CN111481865A - Fire-fighting robot system and using method thereof - Google Patents
Fire-fighting robot system and using method thereof Download PDFInfo
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- CN111481865A CN111481865A CN202010320010.9A CN202010320010A CN111481865A CN 111481865 A CN111481865 A CN 111481865A CN 202010320010 A CN202010320010 A CN 202010320010A CN 111481865 A CN111481865 A CN 111481865A
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- 238000000034 method Methods 0.000 title claims description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims description 44
- 238000009434 installation Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 10
- 239000006260 foam Substances 0.000 claims description 2
- 239000000843 powder Substances 0.000 claims description 2
- 230000001629 suppression Effects 0.000 claims 9
- 230000010365 information processing Effects 0.000 claims 2
- 239000007789 gas Substances 0.000 description 15
- 239000003795 chemical substances by application Substances 0.000 description 11
- 238000012545 processing Methods 0.000 description 6
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- 206010021143 Hypoxia Diseases 0.000 description 1
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- 238000002485 combustion reaction Methods 0.000 description 1
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- 230000003028 elevating effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- 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
- 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
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Abstract
The invention discloses a fire-fighting robot system, which comprises a plurality of modular monitoring robots, patrol robots and patrol fire-fighting robots, wherein the modular monitoring robots, the patrol robots and the patrol fire-fighting robots are controlled by a control center in the same way and work in a coordinated way. The monitoring robot is fixedly installed in a place with accident potential, and comprises a control module and a sensing module, wherein the control module and the sensing module are used for monitoring the condition of the place in real time; and the patrol fire-fighting robot comprises a control module, a sensing module, a walking module and a detachable fire-fighting module, is used for patrolling in a place and automatically extinguishes fire when a fire is found.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a fire-fighting robot system and a using method thereof.
Background
With the rapid development of social economy, various large petrochemical enterprises, tunnels, subways and other buildings are continuously increased, the buildings and the enterprises have certain particularity, the accident potential hazards of chemical dangerous goods and radioactive substances leakage, combustion, explosion and collapse exist, and the accident probability is correspondingly improved. Such disasters have characteristics such as the proruption is strong, the processing process is complicated, the harm is huge, prevention and cure difficulty, in case the disaster accident takes place, when the fire fighter faces harm environments such as high temperature, dark, poisonous and dense smoke, if do not have corresponding equipment to rush into the scene with trade, not only can not accomplish the task, still can bare-heartedly increase the casualties.
In order to solve the problems of insufficient personal safety and insufficient data information acquisition and the like of fire fighters in the places, the fire fighting robot is produced at the same time. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, fire extinguishing treatment and feedback, so that the site commander can timely make scientific judgment on the disaster situation according to the feedback result and make correct and reasonable decisions on the site work of the disaster accident. The existing common fire-fighting robots comprise two types, namely an external fire-fighting agent type fire-fighting robot and a self-contained fire-fighting agent type fire-fighting robot. External fire extinguishing agent formula fire control robot is shown in fig. 1, after receiving the fire alarm instruction external fire extinguishing agent area on the robot, navigation module 101 guides according to the information that visual system 102 provided the robot independently walks to appointed place to spout external fire extinguishing agent to the fire source through automatic fire control mechanism 103, wherein, visual system 102 installs on cloud platform elevating system 104, can adjust according to the demand visual system 102's height and angle carry out data acquisition, the robot realizes removing through track running gear 105, in addition, still can be through intelligent remote controller 106 remote control the state of robot. The structure of the self-contained fire extinguishing agent type fire-fighting robot is shown in fig. 2, and is similar to the external fire extinguishing agent type fire-fighting robot, and comprises a navigation module 201, a visual system 202, an automatic fire-fighting mechanism 203, a holder lifting mechanism 204 and a crawler walking mechanism 205, and the state of the robot can also be controlled through an intelligent remote controller.
Although these two types of robots can perform fire extinguishing work after receiving a fire alarm command, they have a single function, are difficult to enter and exit from narrow areas due to their large size and heavy weight, and have certain difficulty in extinguishing fire in narrow areas. In addition, the cost is high, the unit price is more than 50 ten thousand, and the large-scale popularization is not facilitated.
