CN111617415A - Fully-autonomous fire-fighting robot operating system in complex environment and working method - Google Patents
Fully-autonomous fire-fighting robot operating system in complex environment and working method Download PDFInfo
- Publication number
- CN111617415A CN111617415A CN202010522833.XA CN202010522833A CN111617415A CN 111617415 A CN111617415 A CN 111617415A CN 202010522833 A CN202010522833 A CN 202010522833A CN 111617415 A CN111617415 A CN 111617415A
- Authority
- CN
- China
- Prior art keywords
- fire
- robot
- fighting
- fighting robot
- module
- 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.)
- Pending
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
Abstract
The invention relates to a fully autonomous fire-fighting robot operating system in a complex environment and a working method thereof, wherein the system at least comprises a fire-fighting robot, and the fire-fighting robot comprises: the mobile platform is used for driving the fire-fighting robot to walk, and the operation module, the sensing module, the control module, the communication module and the energy module are installed on the mobile platform. When a single fire-fighting robot works independently, the functions of full-autonomous map construction, reconnaissance and fire extinguishing are realized; when multiple fire-fighting robots work in a cooperative mode, the first fire-fighting robot shares the map constructed by the first fire-fighting robot to the rest fire-fighting robots in a wireless mode, the rest fire-fighting robots achieve the positioning of the positions of the rest fire-fighting robots according to the partial map construction matching identification technology of the rest fire-fighting robots, the cooperative reconnaissance and fire extinguishing functions are achieved, the cooperative operation capacity of the robots is greatly improved, and the disaster site rescue efficiency is improved. And do not need artifical closely to control, improve the security of fire control and put out a fire.
Description
Technical Field
The invention belongs to the technical field of fire-fighting robots, and particularly relates to a fully-autonomous fire-fighting robot operating system and a working method in a complex environment.
Background
The fire-fighting robot is one of special robots and plays a role in reconnaissance, fire extinguishment and emergency rescue. The field commander can use the method to perform early suppression and make scientific judgment on the disaster situation in time according to the feedback result, thereby making a correct and reasonable decision on the field work of the disaster accident.
At present, a fire-fighting robot which is put into use at home and abroad generally takes a full-terrain chassis with power as a running and loading base body, fire extinguishing equipment, decontamination equipment, smoke exhaust equipment, lighting equipment, detection equipment and the like are loaded on the base body to carry out various special rescue operations, and loading data acquisition, processing and feedback equipment are loaded to carry out field data feedback, the control and transmission of all the equipment are carried out through wireless transmission, and the application of the fire-fighting robot obviously improves the capability of processing serious accidents and greatly reduces casualties of personnel.
The existing fire-fighting robot is mostly in a semi-automatic state and needs to depend on manual remote control. When multiple robots enter a disaster site to perform reconnaissance, fire extinguishing and rescue, different workers are required to respectively control the operation.
For example, patent application No. CN201821656812.1 discloses modularization fire prevention robot that disappears suitable for subway rescue, including robot body and remote control terminal, uses robot body and remote control terminal to realize wireless communication, finally realizes that the fire control official soldier carries out fire control investigation and work of putting out a fire in long distance outside.
The patent with the application number of CN201721504560.6 discloses a fire control robot control system that discharges fume and put out a fire, and the robot adopts diesel internal-combustion engine as the power supply, and the various actions of robot are controlled to the control command that the robot control box sent through wireless mode receipt remote control case, receive various sensor signal conveying to remote control case demonstration, real time monitoring equipment running state.
For a robot method for coordinated reconnaissance and fire extinguishing, an outdoor GPS positioning method or an indoor positioning method through a beacon base station is mainly adopted at present, and a typical scheme is an accurate fire extinguishing system based on an unmanned aerial vehicle and an intelligent fire-fighting robot, which is published in the invention patent with the application number of 201721688135.7. Rotor unmanned aerial vehicle utilizes GPS, laser range finding sensor, boat appearance sensor, machine carries cloud platform and image processing technique to carry out accurate positioning to fire point and efflux point in proper order, and intelligence fire-fighting robot constantly adjusts the course angle and the angle of pitch of fire water monitor according to locating information to make the efflux point of fall accurately cover the fire point region, form the accurate fire extinguishing of closed loop. Similar cases also include a fire-fighting robot cooperative positioning and autonomous operation method under the complex environment with the application number of 201910485359.5, an unmanned aerial vehicle and fire-fighting robot cooperative reconnaissance fire-extinguishing operation method with the application number of 201910485349.1, and the like.
On the one hand, the environment and the terrain of a fire scene are complex, more ground or even aerial obstacles need to be crossed or avoided, the existing robots mostly adopt a semi-automatic wireless remote control mode at present, the robot is observed and operated by matching a front-end camera or an obstacle avoidance sensor to the obstacles in front of the robot body by manpower in a distance of hundreds of meters, and when dense fog occurs in the front, the method is easy to cause robot damage due to the fact that the robot collides with the front-end obstacles. Because of the need for close-range manual remote control, when the robot is exposed to an explosive or toxic gas environment, the operator is threatened, and the fire-extinguishing robot scheme adopting semi-automatic manual remote control is not suitable.
