CN111408089A - Fire-fighting robot and fire-fighting robot fire extinguishing system - Google Patents
Fire-fighting robot and fire-fighting robot fire extinguishing system Download PDFInfo
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- CN111408089A CN111408089A CN202010320711.2A CN202010320711A CN111408089A CN 111408089 A CN111408089 A CN 111408089A CN 202010320711 A CN202010320711 A CN 202010320711A CN 111408089 A CN111408089 A CN 111408089A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
Abstract
The invention discloses a fire-fighting robot and a fire-fighting robot fire-fighting system, wherein the fire-fighting robot comprises: the chassis driving system is used for navigating and walking the fire-fighting robot; the navigation sensing system is used for navigating under the control of the control system and automatically positioning the fire fighting robot; the communication system is used for sending the status information and the fire information of the fire-fighting robot to the background system through a wireless network and forwarding a control instruction sent by the background system to the control system; the flame identification system is used for identifying and ranging flames of fire sources in a certain range around the fire sources through an image algorithm, positioning the fire sources and sending fire information through the communication system; the fire extinguishing system is used for extinguishing fire according to a fire extinguishing instruction under the control of the control system, and the charging station system is used for charging the fire-fighting robot under the control of the control system; and the control system is used for controlling the cooperative operation of all systems in the fire-fighting robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a fire-fighting robot and a fire-fighting robot fire-extinguishing system.
Background
In the prior art, manual fire patrol is generally adopted, but the manual fire patrol is difficult to be online for 24 hours, and the manual fire patrol is easy to be lacked at night when a fire disaster is easily sent, so that serious consequences are generated. Therefore, a robot replacing the manual fire patrol is needed.
Disclosure of Invention
The first purpose of the invention is to provide a fire-fighting robot and a fire-fighting robot fire-fighting system, which can avoid the problems caused by manual fire-fighting patrol;
the present invention provides a fire fighting robot, comprising:
the chassis driving system is arranged at the bottom of the fire-fighting robot and used for navigating and walking the fire-fighting robot under the control of the navigation sensing system;
the navigation sensing system is connected with the chassis driving system and used for navigating according to a control instruction sent by the background system and/or fire position information sent by the security and protection system and the fire fighting system under the control of the control system and automatically positioning the fire fighting robot;
the communication system is used for sending the status information and the fire information of the fire-fighting robot to the background system through the wireless network under the control of the control system and forwarding a control instruction sent by the background system to the control system;
the flame recognition system is used for detecting the existence and the approximate direction of surrounding fire by controlling the ultraviolet detector, measuring and judging the distance of the fire by controlling the binocular camera and adopting an image recognition algorithm, guiding the robot to approach the fire for aiming and positioning, and sending fire information through the communication system;
fire extinguishing systems sets up the interior storehouse of casing at fire-fighting robot middle part for aim at the fire source according to the instruction of putting out a fire and put out a fire under control system's control, wherein, the instruction of putting out a fire specifically includes: autonomous fire extinguishing and internet of things linkage fire extinguishing;
the charging station system is arranged in the chassis driving system and used for charging the fire-fighting robot under the control of the control system;
and the control system is used for controlling the cooperative operation of all systems in the fire-fighting robot according to a control instruction input by a user, a control instruction sent by the background system, fire position information sent by the security and protection system and/or cooperative information of other fire-fighting robots, actively inspecting and identifying a fire source and extinguishing fire, or linking with fire sent by fire detectors distributed in an area through the Internet of things technology, and scheduling to a corresponding fire point to extinguish fire.
The embodiment of the invention also provides a fire-fighting robot fire-fighting system, which comprises the fire-fighting robot and a background system, wherein the background system specifically comprises:
the display module is used for displaying the received fire-fighting robot condition information and the received fire information to a user;
the processing module is used for counting and analyzing the condition information and the fire information of the fire-fighting robot and carrying out automatic early warning of the system;
the control module is used for generating a control instruction, an inspection strategy or an inspection task according to the input of a user to carry out control setting or remote control on the fire-fighting robot;
and the monitoring module is used for carrying out remote video monitoring through the fire-fighting robot.