Disclosure of Invention
Aiming at partial or all problems in the prior art, the invention provides a modularized fire-fighting robot system on one hand, which is applied to places such as large petrochemical enterprises, tunnels, subways and the like where disasters such as oil, gas and toxic gas leakage, explosion or collapse easily occur, and comprises the following steps:
the monitoring robot is arranged in a place with accident potential, comprises a control module and a sensing module and is used for real-time monitoring;
patrol robot, including:
the control module is used for sending and receiving information, processing the information and controlling the robot according to the information;
the sensing module is connected with the control module in a communication way and used for acquiring data information and sending the data information to the control module; and
the walking module comprises an installation platform and a walking mechanism, the control module and the sensing module are installed on the installation platform, and the walking module is in communication connection with the control module and is used for walking and crossing obstacles according to instructions of the control module;
patrol fire-fighting robot, include:
the control module is used for sending and receiving information, processing the information and controlling the robot according to the information;
the sensing module is connected with the control module in a communication way and used for acquiring data information and sending the data information to the control module;
the walking module comprises an installation platform and a walking mechanism, the control module and the sensing module are installed on the installation platform, and the walking module is in communication connection with the control module and is used for walking and crossing obstacles according to instructions of the control module; and
a fire protection module comprising:
the directional positioning and launching mechanism is arranged on the mounting platform and is used for aiming at a fire extinguishing point and launching a fire extinguishing agent; and
the fire extinguishing mechanism is detachably arranged behind the walking module and is connected with the directional positioning and launching mechanism; and
and the control center is communicably connected with the monitoring robot, the patrol robot and the patrol fire-fighting robot and is used for controlling the cooperative work of the monitoring robot, the patrol robot and the patrol fire-fighting robot.
Further, the number of the monitoring robots and/or the patrol fire-fighting robots is more than 1.
Further, the sensing module comprises a visible light imager and/or an infrared imager and/or a temperature sensor and/or a gas detection sensor.
Further, the traveling module includes a crawler traveling mechanism.
Further, the walking module comprises a wheel type walking mechanism.
Furthermore, the fire extinguishing mechanism comprises a towing platform and a fire extinguishing tank, the fire extinguishing tank is loaded on the towing platform, and a valve of the fire extinguishing tank is connected with the directional positioning and launching mechanism.
Further, the fire extinguishing tank comprises a dry powder fire extinguishing tank and a foam fire extinguishing tank.
The invention also provides a use method of the fire-fighting robot system, which comprises the following steps:
accident monitoring, namely monitoring places with accident hidden danger in real time by adopting the monitoring robot and the patrol robot, judging the type of the accident through the sensor module, and sending the type of the accident and the occurrence place to the control center;
accident handling, the control center reports to the police, simultaneously:
if the accident is a fire condition, the following steps are carried out:
after an accident is found, the patrol fire-fighting robot selects the type of the fire extinguishing tank according to the type of the fire, then arrives at the storage place of the selected fire extinguishing tank, installs the fire extinguishing mechanism behind the walking module, moves the fire extinguishing mechanism to the accident place, aims at a fire point through the directional positioning and launching mechanism and extinguishes the fire; and
and the control center judges the number of the required patrol fire-fighting robots according to the received accident information, then controls the required patrol fire-fighting robots to install the fire extinguishing tanks, and goes to the accident site to extinguish fire.
Further, the fire extinguishing mechanism is installed in a manual installation mode.
Further, the fire extinguishing mechanism is installed by the patrol fire-fighting robot autonomously.
