CN111494847A - Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot - Google Patents
Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot Download PDFInfo
- Publication number
- CN111494847A CN111494847A CN202010349827.9A CN202010349827A CN111494847A CN 111494847 A CN111494847 A CN 111494847A CN 202010349827 A CN202010349827 A CN 202010349827A CN 111494847 A CN111494847 A CN 111494847A
- Authority
- CN
- China
- Prior art keywords
- robot
- fire extinguishing
- fire
- distance
- optimal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a safe and accurate fire extinguishing method based on an intelligent fire extinguishing robot, which comprises the following steps of 1) firstly, detecting a fire source with the highest temperature by using a sensor; 2) meanwhile, the temperature around the robot is detected by using a sensor, and the robot is controlled to walk to the position of the optimal fire extinguishing distance with the fire source based on the set safe temperature threshold of the robot; 3) measuring the optimal fire extinguishing distance between the robot and the fire source by using a sensor; 4) and calculating the optimal emergent angle and the minimum initial speed of the fire extinguishing agent based on the found optimal fire extinguishing distance between the robot and the fire source to extinguish the fire. And the process of monitoring whether the return journey should be safely carried out or not is implemented according to the electricity consumption condition and the fire extinguishing agent condition.
Description
Technical Field
The invention relates to an intelligent fire extinguishing technology, in particular to an accurate fire extinguishing method capable of accurately finding a fire source, thoroughly extinguishing the fire source and safely returning to the home.
Background
With the rapid development of social economy, various industrial, civil and commercial buildings are emerging continuously, especially large-scale structural plants and underground buildings are appeared, and due to the particularity of the buildings, when a fire disaster happens, the fire can not be extinguished and escaped fast and efficiently.
The fire-extinguishing robot is an intelligent device produced along with the development of intelligent technology, and plays a role in putting out a fire and rescuing more and more. However, due to the technical development imperfection of the robot itself and the severe field environment of the robot during the reconnaissance fire extinguishing process, the problems of insensitive sensor induction, untimely control time, inaccurate fire source positioning, wrong fire extinguishing agent spraying direction, incapability of self-protection of the robot itself, blind return without judging whether the fire source is extinguished and the like are likely to occur, so that the fire extinguishing is incomplete, even the damage to the machine and personnel is caused, and the danger rescue field is very unfavorable.
For example, a fire-fighting robot based on binocular vision technology realizes the detection of the spatial position of flame by installing binocular vision equipment on a robot body, thereby controlling the ejection direction of a fire extinguishing agent to carry out fixed-point fire extinguishing. However, as the height of the robot body is lower, when a water column is emitted, the binocular vision positioning failure is easily caused by shielding the front sight; the jet drop point is not correct due to the influence of the air flow.
At present, no research is found in the field for the problem of judging whether the fire source is extinguished and then intelligently returning.
Therefore, how to realize the rapid and accurate positioning and complete fire extinguishing of the fire source in the high-risk environment is the key for determining whether the casualties and the property loss on the disaster site can be reduced.
Disclosure of Invention
The invention aims to solve at least one problem in the prior art and provides a safe and accurate fire extinguishing method based on an intelligent fire extinguishing robot. The method comprehensively considers factors such as fire field temperature, optimal safety distance of the robot, optimal emergent angle and initial speed of the fire extinguishing agent and the like, extinguishes fire efficiently, avoids obstacles and high-temperature damage intelligently, and returns to the home intelligently. The fire scene can be rescued as soon as possible, and the safety of the robot can be guaranteed to the maximum extent.