By adopting the embodiment of the invention, 24-hour fire patrol can be carried out, and the fire source can be aimed to carry out autonomous fire extinguishing based on the aiming system of the fire-fighting robot when a fire is found. And can link with fire extinguishing system, automatic navigation puts out a fire to the position of starting a fire and realizes the one-step fire extinguishing effect of people earlier, deals with the condition of a fire at the initial stage, very big assurance the safety of life and property.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a fire fighting robot according to an embodiment of the present invention;
FIG. 2 is a detailed structural schematic diagram of a fire fighting robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of a fire fighting robot fire suppression system of an embodiment of the present invention;
fig. 4 is a schematic view of a fire fighting robot fire extinguishing system display page of an embodiment of the present invention.
Description of reference numerals:
10: a chassis drive system; 11: a navigation sensing system; 12: a communication system; 13: a flame identification system; 14: a fire suppression system; 15: a charging station system; 16: a control system;
30: a display module; 32: a processing module; 34: a control module; 36: and a monitoring module.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Device embodiment
According to the embodiment of the invention, the fire-fighting robot is provided, is based on cloud computing and 5G, IoT Internet of things technology, is mainly used for fire patrol at night and in unattended places, and can realize a robot spontaneous self-elimination mode and an Internet of things linkage fire-fighting mode. The indoor fire-fighting robot carries an infrared thermal imager, is provided with an ultraviolet detection camera, a binocular camera and a flame recognition algorithm, and replaces manual work by the fire-fighting robot to carry out daily fire patrol (particularly at night and in unattended places) on a service area. Fig. 1 is a schematic view of a fire fighting robot according to an embodiment of the present invention, and as shown in fig. 1, the fire fighting robot according to the embodiment of the present invention specifically includes:
the chassis driving system 10 is arranged at the bottom of the fire-fighting robot and is used for navigating and walking the fire-fighting robot under the control of the navigation sensing system; the chassis driving system 10 adopts a wheel type chassis, has strong maneuverability at the bottom of the robot, can steer, advance and retreat in situ, and is driven by a maintenance-free battery; and the navigation sensing system jointly realize the functions of autonomous obstacle avoidance, autonomous navigation and walking and the like.
The navigation sensing system 11 is connected with the chassis driving system 10 and used for navigating according to a control instruction sent by the background system and/or fire position information sent by a security and protection system and a fire fighting system under the control of the control system and automatically positioning the fire fighting robot; in the embodiment of the present invention, the navigation sensing system 11 is further configured to: and navigating under the control of the control system according to the control instruction input by the user.
The navigation sensing system 11 specifically includes:
the laser radar module is used for detecting surrounding obstacles through the laser radar so as to plan navigation and avoid the obstacles;
and the ultrasonic module is used for detecting surrounding obstacles through ultrasonic waves so as to plan navigation and avoid the obstacles.
That is to say, the navigation sensing system 11 mainly includes a laser radar, an ultrasonic obstacle avoidance, and the like in the figure, and combines with a control algorithm to realize automatic positioning and navigation walking control of the robot.
The communication system 12 is used for sending the status information and the fire information of the fire-fighting robot to the background system through the wireless network under the control of the control system and forwarding a control instruction sent by the background system to the control system; specifically, the function of uploading the state/fault information of the robot in real time is realized through a wireless network, the robot communicates with a background system in real time, the communication system 12 transmits a fire signal and position information in a fire station to the robot background system through network information transmission, and transmits a live image back to the background system in real time through a configured infrared and visible light camera.
The flame recognition system 13 detects the existence and the approximate direction of surrounding fire by controlling the ultraviolet detector, measures and judges the distance of the fire by controlling the binocular camera and adopting an image recognition algorithm, guides the robot to approach the fire for aiming and positioning, and sends fire information through the communication system; the flame recognition system 13 comprises in particular:
a binocular camera; the system is used for measuring and judging the distance of the fire through a binocular camera and an image recognition algorithm and guiding the robot to approach the fire for aiming and positioning;
the ultraviolet detector is used for judging whether a fire source exists in the area where the fire-fighting robot is located and preliminarily determining the approximate direction of the fire source;
the infrared camera is used for aiming at a fire source point by the robot before fire extinguishment so as to carry out accurate fire extinguishment;
and the flame identification camera is used for automatically acquiring 'fire' images in the patrol process, identifying and confirming a fire source through a flame identification algorithm, and transmitting the result back to the background system through the communication system.