On the other hand, when a plurality of fire-fighting robots are required to operate simultaneously on site, workers need to remotely control the robots to operate independently, coupling interference is easily generated between the robots and the site environment, namely for a certain robot, other robots and surrounding obstacles are factors which interfere the normal operation of the robot.
The method of positioning by using the GPS is only suitable for outdoor open environments, and is not suitable for indoor environments. The method adopting the unmanned aerial vehicle for auxiliary positioning also has the problem of high requirements on the field environment.
Disclosure of Invention
The invention aims to provide a fully autonomous fire-fighting robot operating system in a complex environment, which adopts the combination of an explosion-proof laser radar and an obstacle avoidance sensor to realize on-site environment modeling, motion obstacle avoidance and path planning, realizes automatic tracking of a fire source by matching with the sensor, and completes fully autonomous intelligent reconnaissance and fire extinguishment by using a fire monitor.
The technical scheme adopted by the invention for solving the technical problems is as follows:
full autonomic fire-fighting robot operating system under complex environment includes a fire-fighting robot at least, fire-fighting robot includes: the fire fighting robot system comprises a mobile platform, an operation module, a sensing module, a control module, a communication module and an energy module, wherein the mobile platform is used for driving the fire fighting robot to walk; the mobile platform, the operation module, the sensing module, the communication module and the energy module are all connected with the control module;
the mobile platform comprises a vehicle body, a power driving mechanism arranged in the vehicle body, and traveling mechanisms arranged on two sides of the vehicle body and connected with the power driving mechanism; the operation module comprises a fire water monitor and an infrared thermal imager which are arranged above the vehicle body, and the infrared thermal imager is used for identifying and tracking a fire source; the sensing module comprises an obstacle avoidance sensor, a laser radar and a detection sensor which are arranged on the vehicle body, wherein the obstacle avoidance sensor is used for identifying an obstacle in front of the robot, and the obstacle avoidance is realized by matching with an algorithm; the laser radar is used for scanning the terrain in front of the fire-fighting robot so as to realize image modeling; the detection sensor is used for detecting the field environment parameters; the control module is used for realizing information fusion, instruction analysis and coding, motion control and operation of the fire-fighting robot; the communication module is used for realizing that the fire-fighting robot receives an external instruction and sends acquired parameters; the energy module is used for providing electric energy for movement and operation for the fire-fighting robot; the control module, the communication module and the energy module are all arranged in the vehicle body.
Further, the power driving mechanism comprises a driving motor for providing power, a speed reducing box assembly for performing power speed reduction on the driving motor, and a driver for driving the driving motor; the driver is connected with the control module and the energy module, the driver is further connected with the driving motor, the output end of the driving motor is connected to the traveling mechanism through the reduction gearbox assembly, and the traveling mechanism can be in a hanging crawler type or a wheel type according to requirements.
Furthermore, in order to improve the full-automatic tracing ability of the fire source, the operation module further comprises a cradle head module, the cradle head module can be adjusted in angle, and the infrared thermal imager is arranged on the cradle head module. In order to improve the function of the fire-fighting robot for detecting the front working environment and improve the safety and the working efficiency during working, the working module further comprises a first camera; in order to improve the detection function of the robot on the working environment around the site, the first camera is arranged on the holder module. Furthermore, the holder module is a one-dimensional horizontal or vertical holder; in order to improve the omnibearing detection and observation capability of the environment, the holder module can also be a two-dimensional holder, so that synchronous horizontal and vertical angle adjustment observation is realized.
Furthermore, in order to improve the observation of the water jet condition of the fire-fighting robot during fire extinguishing, the upper end of the fire-fighting water monitor is provided with a second camera.
Furthermore, in order to improve the monitoring effect on the field environmental parameters, the detection sensor comprises a gas sensor and a temperature and humidity sensor.
Further, when the disaster site temperature is higher, the robot is close to or needs to get into places such as fire and explosion, and fire-fighting robot still can set up the cooling module that sprays, the cooling module that sprays is connected with control module, and the cooling module that sprays sets up in the middle of the automobile body top, and the water course of fire water monitor is connected to the water inlet of the cooling module that sprays.
Further, for improving the lighting effect of the fire-fighting robot in a dark environment, the fire-fighting robot further comprises a lamplight lighting assembly, the lamplight lighting assembly is arranged at the front end of the vehicle body, and the lamplight lighting assembly is connected with the control module.
The invention also aims to provide a working method of the fully-autonomous fire-fighting robot operating system in the complex environment, the fire-fighting robot entering the disaster site firstly adopts a laser radar to model the environment and position the robot, and the autonomous positioning of other fire-fighting robots is realized through information interaction, so that the multi-machine cooperative interaction operation is realized, and the on-site reconnaissance and fire-fighting operating efficiency is improved.
The working method of the fully autonomous fire-fighting robot operating system in the complex environment comprises a method for reconnaissance and fire extinguishment of a single fire-fighting robot and a method for cooperative reconnaissance and fire extinguishment of a plurality of fire-fighting robots.
