collided, and therefore the water-based fire extinguishing agent in the spherical shell is released for extinguishing fire. The fire extinguishing bomb with the spherical shell has the largest volume, so that the material is saved, and the load is reduced; in addition, because the distance from any point on the spherical surface to the center of the sphere is equal, the force applied to any place of the fire extinguishing bomb can be uniformly dispersed to the periphery, and under the same condition, the spherical shape can bear larger pressure than containers in other shapes, thereby meeting the requirements of easy transportation and transportation.
The water-based fire extinguishing agent provided by the invention can be an S-100-AB water-based fire extinguishing agent, is an environment-friendly, safe and 100% degradable fire extinguishing agent, and has the advantages of high fire extinguishing efficiency, wide application range, storage resistance, strong permeability and good fluidity. When the fire extinguishing bomb containing the water-based fire extinguishing agent is used for extinguishing fire, a thin water film can be formed on the surface of a combustible to isolate air, so that the purposes of fire extinguishing, flame retardance, smoke elimination and re-combustion prevention are achieved, and physical and chemical double fire extinguishing can be performed.
The steps of the fire-fighting robot provided by the invention when extinguishing fire are shown in fig. 3, which are specifically as follows:
after the fire-fighting robot and the control system thereof are started, various data indexes such as the loading amount, the motor running condition and the like are detected. If a certain data index is abnormal and the operation of the fire-fighting robot is influenced, entering an error reporting program and stopping entering the next step; and if the data indexes are normal after detection, entering the fire-fighting robot for initialization detection.
In the fire-fighting robot initialization detection step, if the fire-fighting robot is not in an initialization state, the gun barrel is adjusted to a horizontal position, so that the space occupied by the fire-fighting robot in a carriage is reduced, and the fire-fighting robot moves to an initial position on a track; and if the fire-fighting robot is in the initialization state, entering a fire source detection step in the networking.
The invention adopts three sensors of flame, temperature and smoke to carry out sensor networking, and a plurality of nodes of the sensors are arranged in a carriage. In the step of detecting the fire source in the group network, the sensor data of each node is received in real time, and the three sensor data of each node are called as the fire source characteristic value of the node. Due to the diversity of combustion conditions, when any value of flame, temperature and smoke of any node exceeds a critical value, the current fire situation is judged, and then the fire extinguishing cycle step is immediately carried out.
In the fire extinguishing cycle step, one node is selected as a striking node. And when the fire source characteristic values of the nodes exceed the critical value, preferentially selecting the node with the shortest straight-line distance from the fire-fighting robot as a striking node. After the attack node is selected, a preset terminal point of the fire-fighting robot in a single fire extinguishing cycle is set, the preset terminal point is a point on the track corresponding to the position right above the attack node, and when the point on the track corresponding to the position right above the attack node cannot be reached, the terminal point of the track closest to the straight line distance of the attack node is used as the preset terminal point.
After determining the hit node of a single fire suppression cycle and setting the predetermined end point, the fire fighting robot will move from the starting position to the predetermined end point. And when the movement starts, comparing the horizontal angle and the vertical angle of the gun barrel at the current position with the optimal launching angle at the current position in real time. The optimal launching angle is +/-1 degree and serves as an optimal launching angle interval, and when the horizontal angle and the vertical angle of the gun barrel are simultaneously located in the optimal launching angle interval, the fire-fighting robot triggers a launching step to launch fire-extinguishing bombs to the striking nodes. And continuously detecting the temperature of the striking node in real time after the fire is launched, and continuously launching the fire extinguishing bomb to the striking node before the temperature of the striking node is reduced to be below a critical value.
When the temperature of the striking node drops below a critical value, the single fire extinguishing cycle is ended. And returning to the step of detecting the fire source in the networking, and continuously and circularly performing the steps until the fire source characteristic values of all nodes in the networking are detected normally, and then automatically returning to the initial position by the fire-fighting robot to finish fire extinguishing.