The technical scheme adopted by the invention for solving the technical problems is as follows: a safe and accurate fire extinguishing method based on an intelligent fire extinguishing robot is characterized in that:
1) firstly, detecting a fire source with the highest temperature by using a sensor;
2) meanwhile, detecting the temperature around the robot by using a sensor, and controlling the robot to walk to the position of the optimal fire extinguishing distance with the fire source based on the calibrated safe temperature threshold value of the robot;
3) utilize sensor to calculate the best distance of putting out a fire between robot and the fire source
4) Optimal fire extinguishing distance between robot and fire source based on finding
Calculating the optimal emergent angle and the minimum initial speed of the fire extinguishing agent by the following method:
based on a fluid mechanics equation f-6 pi η rv, when k-6 pi η r is determined, η and r are constant, k is a constant;
f: resistance of air to the agent;
η, coefficient of air viscosity;
r: the radius of the fire extinguishing agent fog particles;
v: instantaneous velocity of the fog particles;
decomposing the motion trail of the fire extinguishing agent into differential equation expressions in two directions:
horizontal direction:
the vertical direction is as follows:
x: the fire extinguishing agent is displaced in the horizontal direction;
y: the fire extinguishing agent is displaced in the vertical direction;
m: the mass of the atomized particles;
θ: the emergent angle of the fog particles;
since x is 0, y is 0 when t is 0,
v0: initial speed of fog particle emergence;
solving the differential equation yields:
and (3) removing t by combining the formulas (3) and (4) to obtain a motion trail equation of the fire extinguishing agent fog particles under the condition of air resistance:
because:
β, the included angle of the relative displacement of the robot and the fire source in the horizontal direction is known;
the following can be obtained:
because theta is always greater than β;
because theta is more than 90 degrees and less than 90 degrees and the theta is more than 90 degrees and less than β is more than 90 degrees;
therefore, cos θ < cos β;
from equation (11), the following relationship can be obtained:
finishing to obtain:
since cos θ < cos β, it is preferable that
therefore, the first and second electrodes are formed on the substrate,
is the minimum initial velocity;
further, the optimum emission angle is obtained from the equation (11)
Further, it is determined whether the robot is at the optimal fire extinguishing distance based on the following method:
d: a direction of travel marker;
Hinner part: the temperature inside the robot;
Houter cover: the robot external temperature;
a. b and c, wherein a is more than b and less than c, and the specific numerical values are obtained by experimental calibration according to the material selected by the equipment and the working temperature range of the part;
when D is 1, the robot can move forward, when D is 0, the robot should stop, and when D is-1, the robot should retreat at the optimal fire extinguishing distance.
Further: measuring and calculating the optimal fire extinguishing distance between the robot and the fire source
The method comprises the following steps:
two infrared sensors are arranged on the same horizontal position of the robot body, and the optimal fire extinguishing distance between the robot and a fire source is calculated based on the following pythagorean theorem
L distance between two infrared sensors;
α, an included angle between the infrared sensor probe and the connecting line of the two sensors;
when the robot is in the safe temperature threshold range, the measured included angle is the optimal included angle
The corresponding calculated fire extinguishing distance is the optimal fire extinguishing distance
Based on two infrared sensors, the optimal fire extinguishing distance between the robot and the fire source is calculated
In the case of (a) in (b),
by
The combination of the formulas (6) and (7) can obtain:
substituting formulae (8) and (9) into formula (5) to obtain:
L、
β are all known, therefore
From equation (10), the following relationship can be obtained:
finishing to obtain:
since cos θ < cos β,
therefore, it is
It is always true that,
then there is
The situation is always established;
further, the optimum emission angle is obtained from the equation (10)
Further: the method also includes determining whether the robot should initiate a return voyage based on:
b: whether the return flight is identified, wherein B is 1 to indicate return flight, and B is 0 to indicate no return flight;
Qsum(t): the current remaining total electric quantity of the battery;
q(s): the robot can automatically return to the required electric quantity;
q (H): the energy related to the height is measured by the inclination angle sensor, wherein the energy is positive when going up the slope and negative when going down the slope;
m (t): the current amount of fire suppressant remaining;
r: the distance the robot has traveled;
Compared with the prior art, the invention has the following remarkable beneficial effects:
1. the invention utilizes various sensor technologies and an algorithm to ensure that the robot can detect the fire source distance and the ambient temperature and adjust according to the corresponding temperature, thereby effectively ensuring the safety of the robot;
2. the fire point is locked through the sensor, the optimal emergent angle and the minimum small initial speed required by fire extinguishment are accurately calculated through an algorithm, the fire extinguishment is accurate, and meanwhile, the energy is saved to the maximum extent;
3. starting a return program at any time based on an energy consumption monitoring and judging mechanism;
4. the fire-extinguishing robot has two control modes, namely a manual mode and an autonomous mode, and the modes are automatically switched under the emergency conditions of network disconnection, no electricity and the like, so that the safety return of the robot is ensured;
5. the small laser radar cruising technology records the surrounding environment and the walking route, effectively avoids obstacles, better ensures that the machine can be accurately positioned when meeting emergency and safely navigates back.