The method for reconnaissance and fire extinguishing of the single fire-fighting robot comprises the following steps:
when a robot is required to enter reconnaissance and fire extinguishing operation in a disaster site, the fire-fighting robot plays roles in map construction, autonomous search, map navigation and operation:
1) the robot moves: the working personnel sends out an instruction, the communication module of the fire-fighting robot receives the instruction and then transmits the instruction to the control module, and the control module controls the power driving mechanism to drive the traveling mechanism to move so as to drive the robot to enter a specified place to be operated;
2) constructing a robot position environment modeling map: in the moving process of the fire-fighting robot, the control module controls the laser radar to work, scans and searches the environment in front of the fire-fighting robot and constructs a regional map, and determines the position of the fire-fighting robot in the map; meanwhile, the fire-fighting robot also memorizes the moving route of the fire-fighting robot;
3) the robot keeps away the barrier: in the moving process of the fire-fighting robot, the control module controls the obstacle avoidance sensor to work, so that the obstacle in front of the vehicle body is distinguished; when an obstacle is encountered, the fire-fighting robot stops moving forwards and avoids the obstacle by matching with a modeled map, marks are carried out in the map, and guidance is provided for a return or other robots to enter the site;
4) autonomous scouting of the robot: in the moving or static process of the fire-fighting robot, the control module controls a gas sensor and a temperature and humidity sensor in the detection sensor to work, so that the collection of the gas and temperature and humidity parameters of the field environment is realized; meanwhile, the control module is matched with the control holder module to drive the first camera to operate, images and videos of the surrounding field environment of the fire-fighting robot are detected, and the acquired and detected field environment parameters, images and videos are uploaded through the communication module and are provided for staff to analyze and make decisions;
5) the robot extinguishes fire independently: the control module controls the cradle head module to carry out angle adjustment to drive the infrared thermal imager to scan the environment, and when the position of a fire source is detected, the control module controls the fire water monitor to carry out angle adjustment to realize fire extinguishing; in the process, the control module controls the second camera to work, so that the spraying condition of water flow during fire extinguishing is observed, and the observed image video is also uploaded through the communication module to be supplied to workers for position fine adjustment;
6) the robot automatically cools: when the fire-fighting robot enters a high-temperature field such as a fire disaster and conducts reconnaissance and fire extinguishment, the control module controls the spraying and cooling module to be opened, water flow and mist spraying are achieved, the temperature of the fire-fighting robot is reduced, and the upper assembly and the internal components are protected;
7) robot illumination: when the field illumination is insufficient, the control module controls the light illumination assembly to be started to realize the light supplement function.
The method for the cooperative reconnaissance and fire extinguishment of the plurality of fire-fighting robots comprises the following steps:
when a plurality of robots are required to simultaneously scout and extinguish fire in a disaster site, a first fire-fighting robot serves as a host, serves as a map building role and an autonomous searching role, and comprises the steps 1) -7) as well as a map building and sharing step: when the first fire-fighting robot completes construction of part or all of the on-site environment modeling maps, the control module of the first fire-fighting robot controls the communication module to send the constructed map information, obstacle avoidance information, on-site disaster information and driving route parameter information to the rest of the fire-fighting robots;
the rest fire-fighting robots are used as slave machines and have the roles of autonomous search, map navigation and cooperative operation, the control modules of the rest fire-fighting robots control the communication modules to receive the parameter information sent by the first fire-fighting robot, and the steps of map matching identification and robot cooperative operation are also included besides the steps 1) to 7),
the map matching identification step is as follows: during the movement of the rest fire-fighting robots, the control module of each fire-fighting robot controls the laser radar to work, scans and searches the environment in front of the fire-fighting robot and constructs a regional map, matches and identifies the map construction information sent back by the first fire-fighting robot, and determines the position information of the current fire-fighting robot in the whole map;
the robot collaborative operation steps are as follows: the rest fire-fighting robots simultaneously perform reconnaissance, parameter acquisition and fire source identification on the disaster site environment according to the parameter information shared by the first fire-fighting robot, and perform collaborative fire-extinguishing operation after the identification is completed; when the first fire-fighting robot and the rest fire-fighting robots work, the control module of each fire-fighting robot carries out information interaction through the communication module, shares self map construction, parameter acquisition, obstacle judgment, route walking and on-site disaster parameters, and improves the cooperative work capacity of the robot system.
The invention has the following beneficial effects: the invention provides the operating system and the operating method of the fully-autonomous fire-fighting robot system in the complex environment, so that when a single fire-fighting robot works independently, the fully-autonomous map construction, reconnaissance and fire extinguishing functions are realized; when multiple fire-fighting robots work in a cooperative mode, the first fire-fighting robot shares the map constructed by the first fire-fighting robot to the rest fire-fighting robots in a wireless mode, the rest fire-fighting robots achieve the positioning of the positions of the rest fire-fighting robots according to the partial map construction matching identification technology of the rest fire-fighting robots, the cooperative reconnaissance and fire extinguishing functions are achieved, the cooperative operation capacity of the robots is greatly improved, and the disaster site rescue efficiency is improved. And do not need artifical closely to control, improve the security of fire control and put out a fire.
Drawings
FIG. 1 is a schematic view of the cooperative operation of the fully autonomous fire-fighting and fire-extinguishing reconnaissance robot system of the present invention.