In order to achieve the purpose that a fire extinguishing bomb emitted by a fire fighting robot can hit accurately in the moving process and achieve accurate and dynamic adjoint striking, the optimal horizontal emission angle and the optimal vertical emission angle of a gun barrel in the moving process need to be determined, and the specific determination method comprises the following steps:
firstly, the invention provides a follow-up fixed point striking physical model, an intersection point of a central axis of a gun barrel and a central axis of an actuator for controlling a vertical corner is taken as a coordinate origin O, a horizontal movement direction of a fire-fighting robot along a track is taken as a positive direction of an x-axis, and a dynamic space rectangular coordinate system shown in figure 4 is established according to a right-hand system.
Assuming that the initial velocity of the fire extinguishing bomb is V0The direction is unknown. The horizontal speed of the fire-fighting robot at any position along the track is Vm(ii) a The position of the striking node is P (x)0,y0,h0). Space vector
The included angle between the X axis and the X axis is theta and is called a horizontal angle; at an angle to the z-axis of
Referred to as the vertical angle.
In each position from the initial position to the predetermined end point in a single fire extinguishing cycle of the fire-fighting robot, the optimal horizontal launching angle theta can be uniquely determined by the coordinates of the striking nodes in the relative coordinate system in each position and the horizontal speed of the current fire-fighting robot along the track0And optimum vertical emission angle
The determined optimal horizontal launching angle theta of any position can be calculated through the coordinates of the striking nodes in the space coordinate system and the horizontal speed of the fire-fighting robot along the track0And optimum vertical emission angle
As shown in fig. 5, the xy plane is taken out, and the coordinate of the striking node P in the xy plane is Pxy(x0,y0)；
Setting straight line OPxyIs alpha, then
And the speed vector of the fire-fighting robot in the xy plane is
Namely, it is
Component in the xy plane
And
of vector sum of (a) and (b), wherein
From the sine theorem one can derive:
order to
Simultaneously has S0＝VxyT; t is the flight time of the fire extinguishing bomb;
and is
And
are collinear with each other and are arranged in a straight line,
obtain a relational expression
After being launched, the fire extinguishing bomb makes uniform acceleration motion in the vertical direction:
the above relationships are combined to obtain the equation:
to simplify the equation, let cot α -cot θ be x;
the equation is substituted and simplified into a standard unitary quartic equation: ax4+bx3+cx2+dx+e＝0。
Wherein: a is 1, b is 0,
combining the root equation of a unitary quartic equation with known constraints, a unique solution for x can be obtained:
wherein:
so that the optimum horizontal emission angle theta can be obtained0Comprises the following steps: theta0＝arccot(cotα-x)；
Optimum vertical emission angle
Comprises the following steps:
the method for determining the optimal horizontal emission angle and the optimal vertical emission angle provided by the invention does not take the influence of air resistance into account. According to the formula of air resistance
C is an air resistance coefficient, which is usually an experimental value and is related to the windward area of the object, the smoothness of the object and the overall shape; rho is air density, and normal dry air can be 1.293 g/l; s is the windward area of the object; v is the relative movement speed of the object and the air. Because the fire extinguishing bomb is a spherical shell, the surface is smooth and the windward area is small, so the fire extinguishing bomb can be ignored.
The fire-fighting robot provided by the invention can adjust the space angle of the gun barrel in the moving process, immediately launches fire extinguishing bombs once entering the optimal launching area, quickly extinguishes fire under the action of a water-based fire extinguishing agent, and really realizes the effect of accurate and transient fire extinguishing. Even flame constantly spreads, takes place the removal in the horizontal plane, also can obtain the real-time position of flame through the sensor, and fire-fighting robot constantly follows flame and carries out the adjustment of position, aims flame all the time, and fire extinguishing bomb is constantly launched until flame disappears, reaches the effect of dynamic companion formula striking.
The fire-fighting robot provided by the invention can select the number of fire-fighting bombs to be launched according to the actual situation of a fire, and the fire-fighting bombs are stopped to be launched when the flame is extinguished, so that no waste is generated, the fire-fighting robot is greatly different from a undifferentiated fire-fighting mode of a fixed fire-fighting system, all fire-fighting agents cannot be used at one time, and the cost is greatly reduced.
The fire-fighting robots provided by the invention can be arranged in a plurality of buses. For example, when the fire-fighting robot is provided with two, a guide rail can be respectively arranged in front of and behind the bus, and the fire-fighting robot is arranged on each guide rail. The carriage of the bus can be divided into a front part and a rear part according to the position of the guide rail, and compared with a mode of only arranging one fire-fighting robot, the moving distance of the fire-fighting robot is reduced by half; meanwhile, the number of fire extinguishing bombs is greatly increased, so that the fire extinguishing effect is more sufficient.