6. The robot is a crawler-type robot, and the adaptability of the complex environment of the fire scene is greatly improved by matching with an infrared sensor of the machine body.
7. The robot has the function of automatically detecting the signal intensity, when the signal intensity is lower than a certain value, the robot throws the portable wireless repeater and communicates with the hand-held remote controller through the wireless repeater, so that the continuous communication between the robot and the remote controller is maintained to the maximum extent.
Other advantages and benefits of the present invention will become apparent from the description below.
Drawings
FIG. 1 is a schematic diagram of various sensor configurations of a fire-fighting robot;
FIG. 2 is a schematic diagram of two infrared sensors measuring the distance from the robot to the fire source;
FIG. 3 is a schematic diagram showing the movement locus of the fire extinguishing agent under the action of air resistance;
fig. 4 is a schematic diagram of the control of switching between the manual mode and the autonomous mode of the fire-fighting robot.
Detailed Description
The present invention is described in detail below with reference to the drawings and examples, but it should be understood by those skilled in the art that the following examples are not intended to limit the technical solutions of the present invention, and any equivalent changes or modifications made within the spirit of the technical solutions of the present invention should be considered as falling within the protection scope of the present invention.
The invention provides an intelligent fire-extinguishing robot which is driven into a field to extinguish fire, is controlled by a handheld remote controller, is communicated with a rear upper computer and is controlled by the upper computer. As shown in fig. 1, in order to realize accurate information transmission, a small laser radar 1 is arranged at the front part of the robot body and used for navigation, positioning and detection of a front obstacle; the camera 2 is arranged at a certain height of the top of the machine body and used for shooting field images, and the large infrared sensor 3 is also arranged at a certain height of the top of the machine body and used for detecting a fire source and measuring distance; an ultrasonic sensor 4 and a small infrared sensor 5 are arranged on the periphery of the machine body, the ultrasonic sensor 4 is used for recording a driving track and avoiding peripheral obstacles (the ultrasonic sensor can detect glass obstacles compared with a radar), and the small infrared sensor 5 is mainly used for detecting a fire source and feeding back flame temperature in real time; a wireless transmission module 6 is also arranged at any suitable position of the robot body and is used for information transmission between the robot and a rear upper computer; an inclination angle sensor is arranged in the machine body, the up-down slope state of the machine is recorded, and the vertical displacement of the robot is calculated; in addition, the robot also carries a plurality of small wireless repeaters, and is used for throwing the wireless repeaters at any time when communication signals of the robot and the handheld remote controller are weakened, so that the wireless repeaters are kept in contact with the handheld remote controller. Note: the "large" and "small" of the large infrared sensor 3 and the small infrared sensor 5 are only for distinction and have no substantial size requirement.
The working principle of the robot fire extinguishing is as follows: after the robot is conveyed to a fire extinguishing place, the robot is remotely controlled by a remote controller to enter a fire scene, and an infrared sensor is used for detecting a fire source, measuring distance and detecting flame temperature to realize fire extinguishing; recording the surrounding environment and the route of the walking by using a small laser radar and an ultrasonic sensor in real time and avoiding obstacles; the signal intensity is detected through the wireless transmission module, and when the signal intensity is lower than a certain set value, the robot throws the small wireless repeater, so that the continuous communication between the robot and the handheld remote controller is maintained to the maximum extent; utilize wireless communication module and host computer communication, through wireless communication, the host computer assigns the instruction to the robot, realizes the control to the robot.