The flame recognition system 13 can respond to surrounding fire sources within a range of 10-20 meters (the distance is far and near and is related to the intensity of the fire source) by carrying an intelligent flame recognition algorithm through a binocular camera, an infrared camera, a near-infrared and ultraviolet dual-band flame detection system, and the flame recognition and distance measurement are realized through image algorithm processing, so that the specific position of the fire source is quickly positioned.
That is to say, indoor fire control robot is based on self binocular camera, infrared camera, near-infrared, ultraviolet dual-band flame detection system, carries on intelligent flame identification algorithm, can respond to the fire source of 10 meters within ranges around, handles through image algorithm and realizes flame discernment and range finding to fix a position out the concrete position of fire source rapidly. The self-extinguishing fire is carried out by aiming the fire source by using dry powder extinguishing agent (or water-based fire extinguisher) based on the aiming system of the robot, until the flame is extinguished. The process may be monitored by a worker or the robot may be authorized to do so autonomously.
Spontaneous self-elimination mode: the fire-fighting robot performs daily patrol on potential fire source points, and performs sound-light alarm on abnormal high-temperature points and fire source points found by patrol on the platform side and the robot body side; after (background manual) authorization, dry powder fire extinguishing or water-based fire extinguishing is carried out on the fire condition appearing on site;
multisystem linkage (IoT internet of things linkage fire suppression): because the indoor fire-fighting robot may have a patrol blind area, and the robot patrols the whole area, instead of continuously monitoring a specific point for 24 hours, in the process of time difference of the indoor fire-fighting robot during patrol (patrol) of the specific point, the data interconnection is realized by the linkage with the existing security and fire protection system, such as by a camera video monitoring system and a fire protection system, after the video camera and the fire sensor find suspicious fire, fire position information can be sent to the indoor fire-fighting robot, the robot autonomously navigates to quickly reach the scene, the fire and the fire source accurate position are confirmed by the ultraviolet recognition sensor and the binocular camera, the system platform worker confirms the fire extinguishing action of the robot, the robot achieves the fire extinguishing effect of one step in advance, the fire is disposed at the initial stage, the fire extinguishing work is completed, and the robot returns to a charging point.
The charging station system 15 is arranged in the chassis driving system, is composed of a robot chassis charging pile and the like, and is used for charging the fire-fighting robot under the control of the control system;
and the control system 16 is used for controlling the cooperative operation of all systems in the fire-fighting robot according to a control instruction input by a user, a control instruction sent by the background system, fire position information sent by the security and protection system and/or cooperative information of other fire-fighting robots, actively inspecting and identifying a fire source and extinguishing fire, or linking with fire sent by fire detectors distributed in an area through the internet of things technology, and scheduling to a corresponding fire point to extinguish fire.
The fire-fighting robot further comprises:
and the high-definition interactive screen is used for providing a man-machine interactive interface, providing the status information and the fire information of the fire-fighting robot for a user and receiving a control instruction input by the user.
And the expression board is used for outputting corresponding expression or alarm information according to self conditions and fire conditions.
And the warning lamp is used for giving corresponding alarm according to the self condition and the fire condition.
The loudspeaker is used for playing alarm information and/or playing fireproof propaganda information according to a control instruction input by a user or a control instruction sent by a background system, wherein the alarm information specifically comprises: fire source location and evacuation location information.
The indoor fire-fighting robot can give consideration to real-time security patrol, carries a high-definition camera, is equipped with an intelligent image recognition algorithm, and can carry out daily security patrol.
Fig. 2 is a detailed structural schematic diagram of a fire-fighting robot according to an embodiment of the present invention, and as shown in fig. 2, the indoor fire-fighting robot is composed of a chassis driving system, a navigation sensing system, a communication system, a flame recognition system, a fire extinguishing system, and a charging station system. In particular, the amount of the solvent to be used,
the chassis driving system adopts a wheel type chassis, has strong maneuverability at the bottom of the robot, can turn, advance and retreat in situ and is driven by a maintenance-free battery; and the navigation sensing system jointly realize the functions of autonomous obstacle avoidance, autonomous navigation walking, automatic charging and the like.
The navigation sensing system mainly comprises a laser radar, an ultrasonic obstacle avoidance system and the like in the figure, and is combined with a control algorithm to realize automatic positioning and navigation walking control of the robot
A flame identification system: the binocular camera, the infrared camera, the near infrared and ultraviolet dual-band flame detection system of the self carry on the intellectual flame recognition algorithm, can react to the fire source within the range of 10-20 meters (relevant to the intensity of the fire source) around, realize flame recognition and range finding through the processing of image algorithm, thus position out the concrete position of the fire source rapidly.