Meanwhile, the front and the rear fire-fighting robots can cooperate with each other, after receiving the real-time data of the sensor, the fire-fighting robots carry out weighting on the fire intensity and the distance, move to the position with high priority first, and automatically decide the optimal fire-fighting scheme through an algorithm. For example, when the flame is positioned in the middle of the carriage, the two fire-fighting robots can launch fire extinguishing bombs to the flame at the same position in the middle, so that the fire is quickly suppressed, and the fire extinguishing effect is faster and better; when the flame mainly appears in the front part of the carriage, the fire-fighting robot in the front half part automatically moves to the upper part of the flame to launch fire extinguishing bombs to mainly extinguish fire, the fire-fighting robot in the rear half part automatically moves to the middle part of the carriage to stand by, once the flame spreads to the rear part of the carriage, the flame is intercepted, and an escape space is reserved for personnel in the vehicle.
Compared with the prior art, the fire-fighting robot and the fire-fighting method thereof provided by the invention have the beneficial effects that: the fire-fighting robot can realize the unmanned fire-fighting process without human participation, thereby reducing the possibility of personal injury;
the fire-fighting robot provided by the invention can adjust the space angle of the gun barrel in the process of fire-fighting movement, and immediately launches fire-fighting bombs to quickly extinguish fire once entering an optimal launching area, thereby truly realizing the effects of accurate and transient fire-fighting;
the fire-fighting robot provided by the invention can continuously adjust the position along with the flame, always aim at the flame and continuously launch fire extinguishing bombs until the flame disappears, so that the effect of dynamic adjoint type striking is achieved;
the fire-fighting robot provided by the invention can select the quantity of fire-fighting bombs to be launched according to the actual situation of a fire, and compared with a non-differential fire-fighting mode of a fixed fire-fighting system, the fire-fighting robot reduces the waste situation of fire-fighting agents and greatly reduces the cost.
In a word, the invention provides the fire-fighting robot and the fire-fighting method thereof, which have the advantages of quick and accurate fire finding, unmanned and intelligent fire extinguishing, simple structure and low cost, and have wide application prospects in the field of fire fighting.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (8)
1. A flame striking method of an intelligent indoor fire-fighting robot comprises a launching platform, a dial magazine, a gun barrel, a launcher and an actuator; the launching platform is arranged on the track through a rotary connector, and the rotary connector comprises a rotary driver and a connecting piece; the rotary driver comprises a fixed end and an output end; the fixed end is movably arranged on the track, the output end is fixedly connected with the connecting piece, and the connecting piece is fixedly connected with the launching platform; the drive plate magazine is arranged on one side of the launching platform, and fire extinguishing bombs are arranged in the drive plate magazine; the gun barrel, the launcher and the actuator are arranged on the other side of the launching platform; the fire extinguishing bomb is launched through the launcher via the gun barrel, and is characterized in that:
step 1, detecting data indexes, and entering the next step if the data indexes are normal;
step 2, carrying out initialization detection to enable the fire-fighting robot to be in an initialization state;
step 3, detecting fire sources in the networking; receiving fire source characteristic values of a plurality of nodes in a networking in real time, judging that a fire has occurred if the numerical value of the fire source characteristic values exceeds a critical value, and entering the next step;
step 4, selecting one node as a striking node, and launching fire extinguishing bombs to the striking node by the fire-fighting robot; continuously detecting the temperature of the striking node in real time after the fire is launched, and continuously launching fire extinguishing bombs to the striking node before the temperature of the striking node is reduced to be below a critical value; when the temperature of the striking node is reduced to be below a critical value; returning to the step 3;
step 5, continuously and circularly executing the step 3 and the step 4 until the fire source characteristic values of all the nodes in the group network are detected normally, returning the fire-fighting robot to the initial position, and finishing fire extinguishing;