The invention utilizes the large infrared sensors 3 to accurately find the fire source, furthermore, two large infrared sensors 3 can be arranged on the robot body and positioned at the same horizontal position to automatically align the part with the highest temperature of the fire scene, and the distance S between the robot and the fire source is calculated based on the pythagorean theorem, as shown in figure 2.
L distance between two large infrared sensors installed in front of the robot, known quantity;
α the included angle between the large infrared sensor probe and the connecting line of the two sensors, which is called the probe corner for short, is known quantity.
Meanwhile, the small infrared sensors arranged in four directions of the vehicle body are used for measuring the ambient temperature, and the robot is controlled to be in a safe distance based on the measured temperature, so that the robot is not damaged by high temperature, and the safety of the robot is ensured.
The method for judging whether the robot is at a safe distance and whether the robot should move forward or backward is as follows:
d: and a travel direction indicator, wherein D-1 indicates that the vehicle should move forward, D-0 indicates that the vehicle should stop, and D-1 indicates that the vehicle should move backward.
HInner part: the temperature inside the robot;
Houter cover: the robot external temperature;
a. b, c, a < b < c, and the specific values are obtained by experimental calibration according to the materials of the selected equipment and the working temperature range of the parts.
The judgment method can determine whether the robot moves forwards or backwards or stops at a fire scene and extinguishes fire, and is interpreted as follows: 1) if the internal temperature of the robot is less than a ℃ and the external temperature of the robot is less than b ℃, the robot is in a safe distance and can move forward to a fire source. 2) If the internal temperature of the robot exceeds b ℃ or the external temperature of the robot exceeds c ℃, the robot is in a dangerous distance and should retreat. 3) If the internal temperature of the robot is between a ℃ and b ℃ and the external temperature of the robot is between b ℃ and c ℃, the robot is in the optimal fire extinguishing distance and can stop to extinguish fire.
The fire-extinguishing robot is effectively protected from being damaged by high flame temperature by setting the safety distance; and according to the proper position of the robot under the condition that the temperature meets the requirement, the optimal rotation angle of the probe can be known
Thereby calculating the optimal fire extinguishing distance between the robot and the fire source
Based on the found location of the fire source with the highest temperature and the optimal fire extinguishing distance that the robot should be located, fire extinguishment can be safely implemented. In consideration of the problem of saving electricity to the maximum extent and the problem that the fire extinguishing agent is influenced by air resistance in the process of being sprayed from the pushing device to the fire source, the invention also adopts the following method to calculate the optimal emergent angle and the minimum initial speed of the fire extinguishing agent, and the motion track of the fire extinguishing agent is shown in figure 3.
Based on the fluid mechanics formula f ═ 6 pi η rv (for convenience of calculation, k ═ 6 pi η r, and f ═ kv):
f: resistance of air to the agent;
η, coefficient of air viscosity;
r: fog particle radius (atomization of fire extinguishing agent into countless fog particles);
v: instantaneous emergence speed of fog particles.
The motion trail of the fire extinguishing agent fog particles is divided into two directions, and the differential equation is expressed as follows:
horizontal direction:
the vertical direction is as follows:
since x is 0, y is 0 when t is 0,
solving the differential equation yields:
and (3) and (4) are combined to eliminate t, and the motion trail equation of the fire extinguishing agent under the condition of air resistance can be obtained:
x: the fire extinguishing agent is displaced in the horizontal direction;
y: the fire extinguishing agent is displaced in the vertical direction;
m: the mass of the atomized particles;
θ: an exit angle;
v0: and emitting the initial speed.
From fig. 3, the following relationship can be obtained (simplifying the robot to one point):
β included angle between the robot and the fire source in horizontal direction.