The fire extinguishing system comprises: the fire extinguishing device is based on a robot aiming module and can realize the aim of fire extinguishing at a fire source by using a dry powder extinguishing agent (or a water-based fire extinguisher)
A communication system: the robot state/fault information real-time uploading function is realized through a wireless network, the robot state/fault information real-time uploading function is in real-time communication with a background system, a fire signal and position information in a fire starting point station are transmitted to the robot background system through network information transmission, and a live image is transmitted back to the background system through a configured infrared and visible light camera in real time. The background system is used for a management system for robot management and on-site fire handling, and visually displays the information, so that workers can conveniently control the on-site situation.
The charging station system is composed of a robot chassis charging pile and the like and is used for charging the robot,
the high-definition interaction screen is used for touch interaction between human and machines, and is convenient for personnel to directly check, manage and control the robot on the side of the robot body;
the ultraviolet detector is used for judging whether a fire source exists in the area where the robot is located and preliminarily determining the approximate direction of the fire source;
the infrared detector is used for aiming at a fire source point by the robot before fire extinguishment so as to carry out accurate fire extinguishment;
and a flame recognition camera is added with a flame recognition algorithm and used for automatically recognizing and confirming the fire source in the patrol process of the robot and transmitting the fire source back to the background.
From the above, the indoor fire-fighting robot can respond to the fire source within the range of 10-20 meters (related to the intensity of the fire source) around based on the binocular camera, the infrared camera, the near-infrared and ultraviolet dual-band flame detection system of the indoor fire-fighting robot, and the image algorithm is used for processing to realize flame identification and distance measurement, so that the specific position of the fire source can be quickly located. The self-extinguishing fire is carried out by aiming the fire source by using dry powder extinguishing agent (or water-based fire extinguisher) based on the aiming system of the robot, until the flame is extinguished. The process may be monitored by a worker or the robot may be authorized to do so autonomously.
Because the indoor fire-fighting robot has the patrol blind area and the robot cannot continuously patrol a certain area in real time (24h), the indoor fire-fighting robot is linked with the existing security and protection and fire-fighting system, if the data interconnection is realized by means of a camera video monitoring system and the fire-fighting system, after a video camera and a fire-fighting sensor find suspicious fire, fire position information can be sent to the indoor fire-fighting robot, the indoor fire-fighting robot can quickly arrive at the scene through autonomous navigation of the robot, the accurate position confirmation of the fire and a fire source is carried out by depending on an ultraviolet identification sensor and a binocular camera, the fire extinguishing action of the robot is confirmed by system platform staff, the robot realizes the fire extinguishing effect of one step before the robot, the fire is treated at the initial stage, the fire extinguishing work is finished, and the robot returns to a charging point.
In daily regional patrol work, the indoor fire-fighting robot can select proper fire-fighting propaganda corpora by utilizing a bidirectional voice system carried by the indoor fire-fighting robot besides patrol work in a designated region, and fire-fighting knowledge propaganda is carried out in patrol work.
When a fire occurs in the distribution room, the position information of the fire, the position of the safety channel and the attention items of personnel can be transmitted in a voice mode, and the personnel escape and safe evacuation work in an indoor scene can be favorably and smoothly carried out.
In conclusion, the indoor fire-fighting robot sentry is mainly used for work such as fire patrol, fire propaganda and autonomous fire extinguishing in unmanned storage, distribution rooms and exhibition halls. This robot is in daily independently patrolling the in-process, can rely on the multiple sensor that self carried, and the discernment, the complicated field situation of judgement, after the discovery condition of a fire, self can use multiple fire control fire extinguisher, puts out a fire to the fire source is accurate. The intelligent fire-fighting robot can be linked with the existing security and fire-fighting system, when the security and fire-fighting system finds a fire, the position information is transmitted to the indoor fire-fighting robot, and the robot plans a route to reach a scene for fire extinguishing. The robot has the bright points that in daily fire patrol work, fire-fighting knowledge can be publicized, or under the condition of fire, the known fire source position and evacuation position information can be diffused to nearby trapped people while fire is extinguished. The indoor fire-fighting robots can communicate with each other to carry out combined operation, and the combined fire-fighting operation is carried out on scenes needing fire fighting.