in the step 4, after determining the striking node and a predetermined end point, the fire fighting robot will move from a start position to the predetermined end point; when the movement starts, the fire-fighting robot compares the horizontal angle and the vertical angle of the gun barrel at the current position with the optimal horizontal launching angle and the optimal vertical launching angle at the current position in real time; the optimal horizontal launching angle and the optimal vertical launching angle are +/-1 degrees and serve as the optimal launching angle interval, and when the horizontal angle and the vertical angle of the gun barrel are located in the optimal launching angle interval at the same time, the fire-fighting robot can launch fire extinguishing bombs;
the optimal horizontal launching angle and the optimal vertical launching angle of each fire-fighting robot from the starting position to the preset end point are calculated through the coordinates of the striking nodes in a space coordinate system and the horizontal speed of the fire-fighting robot along the track;
the calculation steps of the optimal horizontal emission angle and the optimal vertical emission angle are as follows:
a. establishing a dynamic space rectangular coordinate system according to a right-hand system by taking the intersection point of the central axis of the gun barrel and the central axis of the actuator for controlling the vertical rotation angle as a coordinate origin O and taking the horizontal movement direction of the fire-fighting robot along the track as the positive direction of an x axis;
b. assuming initial velocity of the fire extinguishing bombSize V0The direction is unknown; the horizontal speed of the fire-fighting robot at any position along the track is Vm(ii) a The position of the striking node is P (x)0,y0,h0) (ii) a Space vector
The included angle between the X axis and the X axis is a horizontal angle theta; the included angle with the z axis is a vertical angle
c. Intercepting an xy plane, wherein the coordinate of the striking node P in the xy plane is Pxy(x0,y0) (ii) a Setting straight line OPxyIs alpha, then
And the speed vector of the fire-fighting robot in the xy plane is
Namely, it is
Component in the xy plane
And
of vector sum of (a) and (b), wherein
From the sine theorem one can derive:
d. order to
Simultaneously has S0＝VxyT; t is the flight time of the fire extinguishing bomb; and is
And
collineation to obtain a relation
e. After being launched, the fire extinguishing bomb makes uniform acceleration motion in the vertical direction:
f. the above relationships are combined to obtain the equation:
g. let cot α -cot θ be x; the equation is substituted into a standard unitary quartic equation: ax4+bx3+cx2+ dx + e ═ 0; wherein: a is 1, b is 0,
combining the root equation of a unitary quartic equation with known constraints, a unique solution for x can be obtained:
wherein:
h. thereby obtaining the optimum horizontal emission angle theta0Comprises the following steps: theta0Arccot (cot α -x); optimum vertical emission angle
Comprises the following steps:
2. a flame striking method according to claim 1, wherein: the rotation driver actuates the gun barrel to horizontally rotate within a range of 360 degrees; the actuator actuates the barrel to rotate within 90 degrees in the vertical direction.
3. A flame striking method according to claim 2, wherein: the emitter is a friction wheel emitter.
4. A flame striking method according to claim 3, wherein: the fire extinguishing bomb is a water-based fire extinguishing bomb and comprises a spherical shell and a water-based fire extinguishing agent; the spherical shell is two hemispherical shells made of fragile materials, and a closed space is formed in the spherical shell formed by assembling the two hemispherical shells; the water-based fire extinguishing agent is stored in the enclosed space.
5. A flame striking method according to claim 4, wherein: in the step 1, if the data index is abnormal, an error reporting procedure is entered and stopped.
6. A flame striking method according to claim 5, wherein: in the step 2, if the fire-fighting robot is not in an initialized state, adjusting the gun barrel to a horizontal position, and moving the fire-fighting robot to an initial position on the track; and if the fire-fighting robot is in the initialization state, entering the step 3.
7. A flame striking method according to claim 6, wherein: in the step 3, the fire source characteristic value is data output by a flame sensor and/or a temperature sensor and/or a smoke sensor arranged at the node.
8. A flame striking method according to claim 7, wherein: in the step 4, when the fire source characteristic values of the nodes exceed a critical value, selecting the node with the shortest straight line distance from the fire-fighting robot as a striking node; and setting a preset terminal point of the fire-fighting robot after the attack node is selected, wherein the preset terminal point is a point on the track corresponding to the position right above the attack node, and when the fire-fighting robot cannot reach the point on the track corresponding to the position right above the attack node, the terminal point of the track closest to the linear distance of the attack node is used as the preset terminal point.
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