By
The combination of the formulas (6) and (7) can obtain:
substituting formulae (8) and (9) into formula (5) to obtain:
since L is known, α can be measured by sensors, only θ and v in equation (10)0Is an unknown quantity.
The combination of practical analysis shows that theta is greater than β;
and because theta is more than 90 degrees and less than 90 degrees and 90 degrees is more than β and less than 90 degrees,
therefore, cos θ < cos β.
The following relationship can be obtained from equation (10):
finishing to obtain:
since cos θ < cos β,
therefore, it is
It is always true that,
then there is
Always on the condition that
Is a constant).
Further, the optimum emission angle is obtained from the equation (10)
The fire extinguishing robot is matched with the track to realize the accurate extinguishing of the fire source and complete the current fire source extinguishing task.
After the current fire source fire extinguishing task is completed, the fire extinguishing robot automatically searches the next highest temperature point in the fire field, and continues to extinguish fire according to the method.
Further, before continuing to extinguish the next fire source, whether the current fire source is extinguished or not needs to be judged according to the following judgment modes:
p: whether the fire source is extinguished or not, wherein P is 1 to indicate that the fire source is extinguished, and P is 0 to indicate that the fire source is not extinguished;
h: the current fire source temperature.
If the temperature detected by the current small infrared sensor 5 is less than 100 ℃, the fire is considered to be successfully extinguished, if the detected temperature is greater than or equal to 100 ℃, the fire is considered to be unsuccessfully extinguished, and the fire extinguishing agent is continuously sprayed until the detected temperature is lower than 100 ℃.
The robot extinguishment may take two modes, a manual mode and an autonomous mode, as shown in fig. 4. In the manual mode, an operator can operate the robot at any time by observing the pictures collected by the camera, and when the operator does not operate the remote controller, the robot is immediately switched to the autonomous mode to autonomously control fire extinguishing; when the operator operates the remote controller, the machine immediately listens to the instruction of manual operation (the manual operation has priority operation right).
The robot can detect the signal intensity in real time during the driving process, and when the signal intensity is enough, the robot can be directly controlled by a remote controller; when the signal strength is lower than a certain value, the robot automatically throws the small wireless repeater, and the robot can still adopt a manual mode by keeping continuous communication with the remote controller through the wireless repeater. When the wireless repeater is damaged or some other emergency causes the communication between the robot and the remote controller to be interrupted, the robot is switched to the self-master mode.
Under manual mode and the autonomous mode, the robot can both implement independently keeping away the barrier according to the information of small-size laser radar and ultrasonic sensor real-time feedback, seeks the source of a fire according to the information of infrared sensor feedback and implements to put out a fire.
Further, in the process that the robot reaches the fire extinguishing point from the starting point, the data processing center can calculate the electric energy consumed when the robot reaches the fire extinguishing site. And starting an automatic return journey program under the condition that the fire extinguishing agent or the electric energy is lower than the minimum amount, and judging whether the automatic return journey program is started or not according to the following judgment:
b: whether the return flight is identified, wherein B is 1 to indicate return flight, and B is 0 to indicate no return flight;
Qsum(t): the current remaining total electric quantity of the battery;
q(s): the robot can automatically return to the required electric quantity, and the electric quantity is calculated by the system;
q (H): the energy related to the height is measured by the inclination angle sensor, wherein the energy is positive when going up the slope and negative when going down the slope;
m (t): the current amount of fire suppressant remaining;
r: the distance the robot has traveled;
If the residual electric energy in the current vehicle is less than the sum of the electric energy of the robot reaching the fire extinguishing site and the energy of the robot going up and down the slope or the current residual fire extinguishing agent is not enough to extinguish the fire passing through the route when the robot comes, the robot automatically starts the return procedure, and if the two conditions are met, the fire extinguishing robot continues to extinguish the fire.
Furthermore, in the fire extinguishing process, the temperature of the robot body cannot be prevented from rising, and therefore, the cooling measure is designed, the fan at the tail of the robot is driven by redundant electric power to cool the robot body, and the robot and components in the robot are protected, so that the working performance is prevented from being influenced by overhigh temperature.