Fig. 2 is a schematic perspective view of the autonomous fire-fighting and fire-extinguishing reconnaissance robot according to the present invention.
Fig. 3 is a schematic view of the main view structure of the autonomous fire-fighting and fire-extinguishing reconnaissance robot of the present invention.
Fig. 4 is a left view structural schematic diagram of the fully autonomous fire-fighting and fire-extinguishing reconnaissance robot of the invention.
FIG. 5 is a schematic view of the right side view of the autonomous fire fighting and reconnaissance robot according to the present invention.
Fig. 6 is a schematic view of the rear view structure of the autonomous fire-fighting and fire-extinguishing reconnaissance robot according to the present invention.
Fig. 7 is a schematic top view of the autonomous fire-fighting and fire-extinguishing reconnaissance robot according to the present invention.
FIG. 8 is a schematic view of the fully autonomous fire fighting and reconnaissance robot with the bottom plate removed.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.
As shown in fig. 1, the fully autonomous fire-fighting robot operating system in a complex environment includes at least one fire-fighting robot, which is labeled as a first fire-fighting robot, a second fire-fighting robot, … … and an xth fire-fighting robot. When a single robot works fully autonomously, X is 1; when a plurality of robot systems work, X is more than or equal to 2.
For any fire-fighting robot, as shown in fig. 2-8, the fire-fighting robot at least comprises the following components in electrical and mechanical composition: the system comprises a mobile platform 1 for driving the fire-fighting robot to walk, an operation module 2, a sensing module 3, a control module 4, a communication module 5 and an energy module 6 which are arranged on the mobile platform 1; the mobile platform 1, the operation module 2, the sensing module 3, the communication module 5 and the energy module 6 are all connected with the control module 4.
The moving platform 1 is a crawler-type moving chassis, as shown in fig. 7 and 8, the moving platform 1 includes a vehicle body 12, a power driving mechanism 11 disposed inside the vehicle body 12, and a traveling mechanism 13 disposed on two sides of the vehicle body 12 and connected to the power driving mechanism 11.
Further, the power driving mechanism 11 includes a driving motor 111 for providing power, a reduction box assembly 112 for performing power reduction on the driving motor 111, and a driver 113 for driving the driving motor 111, as shown in fig. 8. The driver 113 is connected with the control module 4 and the energy module 6, the driver 113 is further connected with the driving motor 111, and the output end of the driving motor 111 is connected to the traveling mechanism 13 through the reduction gearbox assembly 112.
In some embodiments of the present invention, the traveling mechanism 13 may be a suspended crawler type or a wheel type according to the needs of the on-site environment.
The operation module 2 comprises a fire water monitor 21 and an infrared thermal imager 22, as shown in fig. 5, the fire water monitor 21 is arranged above the vehicle body 12 and used for realizing water spraying fire extinguishing; the infrared thermal imager 22 is disposed behind the vehicle body 12 for identifying and tracking the fire source.
In some embodiments of the present invention, in order to improve the full-automatic fire source tracking capability, the operation module 2 further includes a pan-tilt module 23, as shown in fig. 5, the pan-tilt module 23 can perform angle adjustment, and the infrared thermal imager 22 is disposed on the pan-tilt module 23 to adjust the fire source tracking angle.
In some embodiments of the present invention, in order to improve the function of the fire-fighting robot for detecting the working environment ahead and improve the safety and work efficiency during working, the working module 2 further includes a first camera 24, as shown in fig. 4.
Further, in order to improve the detection function of the robot on the working environment around the site, the first camera 24 is disposed on the pan/tilt module 23. The first camera 24 realizes the azimuth-changing observation of the surrounding environment through the angle adjustment of the pan-tilt module 23.
Furthermore, the pan/tilt head module 23 is a one-dimensional horizontal or vertical pan/tilt head; in order to improve the omnibearing detection and observation capability of the environment, the holder module 23 can also be a two-dimensional holder, so that synchronous horizontal and vertical angle adjustment observation is realized.
Furthermore, in order to improve the observation of the water jet of the fire-fighting robot during fire fighting, the upper end of the fire monitor 21 is provided with a second camera 25, as shown in fig. 4.
The sensing module 3 at least comprises an obstacle avoidance sensor 31 and a laser radar 32 which are arranged at the front end of the vehicle body 12, and a detection sensor 33 which is arranged on the vehicle body 12, as shown in fig. 3 and 5, the obstacle avoidance sensor 31 is used for identifying an obstacle in front of the robot, and the obstacle avoidance is realized by matching with an algorithm; the laser radar 32 is used for scanning the terrain in front of the fire-fighting robot so as to realize image modeling; the detection sensor 33 is used for detecting the field environment parameters;
further, in order to improve the monitoring effect on the field environmental parameters, the detection sensor 33 includes a gas sensor 331 and a temperature and humidity sensor 332, as shown in fig. 3 and 6.
The control module 4 is used for realizing information fusion, instruction analysis and coding, motion control and operation of the fire-fighting robot, and the control module 4 is arranged in the vehicle body 12.
The communication module 5 is used for realizing that the fire-fighting robot receives external instructions and sends collected parameters, and the communication module 5 is arranged in the vehicle body 12.