The fire-fighting robot system provided by the invention adopts a modularized framework, different modules can be selected according to requirements to assemble a supervisory robot, a patrol robot and a patrol fire-fighting robot, so that the flexibility of the system is greatly improved, wherein the patrol robot and the patrol fire-fighting robot are in charge of patrol monitoring tasks at ordinary times, and once a fire is found, the sensor modules of the patrol robot and the patrol fire-fighting robot can judge the type of the fire according to temperature measurement, gas detection and other modes. When patrolling the control, patrolling fire-fighting robot does not install the mechanism of putting out a fire additional, after the discovery condition of a fire, according to the different jar of putting out a fire of condition of a fire kind installation, becoming fire-fighting robot, the very first time is independently to going to put out a fire, simultaneously the jar of putting out a fire adopts the towed installation, for the mode of traditional load formula installation jar of putting out a fire, the reduction that towed installation mode is showing bears the requirement and the power requirement of robot, has reduced the weight power requirement to the robot chassis, greatly reduced single robot cost.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
Fig. 1 is a schematic structural diagram illustrating a fire-fighting robot externally connected with a fire extinguishing agent in the prior art;
FIG. 2 is a schematic diagram of a fire-fighting robot with fire extinguishing agent in the prior art;
FIG. 3 shows a schematic view of a fire fighting robot system of one embodiment of the present invention;
FIG. 4 is a schematic diagram of a monitoring robot according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a patrol fire-fighting robot according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a patrol robot according to an embodiment of the present invention; and
fig. 7 is a flow chart illustrating a method of using a fire fighting robot system according to an embodiment of the present invention.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for the purpose of illustrating the specific embodiment, and does not limit the sequence of the steps. Rather, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
Aiming at the problems of large volume, high price and single function of the traditional fire-fighting robot, the invention provides a fire-fighting robot system and a using method thereof, which can be applied to the places of large petrochemical enterprises, tunnels, subways and the like where disasters such as oil, gas and toxic gas leakage, explosion or collapse easily occur to carry out real-time monitoring on disaster and dangerous case and autonomous fire treatment. The invention is further described below with reference to the accompanying drawings of embodiments.
As shown in fig. 3, a fire fighting robot system includes:
the monitoring robots 301 are in a modular configuration, and are arranged in a place where accident potential exists, in one embodiment of the present invention, a plurality of the monitoring robots are installed in a place to be monitored according to actual requirements, and are used for monitoring conditions of the place in real time. The structure of the monitoring robot 301 is as shown in fig. 4, and includes a control module 001 and a sensing module 002, where the control module 001 is configured to send and receive information, process the information, and control the robot according to the information, and the sensing module 002 is communicably connected to the control module 001, and is configured to collect data information and send the data information to the control module 001. In an embodiment of the present invention, the sensing module 002 includes a visible light imager, an infrared imager, a temperature sensor and a gas detection sensor, wherein the temperature sensor is configured to monitor a temperature change of the location, the gas detection sensor is configured to monitor whether there is a harmful gas leakage, the temperature sensor and the gas detection sensor send monitoring results to the control module 001, the control module 001 determines whether an accident occurs on the site according to the monitoring results, if an accident occurs, the type of the accident is further determined by combining images and video data collected by the visible light imager and the infrared imager, and accident information such as the type of the accident and the occurrence location is sent to the control center 303;
the patrol robot 304 is provided with a structure as shown in fig. 6, and the patrol robot 304 includes:
the control module 001 is used for sending and receiving information, processing the information and controlling the robot according to the information;
the sensor module 002 is communicably connected with the control module 001 and is used for acquiring data information and sending the data information to the control module 001; and
the traveling module 003 comprises an installation platform and a traveling mechanism, the control module 001 and the sensing module 002 are installed on the installation platform, and the traveling module 003 is in communication connection with the control module 001 and used for traveling and obstacle crossing according to an instruction of the control module 001, wherein in one embodiment of the invention, the traveling module 003 comprises a wheel-type or crawler-type traveling mechanism;
the patrol fire-fighting robot 302 is in a modular configuration, is used for patrol monitoring in a place with accident potential and can also perform autonomous fire extinguishing after a fire is found. In one embodiment of the present invention, there may be a plurality of patrol fire-fighting robots 302 according to actual needs. The patrol fire-fighting robot 302 is shown in fig. 5, and includes:
the control module 001 is used for sending and receiving information, processing the information and controlling the robot according to the information;
the sensor module 002 is communicably connected with the control module 001 and is used for acquiring data information and sending the data information to the control module 001;
the traveling module 003 comprises an installation platform and a traveling mechanism, the control module 001 and the sensing module 002 are installed on the installation platform, and the traveling module 003 is in communication connection with the control module 001 and used for traveling and obstacle crossing according to an instruction of the control module 001, wherein in one embodiment of the invention, the traveling module 003 comprises a wheel-type or crawler-type traveling mechanism; and
the fire fighting module includes:
a directional positioning and launching mechanism 041 installed on the installation platform for aiming at a fire extinguishing point and launching a fire extinguishing agent; and
the fire extinguishing mechanism is detachably mounted behind the walking module 003 and connected with the directional positioning and launching mechanism, when the patrol fire-fighting robot 302 executes a patrol task, the fire extinguishing mechanism is not mounted, and when the patrol fire-fighting robot 302 receives a fire message, the fire extinguishing mechanism is additionally mounted and goes to an accident occurrence point to extinguish fire.