Further, the material for extinguishing fire by the robot is selected from water-based fire extinguishing agents, and one liter of water-based fire extinguishing agent can extinguish 4m2～5m2While on the metal materialNo damage, protection of mechanical elements from secondary damage in the process of fire extinguishing, and no re-ignition of the extinguished fire in a short time. The fire extinguishing efficiency is far higher than that of other fire extinguishing materials on the market.
Furthermore, the fire extinguishing agent is atomized by an ultrasonic atomizer in advance, and atomized particles are 1-5 um.
Further, the robot is a tracked robot.
Claims (6)
1. A safe and accurate fire extinguishing method based on an intelligent fire extinguishing robot is characterized in that:
1) firstly, detecting a fire source with the highest temperature by using a sensor;
2) meanwhile, detecting the temperature around the robot by using a sensor, and controlling the robot to walk to the position of the optimal fire extinguishing distance with the fire source based on the calibrated safe temperature threshold value of the robot;
3) utilize sensor to calculate the best distance of putting out a fire between robot and the fire source
4) Optimal fire extinguishing distance between robot and fire source based on finding
Calculating the optimal emergent angle and the minimum initial speed of the fire extinguishing agent by the following method:
based on a fluid mechanics equation f-6 pi η rv, when k-6 pi η r is determined, η and r are constant, k is a constant;
f: resistance of air to the agent;
η, coefficient of air viscosity;
r: the radius of the fire extinguishing agent fog particles;
v: instantaneous velocity of the fog particles;
decomposing the motion trail of the fire extinguishing agent into differential equation expressions in two directions:
horizontal direction:
the vertical direction is as follows:
x: the fire extinguishing agent is displaced in the horizontal direction;
y: the fire extinguishing agent is displaced in the vertical direction;
m: the mass of the atomized particles;
θ: the emergent angle of the fog particles;
since x is 0, y is 0 when t is 0,
v0: initial speed of fog particle emergence;
solving the differential equation yields:
and (3) removing t by combining the formulas (3) and (4) to obtain a motion trail equation of the fire extinguishing agent fog particles under the condition of air resistance:
because:
β, the included angle of the relative displacement of the robot and the fire source in the horizontal direction is known;
the following can be obtained:
because theta is always greater than β;
because theta is more than 90 degrees and less than 90 degrees and the theta is more than 90 degrees and less than β is more than 90 degrees;
therefore, cos θ < cos β;
from equation (11), the following relationship can be obtained:
finishing to obtain:
since cos θ < cos β, it is preferable that
therefore, the first and second electrodes are formed on the substrate,
is the minimum initial velocity;
further, the optimum emission angle is obtained from the equation (11)
2. The safe and accurate fire extinguishing method based on the intelligent fire extinguishing robot according to claim 1, characterized in that: determining whether the robot is at the optimal fire extinguishing distance based on the following judgment formula:
d: a direction of travel marker;
Hinner part: the temperature inside the robot;
Houter cover: the robot external temperature;
a is more than b and less than c, and the specific numerical value is obtained by experimental calibration according to the working temperature range of the material and the component selected by the equipment;
when D is 1, the robot can move forward, when D is 0, the robot should stop, and when D is-1, the robot should retreat at the optimal fire extinguishing distance.