The energy module 6 is used for providing electric energy for movement and operation for the fire-fighting robot, and the energy module 6 is arranged in the vehicle body 12.
Further, when the disaster site temperature is high, the robot is close to or needs to enter the places such as fire and explosion, the fire-fighting robot can also be provided with a spraying and cooling module 7, as shown in fig. 6, the spraying and cooling module 7 is connected with the control module 4, the spraying and cooling module 7 is arranged in the middle of the upper part of the vehicle body 12, and a water inlet of the spraying and cooling module 7 is connected with a water channel of the fire monitor 21.
Further, for improving the lighting effect of the fire-fighting robot in a dark environment, the fire-fighting robot further comprises a lighting assembly 8, as shown in fig. 8, the lighting assembly 8 is arranged at the front end of the vehicle body 12, and the lighting assembly 8 is connected with the control module 4.
For any fire-fighting robot, the driving motor 111 is connected with the driver 113, and the driver 113 is connected with the control module 4 and the energy module 6 in an electrical connection relationship. The fire water monitor 21, the infrared thermal imager 22, the cradle head module 23, the first camera 24, the second camera 25, the obstacle avoidance sensor 31, the laser radar 32 and the detection sensor 33 are all connected with the control module 4, so that the control effect is realized. The communication module 5 is connected with the control module 4 to realize wireless transmission and reception of signals. The spraying and cooling module 7 and the lamplight illuminating component 8 are both connected with the control module 4 and used for realizing the opening and closing of the spraying function and the illumination function. Further, the control module 4 is also connected to an energy module 6.
The fully autonomous fire-fighting robot operating system under the complex environment further comprises a corresponding working method:
1. the work method for reconnaissance and fire extinguishment of a single fire-fighting robot comprises the following steps:
when a robot is required to enter reconnaissance and fire extinguishing operation in a disaster site, the fire-fighting robot plays roles of map construction, autonomous search, map navigation and operation, and the roles are as follows:
1) the robot moves: the working personnel sends out an instruction, the communication module 5 of the fire-fighting robot receives the instruction and then transmits the instruction to the control module 4, and the control module 4 controls the power driving mechanism 11 to drive the traveling mechanism 13 to move so as to drive the robot to enter a specified place to be operated;
2) constructing a robot position environment modeling map: in the moving process of the fire-fighting robot, the control module 4 controls the laser radar 32 to work, scans and searches the environment in front of the fire-fighting robot, constructs a regional map and determines the position of the fire-fighting robot in the map; meanwhile, the fire-fighting robot also memorizes the moving route of the fire-fighting robot;
3) the robot keeps away the barrier: in the moving process of the fire-fighting robot, the control module 4 controls the obstacle avoidance sensor 31 to work, so that the obstacle in front of the vehicle body 12 is judged; when an obstacle is encountered, the fire-fighting robot stops moving forwards and avoids the obstacle by matching with a modeled map, marks are carried out in the map, and guidance is provided for a return or other robots to enter the site;
4) autonomous scouting of the robot: in the moving or static process of the fire-fighting robot, the control module 4 controls the gas sensor 331 and the temperature and humidity sensor 332 in the detection sensor 33 to work, so that the collection of the gas and temperature and humidity parameters of the field environment is realized; meanwhile, the control module 4 is matched with the control holder module 23 to drive the first camera 24 to operate, images and videos of the surrounding field environment of the fire-fighting robot are detected, and the acquired and detected field environment parameters, images and videos are uploaded to the control console through the communication module 5 to be analyzed and decided by workers;
5) the robot extinguishes fire independently: the control module 4 controls the cradle head module 23 to perform angle adjustment to drive the infrared thermal imager 22 to scan the environment, and when the position of a fire source is detected, the control module 4 controls the fire monitor 21 to perform angle adjustment to realize fire extinguishing; in the process, the control module 4 controls the second camera 25 to work, so that the spraying condition of water flow during fire extinguishing is observed, and the observed image video is also uploaded through the communication module 5 for workers to carry out position fine adjustment;
6) the robot automatically cools: when the fire-fighting robot enters a high-temperature field such as a fire disaster to perform reconnaissance and fire extinguishment, the control module 4 controls the spraying and cooling module 7 to be opened, so that water flow and mist spraying are realized, the temperature of the fire-fighting robot is reduced, and the upper assembly and internal components are protected;
7) robot illumination: when the field illumination is insufficient, the control module 4 controls the lamplight illuminating component 8 to be started to realize the light supplementing function.
The fire-fighting robot carries out on-site position environment modeling and positioning while continuously avoiding obstacles and moving, and after traversal, the function of real-time updating of on-site complete maps and self positions is realized, and functions of reconnaissance, fire extinguishing operation and the like on disaster environments can be carried out in the process.
2. The working method of the cooperative reconnaissance and fire extinguishing of the plurality of fire-fighting robots comprises the following steps:
when a plurality of robots are required to simultaneously scout and extinguish fire in a disaster site, the first fire-fighting robot serves as a map construction role and an autonomous search role, and the rest fire-fighting robots (the second fire-fighting robot to the Xth fire-fighting robot) serve as roles of autonomous search, map navigation and cooperative work, and the method is as follows:
for the first fire-fighting robot, as a host, the working method comprises the following steps of 1) to 7) and map sharing: when the first fire-fighting robot completes construction of part or all of the on-site environment modeling maps, the control module 4 of the first fire-fighting robot controls the communication module 5 to send the constructed map information, obstacle avoidance information, on-site disaster information and driving route parameter information to the rest of the fire-fighting robots.
For the rest fire-fighting robots (the second fire-fighting robot to the Xth fire-fighting robot), as slave machines, the control module 4 of each fire-fighting robot controls the communication module 5 to receive the parameter information sent by the first fire-fighting robot, the working method comprises the steps 1-7) and the steps of map matching identification and robot cooperative operation,
the map matching identification step is as follows: during the movement of the rest fire-fighting robots, the control module 4 of each fire-fighting robot controls the laser radar 32 to work, scans and searches the environment in front of the fire-fighting robot and constructs a regional map, matches and identifies the map construction information sent back by the first fire-fighting robot, and determines the position information of the current fire-fighting robot in the whole map;
the robot collaborative operation steps are as follows: the rest fire-fighting robots simultaneously perform reconnaissance, parameter acquisition and fire source identification on the disaster site environment according to the parameter information shared by the first fire-fighting robot, and perform collaborative fire-extinguishing operation after the identification is completed; when the first fire-fighting robot and the rest fire-fighting robots work, the control module 4 of each fire-fighting robot carries out information interaction through the communication module 5, shares self map construction, parameter acquisition, obstacle judgment, route walking and on-site disaster parameters, and improves the cooperative operation capacity of the robot system.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (10)
1. Full autonomic fire-fighting robot operating system under complex environment, its characterized in that includes a fire-fighting robot at least, fire-fighting robot includes: the fire fighting robot system comprises a mobile platform, an operation module, a sensing module, a control module, a communication module and an energy module, wherein the mobile platform is used for driving the fire fighting robot to walk; the mobile platform, the operation module, the sensing module, the communication module and the energy module are all connected with the control module;
the mobile platform comprises a vehicle body, a power driving mechanism arranged in the vehicle body and traveling mechanisms arranged on two sides of the vehicle body and connected with the power driving mechanism;
the operation module comprises a fire water monitor and an infrared thermal imager which are arranged above the vehicle body, and the infrared thermal imager is used for identifying and tracking a fire source;
the sensing module comprises an obstacle avoidance sensor, a laser radar and a detection sensor which are arranged on the vehicle body, wherein the obstacle avoidance sensor is used for identifying an obstacle in front of the robot, and the obstacle avoidance is realized by matching with an algorithm; the laser radar is used for scanning the terrain in front of the fire-fighting robot so as to realize image modeling; the detection sensor is used for detecting the field environment parameters;
the control module is used for realizing information fusion, instruction analysis and coding, motion control and operation of the fire-fighting robot;
the communication module is used for realizing that the fire-fighting robot receives an external instruction and sends acquired parameters;
the energy module is used for providing electric energy for movement and operation for the fire-fighting robot.
2. The fully autonomous fire fighting robot working system under complex environment as recited in claim 1, wherein said power driving mechanism comprises a driving motor for providing power, a reduction gearbox assembly for power-reducing the driving motor, a driver for driving the driving motor; the driver is connected with the control module and the energy module, the driver is further connected with the driving motor, the output end of the driving motor is connected to the traveling mechanism through the reduction gearbox assembly, and the traveling mechanism is in a hanging crawler type or a wheel type.
3. The fully autonomous firefighting robot working system under a complex environment of claim 1, wherein the working module further comprises a pan-tilt module, the pan-tilt module is capable of angular adjustment, and the infrared thermal imager is disposed on the pan-tilt module.
4. The fully autonomous firefighting robot operating system under a complex environment of claim 3, wherein the operating module further comprises a first camera, the first camera being disposed on the pan-tilt module.
5. The fully autonomous fire fighting robot operating system under complex environment according to claim 1, wherein a second camera is provided at an upper end of the fire monitor.
6. The fully autonomous fire fighting robot operating system under complex environment of claim 1, wherein said detecting sensor comprises a gas sensor and a temperature and humidity sensor.
7. The fully autonomous fire-fighting robot operating system under complex environment according to claim 1, wherein the fire-fighting robot further comprises a spray cooling module, the spray cooling module is connected with the control module, the spray cooling module is arranged at the middle position above the vehicle body, and a water inlet of the spray cooling module is connected with a water channel of the fire-fighting water monitor.
8. The fully autonomous fire-fighting robot operating system under complex environment according to claim 1, wherein the fire-fighting robot further comprises a lighting assembly, the lighting assembly is arranged at the front end of the vehicle body, and the lighting assembly is connected with the control module.
9. The working method of the fully autonomous fire-fighting robot working system under the complex environment according to any one of claims 1 to 8, comprising a method for performing reconnaissance and fire extinguishing by a single fire-fighting robot and a method for performing reconnaissance and fire extinguishing by a plurality of fire-fighting robots;
the method for reconnaissance and fire extinguishment of the single fire-fighting robot comprises the following steps:
when a robot is required to enter reconnaissance and fire extinguishing operation in a disaster site, the fire-fighting robot plays roles in map construction, autonomous search, map navigation and operation:
1) the robot moves: the working personnel sends out an instruction, the communication module of the fire-fighting robot receives the instruction and then transmits the instruction to the control module, and the control module controls the power driving mechanism to drive the traveling mechanism to move so as to drive the robot to enter a specified place to be operated;
2) constructing a robot position environment modeling map: in the moving process of the fire-fighting robot, the control module controls the laser radar to work, scans and searches the environment in front of the fire-fighting robot and constructs a regional map, and determines the position of the fire-fighting robot in the map; meanwhile, the fire-fighting robot also memorizes the moving route of the fire-fighting robot;
3) the robot keeps away the barrier: in the moving process of the fire-fighting robot, the control module controls the obstacle avoidance sensor to work, so that the obstacle in front of the vehicle body is distinguished; when an obstacle is encountered, the fire-fighting robot stops moving forwards and avoids the obstacle by matching with a modeled map, marks are carried out in the map, and guidance is provided for a return or other robots to enter the site;
4) autonomous scouting of the robot: in the moving or static process of the fire-fighting robot, the control module controls a gas sensor and a temperature and humidity sensor in the detection sensor to work, so that the collection of the gas and temperature and humidity parameters of the field environment is realized; meanwhile, the control module is matched with the control holder module to drive the first camera to operate, images and videos of the surrounding field environment of the fire-fighting robot are detected, and the acquired and detected field environment parameters, images and videos are uploaded through the communication module and are provided for staff to analyze and make decisions;
5) the robot extinguishes fire independently: the control module controls the cradle head module to carry out angle adjustment to drive the infrared thermal imager to scan the environment, and when the position of a fire source is detected, the control module controls the fire water monitor to carry out angle adjustment to realize fire extinguishing; in the process, the control module controls the second camera to work, so that the spraying condition of water flow during fire extinguishing is observed, and the observed image video is also uploaded through the communication module to be supplied to workers for position fine adjustment;
6) the robot automatically cools: when the fire-fighting robot enters a high-temperature field such as a fire disaster and conducts reconnaissance and fire extinguishment, the control module controls the spraying and cooling module to be opened, water flow and mist spraying are achieved, the temperature of the fire-fighting robot is reduced, and the upper assembly and the internal components are protected;
7) robot illumination: when the field illumination is insufficient, the control module controls the light illumination assembly to be started to realize the light supplement function.
10. The working method of the fully autonomous fire-fighting robot working system under the complex environment according to claim 9, wherein the method for the cooperative detection and fire extinguishing of the plurality of fire-fighting robots comprises the following steps:
when a plurality of robots are required to simultaneously scout and extinguish fire in a disaster site, a first fire-fighting robot serves as a host, serves as a map construction role and an autonomous search role, and comprises the steps 1) -7) and a map construction sharing step: when the first fire-fighting robot completes construction of part or all of the on-site environment modeling maps, the control module of the first fire-fighting robot controls the communication module to send the constructed map information, obstacle avoidance information, on-site disaster information and driving route parameter information to the rest of the fire-fighting robots;
the rest fire-fighting robots are used as slave machines and have the roles of autonomous search, map navigation and cooperative operation, the control modules of the rest fire-fighting robots control the communication modules to receive the parameter information sent by the first fire-fighting robot, and the steps of map matching identification and robot cooperative operation are also included besides the steps 1) to 7),
the map matching identification step is as follows: during the movement of the rest fire-fighting robots, the control module of each fire-fighting robot controls the laser radar to work, scans and searches the environment in front of the fire-fighting robot and constructs a regional map, matches and identifies the map construction information sent back by the first fire-fighting robot, and determines the position information of the current fire-fighting robot in the whole map;
the robot collaborative operation steps are as follows: the rest fire-fighting robots simultaneously perform reconnaissance, parameter acquisition and fire source identification on the disaster site environment according to the parameter information shared by the first fire-fighting robot, and perform collaborative fire-extinguishing operation after the identification is completed; when the first fire-fighting robot and the rest fire-fighting robots work, the control module of each fire-fighting robot carries out information interaction through the communication module, shares self map construction, parameter acquisition, obstacle judgment, route walking and on-site disaster parameters, and improves the cooperative work capacity of the robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010522833.XA CN111617415A (en) | 2020-06-10 | 2020-06-10 | Fully-autonomous fire-fighting robot operating system in complex environment and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010522833.XA CN111617415A (en) | 2020-06-10 | 2020-06-10 | Fully-autonomous fire-fighting robot operating system in complex environment and working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111617415A true CN111617415A (en) | 2020-09-04 |
Family
ID=72267577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010522833.XA Pending CN111617415A (en) | 2020-06-10 | 2020-06-10 | Fully-autonomous fire-fighting robot operating system in complex environment and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111617415A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112254582A (en) * | 2020-09-17 | 2021-01-22 | 河南理工大学 | Auxiliary rescue individual soldier combat tank and use method thereof |
| CN112619003A (en) * | 2021-01-13 | 2021-04-09 | 青岛宝路智能装备有限公司 | Multifunctional fire-fighting robot suitable for high altitude and operation method thereof |
| CN115463370A (en) * | 2022-08-18 | 2022-12-13 | 南京财经大学 | Fire-fighting robot remote operation control console |
| CN115569331A (en) * | 2022-09-23 | 2023-01-06 | 徐工消防安全装备有限公司 | Fire fighting system and operation method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208877810U (en) * | 2018-08-01 | 2019-05-21 | 广东为邦消防检测有限公司 | Fire fighting hydraulic pressure real-time monitoring system |
| CN110286682A (en) * | 2019-07-08 | 2019-09-27 | 国网山东省电力公司枣庄供电公司 | A kind of electric power storage Multifunctional security sniffing robot, method and system |
| WO2020061855A1 (en) * | 2018-09-26 | 2020-04-02 | 西门子股份公司 | Special robot control system, method, electronic device, medium and program |
| CN210250955U (en) * | 2019-07-05 | 2020-04-07 | 邯郸学院 | Multi-azimuth spraying self-cooling fire-fighting robot |
| CN111240319A (en) * | 2019-12-31 | 2020-06-05 | 南京理工大学 | Outdoor multi-robot cooperative operation system and method thereof |
-
2020
- 2020-06-10 CN CN202010522833.XA patent/CN111617415A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208877810U (en) * | 2018-08-01 | 2019-05-21 | 广东为邦消防检测有限公司 | Fire fighting hydraulic pressure real-time monitoring system |
| WO2020061855A1 (en) * | 2018-09-26 | 2020-04-02 | 西门子股份公司 | Special robot control system, method, electronic device, medium and program |
| CN210250955U (en) * | 2019-07-05 | 2020-04-07 | 邯郸学院 | Multi-azimuth spraying self-cooling fire-fighting robot |
| CN110286682A (en) * | 2019-07-08 | 2019-09-27 | 国网山东省电力公司枣庄供电公司 | A kind of electric power storage Multifunctional security sniffing robot, method and system |
| CN111240319A (en) * | 2019-12-31 | 2020-06-05 | 南京理工大学 | Outdoor multi-robot cooperative operation system and method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 孙楠楠: "《大空间建筑消防安全技术与设计方法》", 31 July 2017, 华中科技大学出版社 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112254582A (en) * | 2020-09-17 | 2021-01-22 | 河南理工大学 | Auxiliary rescue individual soldier combat tank and use method thereof |
| CN112254582B (en) * | 2020-09-17 | 2023-07-04 | 河南理工大学 | Auxiliary rescue individual combat vehicle and use method |
| CN112619003A (en) * | 2021-01-13 | 2021-04-09 | 青岛宝路智能装备有限公司 | Multifunctional fire-fighting robot suitable for high altitude and operation method thereof |
| CN112619003B (en) * | 2021-01-13 | 2022-04-22 | 青岛宝路智能装备有限公司 | Multifunctional fire-fighting robot suitable for high altitude and operation method thereof |
| CN115463370A (en) * | 2022-08-18 | 2022-12-13 | 南京财经大学 | Fire-fighting robot remote operation control console |
| CN115569331A (en) * | 2022-09-23 | 2023-01-06 | 徐工消防安全装备有限公司 | Fire fighting system and operation method thereof |
| CN115569331B (en) * | 2022-09-23 | 2024-04-02 | 徐工消防安全装备有限公司 | Fire protection system and operation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| CN111617415A (en) | Fully-autonomous fire-fighting robot operating system in complex environment and working method | |
| CN206568169U (en) | A kind of city piping lane crusing robot | |
| CN112774073B (en) | Unmanned aerial vehicle guided multi-machine cooperation fire extinguishing method and fire extinguishing system thereof | |
| CN107097228B (en) | Autonomous traveling robot system | |
| CN111300372A (en) | Air-ground cooperative intelligent inspection robot and inspection method | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| CN106527426A (en) | Indoor multi-target track planning system and method | |
| CN111672045B (en) | Fire-fighting robot, fire-fighting system and fire-fighting control method | |
| CN112454353B (en) | Inspection robot and inspection method for detecting leakage of dangerous gas | |
| CN110673603A (en) | Fire scene autonomous navigation reconnaissance robot | |
| CN107233680A (en) | A kind of fire-fighting robot | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| CN113730860A (en) | Autonomous fire extinguishing method of fire-fighting robot in unknown environment | |
| CN112675459A (en) | Autonomous detection positioning and accurate fire extinguishing robot system and use method | |
| CN206979880U (en) | A kind of fire-fighting robot | |
| CN110201333B (en) | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot | |
| CN211527210U (en) | Robot target vehicle and robot target vehicle system | |
| CN110125951A (en) | A kind of outdoor robot aircraft carrier | |
| CN210228955U (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire extinguishing system | |
| CN116421908A (en) | Forest fire prevention and control method and system based on fixed and movable combination | |
| CN218488424U (en) | Underground robot and underground robot control system | |
| CN208827975U (en) | A kind of alternative self-navigation robot manually gone on patrol | |
| CN219275821U (en) | Normalized fire inspection early warning fire rescue platform based on heterogeneous robot team cooperation | |
| CN218076114U (en) | Fire-extinguishing robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200904 |