In an embodiment of the present invention, the sensing module 002 includes a visible light imager, an infrared imager, a temperature sensor and a gas detection sensor, wherein the temperature sensor is configured to monitor a temperature change of the location, the gas detection sensor is configured to monitor whether there is a harmful gas leakage, the temperature sensor and the gas detection sensor send monitoring results to the control module 001, the control module 001 determines whether an accident occurs on the site according to the monitoring results, if an accident occurs, the type of the accident is further determined by combining images and video data collected by the visible light imager and the infrared imager, and accident information such as the type of the accident and the occurrence location is sent to the control center 303; and
the control center 303 is a cloud platform, is communicably connected to the monitoring robot 301, the patrol robot 304, and the patrol fire-fighting robot 302, and is configured to control the monitoring robot 301, the patrol robot 304, and the patrol fire-fighting robot 302 to cooperatively work to perform accident autonomous processing according to accident information sent by the monitoring robot 301, the patrol robot 304, and the patrol fire-fighting robot 302.
Fig. 7 is a flow chart illustrating a method of using the fire fighting robot system, and as shown in fig. 7, the method of using the fire fighting robot system includes:
and 701, monitoring an accident, namely monitoring the places with accident hidden danger in real time by adopting the monitoring robot, the patrol robot and the patrol fire-fighting robot, judging the type of the accident through the sensor module, and sending the type of the accident and the occurrence place to the control center. The patrol fire-fighting robot is not provided with a fire extinguishing mechanism at the moment. In one embodiment of the invention, a temperature sensor is adopted to monitor the temperature change of a place, a gas detection sensor is adopted to monitor whether harmful gas leakage exists or not, the monitoring results of the temperature sensor and the gas detection sensor are sent to a control module, the control module judges whether an accident occurs on the site or not according to the monitoring results, if the accident occurs, the type of the accident is further judged by combining the image and video data collected by the visible light imager and the infrared imager, and the accident information such as the type, the occurrence place and the like of the accident is sent to a control center;
the control center gives an alarm; and
if the accident is a fire condition, the following steps are carried out:
the patrol fire-fighting robot for finding accidents selects the type of the fire extinguishing tank according to the type of fire, then arrives at the storage place of the selected fire extinguishing tank, installs the fire extinguishing mechanism behind the walking module in a manual installation or autonomous installation mode, moves to the accident place, aims at a fire point through the directional positioning and launching mechanism and extinguishes the fire; and
and the control center judges the number of the required patrol fire-fighting robots according to the received accident information, and then controls the required patrol fire-fighting robots to go to the accident site for fire extinguishing.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (9)
1. A fire fighting robot system, comprising:
the monitoring robot is arranged in a place with accident potential, and comprises a control module and a sensing module, wherein the control module and the sensing module are configured to monitor the condition of the place in real time;
patrol robot, including:
a control module configured to transmit and receive information, perform information processing, and control the robot according to the information;
the sensing module is connected with the control module in a communication mode and is configured to collect data information and send the data information to the control module; and
the walking module comprises an installation platform and a walking mechanism, the control module and the sensing module are installed on the installation platform, the walking module is in communication connection with the control module, and the walking module is configured to walk and cross obstacles according to instructions of the control module; patrol fire-fighting robot, include:
a control module configured to transmit and receive information, perform information processing, and control the robot according to the information;
the sensing module is connected with the control module in a communication mode and is configured to collect data information and send the data information to the control module;
the walking module comprises an installation platform and a walking mechanism, the control module and the sensing module are installed on the installation platform, the walking module is in communication connection with the control module, and the walking module is configured to walk and cross obstacles according to instructions of the control module; and
a fire protection module comprising:
a directional positioning and launching mechanism mounted on the mounting platform configured to target a fire suppression site and launch a fire suppressant; and
the fire extinguishing mechanism is detachably arranged behind the walking module and is connected with the directional positioning and launching mechanism; and
a control center communicably connected to the supervisory-controlled robot, the patrol robot, and the patrol fire-fighting robot, the control center being configured to control the supervisory-controlled robot, the patrol robot, and the patrol fire-fighting robot to cooperatively work.
2. The system of claim 1, wherein the number of monitoring robots and/or patrol fire fighting robots is more than 1.
3. The system of claim 1, wherein the sensing module comprises a visible light imager and/or an infrared imager and/or a temperature sensor and/or a gas detection sensor.
4. The system of claim 1, wherein the walking module comprises a wheeled or tracked walking mechanism.
5. The system of claim 1, wherein the fire suppression mechanism is of the towed type and comprises a towed platform and a fire suppression canister carried on the towed platform, the fire suppression canister having a valve connected to the directional positioning and launching mechanism.
6. The system of claim 5, wherein the fire suppression canisters comprise dry powder fire suppression canisters and foam fire suppression canisters.
7. A method of using a fire fighting robot system as recited in any of claims 1 to 6, characterized by comprising the steps of:
monitoring accidents, namely monitoring places with accident hidden dangers in real time by adopting the monitoring robot, the patrol robot and the patrol fire-fighting robot, judging the accident type through the sensor module, and sending a point of occurrence to the control center, wherein in the step, the patrol fire-fighting robot is not provided with a fire extinguishing mechanism;
accident handling, comprising:
the control center gives an alarm; and
if the accident is a fire condition, the following steps are carried out:
the patrol fire-fighting robot for finding the accident selects the type of the fire extinguishing tank according to the type of the fire, then arrives at the storage place of the selected fire extinguishing tank, installs the fire extinguishing mechanism behind the walking module, moves to the accident place, aims at the fire point through the directional positioning and launching mechanism and extinguishes the fire; and
and the control center judges the number of the required patrol fire-fighting robots according to the received accident information, then controls the required patrol fire-fighting robots to install the fire extinguishing tanks, and goes to the accident site to extinguish fire.
8. The method of claim 7, wherein the fire suppression mechanism is installed by manual installation.
9. The method of claim 7, wherein the fire suppression mechanism is autonomously installed by the patrol fire-fighting robot.
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| CN113144470A (en) * | 2021-04-07 | 2021-07-23 | 安徽相品智能科技有限公司 | Fire-fighting emergency early warning treatment and fire extinguishing integrated control system |
| CN115738145A (en) * | 2022-12-07 | 2023-03-07 | 徐州徐工随车起重机有限公司 | High-spraying fire-extinguishing robot capable of rapidly replacing storage tank and fire-extinguishing control method thereof |
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| CN115738145A (en) * | 2022-12-07 | 2023-03-07 | 徐州徐工随车起重机有限公司 | High-spraying fire-extinguishing robot capable of rapidly replacing storage tank and fire-extinguishing control method thereof |
| CN115738145B (en) * | 2022-12-07 | 2024-05-28 | 徐州徐工随车起重机有限公司 | High-spraying fire-extinguishing robot capable of quickly replacing storage tank and fire-extinguishing control method thereof |
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Application publication date: 20200804 |