3. The safe and accurate fire extinguishing method based on the intelligent fire extinguishing robot as claimed in claim 1 or 2, wherein: measuring and calculating the optimal fire extinguishing distance between the robot and the fire source
The method comprises the following steps:
two infrared sensors are arranged on the same horizontal position of the robot body, and the optimal fire extinguishing distance between the robot and a fire source is calculated based on the following pythagorean theorem
L distance between two infrared sensors;
α, an included angle between the infrared sensor probe and the connecting line of the two sensors;
when the robot is in the safe temperature threshold range, the measured included angle is the optimal included angle
The corresponding calculated fire extinguishing distance is the optimal fire extinguishing distance
4. The safe and accurate fire extinguishing method based on the intelligent fire extinguishing robot as claimed in claim 3, wherein: based on two infrared sensors, the optimal fire extinguishing distance between the robot and the fire source is calculated
In the case of (a) in (b),
by
The combination of the formulas (6) and (7) can obtain:
substituting formulae (8) and (9) into formula (5) to obtain:
L、
β are all known, therefore
From equation (10), the following relationship can be obtained:
finishing to obtain:
since cos θ < cos β,
therefore, it is
It is always true that,
then there is
The situation is always established;
further, the optimum emission angle is obtained from the equation (10)
5. The safe and accurate fire extinguishing method based on the intelligent fire extinguishing robot according to claim 1, characterized in that: the robot carries a wireless repeater with the robot, and when the intensity of a communication signal of the robot is lower than a certain set value, the wireless repeater is thrown, so that the wireless repeater and the handheld remote controller keep continuous communication.
6. The safe and accurate fire extinguishing method based on the intelligent fire extinguishing robot according to claim 1 or 5, characterized in that: the method further comprises the step of judging whether the robot should start return voyage or not based on the following method:
b: whether the return flight is identified, wherein B is 1 to indicate return flight, and B is 0 to indicate no return flight;
Qsum(t): the current remaining total electric quantity of the battery;
q(s): the robot can automatically return to the required electric quantity;
q (H): the energy related to the height is measured by the inclination angle sensor, wherein the energy is positive when going up the slope and negative when going down the slope;
m (t): the current amount of fire suppressant remaining;
r: the distance the robot has traveled;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010349827.9A CN111494847B (en) | 2020-04-28 | 2020-04-28 | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010349827.9A CN111494847B (en) | 2020-04-28 | 2020-04-28 | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111494847A true CN111494847A (en) | 2020-08-07 |
| CN111494847B CN111494847B (en) | 2021-07-13 |
Family
ID=71866400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010349827.9A Active CN111494847B (en) | 2020-04-28 | 2020-04-28 | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111494847B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388678A (en) * | 2020-11-04 | 2021-02-23 | 公安部第三研究所 | Behavior detection robot based on low-power-consumption pattern recognition technology |
| CN113521625A (en) * | 2021-07-19 | 2021-10-22 | 上海磐鸿科技（营口）有限公司 | Movable high-pressure fog gun with double working liquids |
| 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 |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102872562A (en) * | 2012-10-25 | 2013-01-16 | 北京化工大学 | Indoor intelligent fire-fighting robot |
| CN104784852A (en) * | 2015-04-20 | 2015-07-22 | 公安部天津消防研究所 | Method for calculating jet flow pitching angle of compressed air foam smart gun |
| CN104784853A (en) * | 2015-05-04 | 2015-07-22 | 上海赛复安防科技有限公司 | Jet flow pitch angle control method of large-space intelligent fire water cannon |
| CN205252357U (en) * | 2015-12-01 | 2016-05-25 | 重庆智恒科技咨询有限公司 | Fire hazard prevention inspection of scene of a crime car disappears |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN107093314A (en) * | 2017-05-19 | 2017-08-25 | 芜湖普唯特智能装备有限公司 | It is a kind of to be used to strengthen the communication system of Robot remote distance |
| CN107224692A (en) * | 2017-06-26 | 2017-10-03 | 福州大学 | The wheeled autonomous aiming extinguishing method of fire-fighting robot |