The robot compatible distribution room mainstream fire extinguisher comprises dry powder and water base, and has large fire extinguishing medium bearing capacity and stronger fire extinguishing capability.
System embodiment
According to an embodiment of the present invention, there is provided a fire fighting robot fire extinguishing system (which may also be referred to as a cloud centralized control platform), including the above-mentioned fire fighting robot, and further including a background system, fig. 3 is a schematic diagram of the fire fighting robot fire extinguishing system according to an embodiment of the present invention, as shown in fig. 3, the fire fighting robot has been described in detail in the above-mentioned embodiment, and details are not repeated here, and the background system specifically includes:
the display module 30 is used for displaying the received status information and the received fire behavior information of the fire-fighting robot to a user; wherein, the fire-fighting robot condition information specifically includes: the inspection task, the data acquisition, the alarm details, the high-definition video, the infrared image information, the self state, the action and the angle information of the fire-fighting robot are shown in fig. 4.
The processing module 32 is used for counting and analyzing the condition information and the fire information of the fire-fighting robot and carrying out automatic early warning of the system;
the control module 34 is used for generating a control instruction, an inspection strategy or an inspection task according to the input of a user to carry out control setting or remote control on the fire-fighting robot;
and the monitoring module 36 is used for performing remote video monitoring through the fire-fighting robot.
In an embodiment of the invention, the system further comprises:
and the history playback module is used for playing back video information of the polling, fire extinguishing and/or recharging tasks of the fire-fighting robot.
Specifically, the cloud platform can realize functions such as data display, statistics, analysis of the robot, and staff can control and display the patrol task, the collected data, the alarm details, the high-definition video and the infrared image information of the intelligent fire-fighting robot in detail through a platform interface, and the state, the action, the angle and other contents of the robot. Important data contents in the system are displayed in a mode of a line graph, a bar graph and the like, correlation analysis is carried out, automatic early warning is carried out according to a set information system, and related task operation can be carried out by a remote-control robot.
1) The system main interface displays the general overview of the robot information, including the real-time running state of the robot and the like:
2) the platform can realize remote control fire-fighting robot and remote video monitoring. The robot is automatic to be carried out the fire control and patrol in appointed area, meets the condition of a fire, and the fire control robot is put out a fire and is divided into two kinds of mode: spontaneous self-extinguishing mode and internet of things linkage fire extinguishing mode.
3) Robot inspection strategy and inspection task management
The robot module displays the attribute and the real-time state of the robot;
the inspection strategy module can add inspection strategies, including the time of periodic inspection and the equipment measuring points of inspection, and the robot can periodically execute inspection tasks according to the inspection strategies;
the inspection monitoring module realizes real-time monitoring of inspection tasks, and comprises an inspection route of the robot, current inspection task recording information, video live broadcast in the inspection process, manual control of task process, body movement and the like;
the inspection recording module can inquire the history of the inspection result;
the abnormal alarm module displays alarm information of the robot;
the statistical analysis module displays the alarm statistical information of the equipment in a plurality of display modes.
4) History task playback
The function of reviewing historical tasks is provided, and detailed video information in the processes of polling, fire extinguishing and recharging tasks of the robot is displayed.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A fire fighting robot, comprising:
the chassis driving system is arranged at the bottom of the fire-fighting robot and used for navigating and walking the fire-fighting robot under the control of the navigation sensing system;
the navigation sensing system is connected with the chassis driving system and used for navigating according to a control instruction sent by the background system and/or fire position information sent by a security and protection system and a fire fighting system under the control of the control system and automatically positioning the fire fighting robot;
the communication system is used for sending the status information and the fire information of the fire-fighting robot to the background system through the wireless network under the control of the control system and forwarding a control instruction sent by the background system to the control system;
the flame recognition system is used for detecting the existence and the approximate direction of surrounding fire by controlling the ultraviolet detector, measuring and judging the distance of the fire by controlling the binocular camera and adopting an image recognition algorithm, guiding the robot to approach the fire for aiming and positioning, and sending fire information through the communication system;
fire extinguishing systems sets up the interior storehouse of casing at fire-fighting robot middle part for aim at the fire source according to the instruction of putting out a fire and put out a fire under control system's control, wherein, the instruction of putting out a fire specifically includes: autonomous fire extinguishing and internet of things linkage fire extinguishing;
the charging station system is arranged in the chassis driving system and used for charging the fire-fighting robot under the control of the control system;
and the control system is used for controlling the cooperative operation of all systems in the fire-fighting robot according to a control instruction input by a user, a control instruction sent by the background system, fire position information sent by the security and protection system and/or cooperative information of other fire-fighting robots, actively inspecting and identifying a fire source and extinguishing fire, or linking with the fire sent by fire detectors distributed in an area through the Internet of things technology, and scheduling to a corresponding fire point to extinguish fire.
2. A fire fighting robot as recited in claim 1, wherein the navigation sensing system is further configured to: navigating under the control of the control system according to a control instruction input by a user;
the fire-fighting robot further comprises:
and the high-definition interactive screen is used for providing a man-machine interactive interface, providing the status information and the fire information of the fire-fighting robot for a user and receiving a control instruction input by the user.
3. A fire fighting robot as recited in claim 1, further comprising:
and the expression board is used for outputting corresponding expression or alarm information according to self conditions and fire conditions.
4. A fire fighting robot as recited in claim 1, further comprising:
and the warning lamp is used for giving corresponding alarm according to the self condition and the fire condition.
5. A fire fighting robot as recited in claim 1, further comprising:
the loudspeaker is used for playing alarm information and/or playing fireproof propaganda information according to a control instruction input by a user or a control instruction sent by a background system, wherein the alarm information specifically comprises: fire source location and evacuation location information.
6. A fire fighting robot as recited in claim 1, wherein the navigation sensing system specifically comprises:
the laser radar module is used for detecting surrounding obstacles through the laser radar so as to plan navigation and avoid the obstacles;
and the ultrasonic module is used for detecting surrounding obstacles through ultrasonic waves so as to plan navigation and avoid the obstacles.
7. A fire fighting robot as recited in claim 1, wherein the flame identification system specifically comprises:
a binocular camera; the system is used for measuring and judging the distance of the fire through a binocular camera and an image recognition algorithm and guiding the robot to approach the fire for aiming and positioning;
the ultraviolet detector is used for judging whether a fire source exists in the area where the fire-fighting robot is located and preliminarily determining the approximate direction of the fire source;
the infrared camera is used for aiming at a fire source point by the robot before fire extinguishment so as to carry out accurate fire extinguishment;
and the flame identification camera is used for automatically acquiring 'fire' images in the patrol process, identifying and confirming a fire source through a flame identification algorithm, and transmitting the result back to the background system through the communication system.
8. A fire fighting robot fire extinguishing system, characterized by comprising the fire fighting robot of any one of claims 1 to 7, and further comprising a back-office system, in particular comprising:
the display module is used for displaying the received fire-fighting robot condition information and the received fire information to a user;
the processing module is used for counting and analyzing the condition information and the fire information of the fire-fighting robot and carrying out automatic early warning of the system;
the control module is used for generating a control instruction, an inspection strategy or an inspection task according to the input of a user to carry out control setting or remote control on the fire-fighting robot;
and the monitoring module is used for carrying out remote video monitoring through the fire-fighting robot.
9. A fire fighting robot fire suppression system according to claim 8, wherein the system further comprises:
and the history playback module is used for playing back video information of the polling, fire extinguishing and/or recharging tasks of the fire-fighting robot.
10. A fire fighting robot fire extinguishing system according to claim 8, wherein the fire fighting robot condition information specifically includes: the system comprises a fire-fighting robot, a data acquisition unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010320711.2A CN111408089A (en) | 2020-04-22 | 2020-04-22 | Fire-fighting robot and fire-fighting robot fire extinguishing system |
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| CN202010320711.2A CN111408089A (en) | 2020-04-22 | 2020-04-22 | Fire-fighting robot and fire-fighting robot fire extinguishing system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
| CN112604211A (en) * | 2020-12-16 | 2021-04-06 | 北京中电飞华通信有限公司 | Fire-fighting robot and fire-fighting robot fire extinguishing system for transformer substation |
| CN112675459A (en) * | 2020-12-16 | 2021-04-20 | 山东省科学院自动化研究所 | Autonomous detection positioning and accurate fire extinguishing robot system and use method |
| CN112691323A (en) * | 2020-12-25 | 2021-04-23 | 张世华 | Automatic fire extinguishing robot based on 5G network |
| CN113058185A (en) * | 2021-05-18 | 2021-07-02 | 重庆文理学院 | Intelligent patrol fire-fighting robot and control method |
| CN113134187A (en) * | 2021-04-19 | 2021-07-20 | 重庆大学 | Multi-fire-fighting inspection cooperative robot system based on integral reinforcement learning |
| CN113194140A (en) * | 2021-04-29 | 2021-07-30 | 中信重工开诚智能装备有限公司 | Integrated remote monitoring system based on fire-fighting robot |
| CN113813527A (en) * | 2021-08-17 | 2021-12-21 | 中国船舶重工集团公司第七一三研究所 | Accurate fire fighting device and method for marine unmanned fire fighting truck |
| CN114049737A (en) * | 2021-11-30 | 2022-02-15 | 东北林业大学 | Forest fire monitoring and fire extinguishing system based on FPGA and tracked robot |
| CN114452564A (en) * | 2021-12-21 | 2022-05-10 | 康威通信技术股份有限公司 | Front-end intelligent fire-extinguishing robot and working method thereof |
| CN114602088A (en) * | 2022-04-13 | 2022-06-10 | 创泽智能机器人集团股份有限公司 | Robot automatic fire extinguishing method, equipment and storage medium |
| CN114870302A (en) * | 2022-05-05 | 2022-08-09 | 浙江航天润博测控技术有限公司 | Fire extinguishing control system and method based on intelligent robot fire fighting device |
| CN115430091A (en) * | 2021-06-02 | 2022-12-06 | 南瑞集团有限公司 | Fire-fighting robot ground monitoring system capable of autonomous communication |
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| WO2017090800A1 (en) * | 2015-11-27 | 2017-06-01 | 주식회사 코어벨 | Monitoring and security system using robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
| CN112604211A (en) * | 2020-12-16 | 2021-04-06 | 北京中电飞华通信有限公司 | Fire-fighting robot and fire-fighting robot fire extinguishing system for transformer substation |
| CN112675459A (en) * | 2020-12-16 | 2021-04-20 | 山东省科学院自动化研究所 | Autonomous detection positioning and accurate fire extinguishing robot system and use method |
| CN112691323A (en) * | 2020-12-25 | 2021-04-23 | 张世华 | Automatic fire extinguishing robot based on 5G network |
| CN113134187B (en) * | 2021-04-19 | 2022-04-29 | 重庆大学 | Multi-fire-fighting inspection cooperative robot system based on integral reinforcement learning |
| CN113134187A (en) * | 2021-04-19 | 2021-07-20 | 重庆大学 | Multi-fire-fighting inspection cooperative robot system based on integral reinforcement learning |
| CN113194140A (en) * | 2021-04-29 | 2021-07-30 | 中信重工开诚智能装备有限公司 | Integrated remote monitoring system based on fire-fighting robot |
| CN113058185A (en) * | 2021-05-18 | 2021-07-02 | 重庆文理学院 | Intelligent patrol fire-fighting robot and control method |
| CN115430091A (en) * | 2021-06-02 | 2022-12-06 | 南瑞集团有限公司 | Fire-fighting robot ground monitoring system capable of autonomous communication |
| CN113813527A (en) * | 2021-08-17 | 2021-12-21 | 中国船舶重工集团公司第七一三研究所 | Accurate fire fighting device and method for marine unmanned fire fighting truck |
| CN114049737A (en) * | 2021-11-30 | 2022-02-15 | 东北林业大学 | Forest fire monitoring and fire extinguishing system based on FPGA and tracked robot |
| CN114452564A (en) * | 2021-12-21 | 2022-05-10 | 康威通信技术股份有限公司 | Front-end intelligent fire-extinguishing robot and working method thereof |
| CN114452564B (en) * | 2021-12-21 | 2023-11-07 | 康威通信技术股份有限公司 | Front-end intelligent fire extinguishing robot and working method thereof |
| CN114602088A (en) * | 2022-04-13 | 2022-06-10 | 创泽智能机器人集团股份有限公司 | Robot automatic fire extinguishing method, equipment and storage medium |
| CN114870302A (en) * | 2022-05-05 | 2022-08-09 | 浙江航天润博测控技术有限公司 | Fire extinguishing control system and method based on intelligent robot fire fighting device |
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