| CN108939369A (en) * | 2018-05-25 | 2018-12-07 | 上海工程技术大学 | A kind of determination method for fire water monitor jet stream drop point |
| CN109303995A (en) * | 2018-09-12 | 2019-02-05 | 东南大学 | Fire-fighting robot fire monitor control method based on fire source fixation and recognition |
| CN110673603A (en) * | 2019-10-31 | 2020-01-10 | 郑州轻工业学院 | Fire scene autonomous navigation reconnaissance robot |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
-
2020
- 2020-04-28 CN CN202010349827.9A patent/CN111494847B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102872562A (en) * | 2012-10-25 | 2013-01-16 | 北京化工大学 | Indoor intelligent fire-fighting robot |
| CN104784852A (en) * | 2015-04-20 | 2015-07-22 | 公安部天津消防研究所 | Method for calculating jet flow pitching angle of compressed air foam smart gun |
| CN104784853A (en) * | 2015-05-04 | 2015-07-22 | 上海赛复安防科技有限公司 | Jet flow pitch angle control method of large-space intelligent fire water cannon |
| CN205252357U (en) * | 2015-12-01 | 2016-05-25 | 重庆智恒科技咨询有限公司 | Fire hazard prevention inspection of scene of a crime car disappears |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN107093314A (en) * | 2017-05-19 | 2017-08-25 | 芜湖普唯特智能装备有限公司 | It is a kind of to be used to strengthen the communication system of Robot remote distance |
| CN107224692A (en) * | 2017-06-26 | 2017-10-03 | 福州大学 | The wheeled autonomous aiming extinguishing method of fire-fighting robot |
| CN108939369A (en) * | 2018-05-25 | 2018-12-07 | 上海工程技术大学 | A kind of determination method for fire water monitor jet stream drop point |
| CN109303995A (en) * | 2018-09-12 | 2019-02-05 | 东南大学 | Fire-fighting robot fire monitor control method based on fire source fixation and recognition |
| CN110673603A (en) * | 2019-10-31 | 2020-01-10 | 郑州轻工业学院 | Fire scene autonomous navigation reconnaissance robot |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388678A (en) * | 2020-11-04 | 2021-02-23 | 公安部第三研究所 | Behavior detection robot based on low-power-consumption pattern recognition technology |
| CN113521625A (en) * | 2021-07-19 | 2021-10-22 | 上海磐鸿科技（营口）有限公司 | Movable high-pressure fog gun with double working liquids |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111494847B (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111494847B (en) | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot | |
| CN213211265U (en) | Unmanned vehicle for initiating fire suppression action | |
| KR101739262B1 (en) | The unmanned air vehicle for castaway tracking | |
| CN113730860A (en) | Autonomous fire extinguishing method of fire-fighting robot in unknown environment | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| Kim et al. | Sensor fusion based seek-and-find fire algorithm for intelligent firefighting robot | |
| CN112691314B (en) | Fire extinguishing system | |
| CN109045524A (en) | A kind of Intelligent fire-fighting robot and intelligent fire extinguishing system | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| KR101530704B1 (en) | fire fighting robot having high waterproof property | |
| CN214633516U (en) | Normalized fire condition patrol early-warning fire rescue air-ground robot | |
| KR101530844B1 (en) | fire fighting robot having high waterproof property and high wireless communication capabilty | |
| CN112675459A (en) | Autonomous detection positioning and accurate fire extinguishing robot system and use method | |
| CN113805586A (en) | Autonomous fire-fighting special explosion-proof robot | |
| CN115599091B (en) | Intelligent inspection robot for extremely early fire intervention of warehouse and fire control linkage control method thereof | |
| CN114028751A (en) | Underground master-slave type fire-extinguishing robot system and master and slave fire-extinguishing robots | |
| Miyazawa | Fire robots developed by the Tokyo Fire Department | |
| CN115708940A (en) | Autonomous traceability fire-fighting robot | |
| CN105955307B (en) | Positioning method for water spray falling point of fire water monitor and fire-fighting robot | |
| CN114310961A (en) | Intelligent fire prevention robot that multisensor fuses based on vision | |
| CN110201333B (en) | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot | |
| CN112618992B (en) | Low-cost suicide networking fire extinguishing method and unmanned aerial vehicle system | |
| CN209108492U (en) | Level land formula Initiative Defense intelligent alarm firefighting robot | |
| CN114743342A (en) | Building site flame identification system based on artificial intelligence | |
| CN113521616A (en) | Fire-fighting robot, scheduling method and fire extinguishing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |