CN112316340A - Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof - Google Patents
Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof Download PDFInfo
- Publication number
- CN112316340A CN112316340A CN202011348459.2A CN202011348459A CN112316340A CN 112316340 A CN112316340 A CN 112316340A CN 202011348459 A CN202011348459 A CN 202011348459A CN 112316340 A CN112316340 A CN 112316340A
- Authority
- CN
- China
- Prior art keywords
- fire
- robot
- rotating
- ground
- point
- 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
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
The invention provides a ground fire-extinguishing robot, an air-ground linkage type fire-extinguishing system and a control method thereof, and belongs to the technical field of fire-fighting equipment. The ground fire-extinguishing robot comprises a robot body and a gun barrel arranged on the robot body, and is characterized in that the gun barrel is provided with a first fire point identifier and a second fire point identifier which rotate synchronously and are used for acquiring identification information of fire point position areas respectively at two different observation positions. The ground fire-extinguishing robot, the air-ground linkage fire-extinguishing system and the control method thereof have the advantages that: the first fire point identifier and the second fire point identifier are used for realizing accurate identification of fire points; the three-dimensional movement of the gun barrel is realized by utilizing the first rotating mechanism and the first rotating mechanism, so that the gun barrel can conveniently aim and track the ignition point; utilize unmanned aerial vehicle to realize the visual feedback to the efflux landing point to accurate fire extinguishing point that pounces on.
Description
Technical Field
The invention belongs to the technical field of fire fighting equipment, and particularly relates to a ground fire-fighting robot, an air-ground linked fire-fighting system for extinguishing fire by using a high-altitude unmanned aerial vehicle and the ground fire-fighting robot, and respective control methods of the ground fire-fighting robot and the air-ground linked fire-fighting system.
Background
The fire disaster brings huge loss and casualty to human beings, especially for dangerous chemical fire disasters, different fire-catching objects need to use corresponding different fire extinguishing agents to extinguish fire, otherwise accidents which are difficult to dispose, more complex and more dangerous can occur, and therefore the fire source needs to be accurately extinguished at a fixed point. Present fire-fighting robot replaces the fire fighter to enter into the scene of a fire front line gradually and puts out a fire fighting, however, the robot that carries the fire water monitor mostly needs to rely on backstage fire fighter remote operation, realizes the adjustment to the three-dimensional angle of water monitor to the realization is to the function of putting out a fire of ignition. It is difficult to obtain a sufficient field of view and to achieve accurate positioning of the fire source and the jet drop and fire suppression by directly placing the vision apparatus on the fire-extinguishing robot.
The existing fire-extinguishing robot has the following defects:
1) the fire point position cannot be accurately positioned, the fire extinguishment is weak, and the fire spread cannot be effectively inhibited;
2) the fire is not found in time, and when the fire is found, the fire spreads.
Disclosure of Invention
A first object of the present invention is a ground fire fighting robot that solves at least part of the above problems.
A second object of the present invention is to provide a control method of the fire extinguishing robot described above.
The third purpose of the invention is to provide an air-ground linked fire extinguishing system comprising the fire extinguishing robot.
The fourth purpose of the invention is to provide a control method of the air-ground coordinated fire extinguishing system.
In order to achieve the purpose, the invention adopts the following technical scheme: the ground fire-extinguishing robot comprises a robot body and a gun barrel arranged on the robot body, and is characterized in that the gun barrel is provided with a first fire point identifier and a second fire point identifier which rotate synchronously with the gun barrel and are used for respectively acquiring identification information of fire point position areas at two different observation positions.
In the ground fire-fighting robot, the ground fire-fighting robot further comprises a first rotating mechanism which is arranged on the robot body and rotates along a first direction, a second rotating mechanism which rotates synchronously with the first rotating mechanism and can rotate independently along a second direction is arranged on the first rotating mechanism, and a gun barrel which rotates synchronously with the second rotating mechanism is arranged on the second rotating mechanism.
In the above ground fire-extinguishing robot, the first rotating mechanism includes a first rotating motor and a first rotating table, a first rotating transmission member is arranged between the first rotating motor and the first rotating table, and a second rotating mechanism rotating synchronously with the first rotating table is arranged on the first rotating table; the second rotating mechanism comprises a second rotating motor, and a second rotating transmission part is arranged between the second rotating motor and the gun barrel.
The method for controlling a ground fire-fighting robot according to any one of claims 1 to 3, comprising the steps of:
according to a binocular vision imaging principle, a same fire point is obtained by utilizing the first fire point identifier and the second fire point identifier, and relative rectangular coordinate values (delta x, delta y and delta z) of the same fire point in a three-dimensional Cartesian coordinate system taking a muzzle on a gun barrel as a coordinate origin are obtained;
converting the relative rectangular coordinate values (Deltax, Deltay, Deltaz) of the fire point into spherical coordinate values (Deltar, Deltaphi, Deltatheta) in a spherical coordinate system taking a muzzle on a gun barrel as a pole;
driving the first rotating mechanism to rotate by an angle delta phi, and driving the second rotating mechanism to rotate by an angle delta theta;
and starting the launching fire extinguishing cannon.
In the control method of the ground fire-fighting robot, the steps are that the first rotating mechanism is driven to rotate by an angle delta phi, the second rotating mechanism is driven to rotate by an angle delta theta, and the angles delta phi and delta theta are respectively converted into the pulse quantity required by the first rotating motor and the second rotating motor.
In the control method of the ground fire-fighting robot, PID control is adopted in the step of driving the first rotating mechanism to rotate by an angle delta phi and the step of driving the second rotating mechanism to rotate by an angle delta theta.
The air-ground linkage fire extinguishing system comprises a data detection unit, a data transmission unit, a fire extinguishing robot, an unmanned aerial vehicle and a remote control unit;
the data detection unit is used for acquiring position data of a fire point and a jet flow drop point;
the data transmission unit is used for data transmission among the fire-fighting robot, the unmanned aerial vehicle and the remote control unit;
the fire-extinguishing robot is the ground fire-extinguishing robot;
and the unmanned aerial vehicle receives a flight instruction sent by the fire-extinguishing robot or the remote control unit, acquires the difference value of the horizontal distance between the jet flow landing point position and the fire point position emitted by the fire-extinguishing robot by using the data detection unit on the unmanned aerial vehicle, and feeds back the difference value of the horizontal distance between the jet flow landing point position and the fire point position to the fire-extinguishing robot and/or the remote control unit by using the data transmission unit on the unmanned aerial vehicle.
And the remote control unit controls the fire-extinguishing robot and the unmanned aerial vehicle.
In the control method of the air-ground linkage type fire extinguishing system, the control method comprises the following steps:
the fire extinguishing robot is controlled by the remote control unit to enter an area with fire points;
the fire-fighting robot implements the control method of the ground fire-fighting robot;
the fire extinguishing robot or the remote control unit sends a flight to the unmanned aerial vehicle to a preset position between the current fire extinguishing robot and a fire point;
the unmanned aerial vehicle acquires the difference value of the horizontal distance between the current jet flow falling point position and the fire point position emitted by the fire-extinguishing robot, if the difference value is not zero, the difference value is fed back to the fire-extinguishing robot and/or the remote control unit, the pitching angle of the gun barrel to be rotated is determined according to the fed-back difference value, and the fire-extinguishing robot rotates the pitching angle of the gun barrel through the second rotating mechanism;
launching fire extinguishing cannons;
the above two steps are repeated until the fire is extinguished, and then the step of the fire-extinguishing robot implementing the control method of the ground fire-extinguishing robot as described above is again performed until all the fire in the area where the fire is present is extinguished.
Compared with the prior art, the ground fire-extinguishing robot, the air-ground linkage fire-extinguishing system and the control method thereof have the advantages that: the first fire point identifier and the second fire point identifier are used for realizing accurate identification of fire points; the three-dimensional movement of the gun barrel is realized by utilizing the first rotating mechanism and the first rotating mechanism, so that the gun barrel can conveniently aim and track the ignition point; utilize unmanned aerial vehicle to realize the visual feedback to the efflux landing point to accurate fire extinguishing point that pounces on.
Drawings
Fig. 1 provides a schematic structural view of one embodiment of the ground fire-fighting robot in the present invention.
Fig. 2 provides a schematic top view of fig. 1.
Figure 3 provides a schematic top view of the first rotary mechanism, second rotary mechanism and barrel of figure 1.
Fig. 4 provides a schematic diagram of binocular vision imaging.
Fig. 5 provides two coordinate values of the fire point P on a three-dimensional cartesian coordinate system and a spherical coordinate system with the muzzle of the barrel on the ground fire-fighting robot as a common origin of coordinates.
Fig. 6 provides a flow chart of PID control of motors in the first and second rotating mechanisms on the ground fire-fighting robot in the present invention.
FIG. 7 provides a working scenario diagram of the present invention.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
As shown in fig. 1 to 2, the air-ground coordinated fire extinguishing system comprises a data detection unit, a data transmission unit, a fire extinguishing robot a, an unmanned aerial vehicle b and a remote control unit.
And the data detection unit is used for acquiring the position data of the fire point and the jet flow drop point.
It should be noted that the data detection unit is disposed on both the fire extinguishing robot and the unmanned aerial vehicle, and an instrument generally used for fire point searching is a thermal imager (such as a thermal infrared imager), and an instrument for acquiring relevant information data of a jet flow landing point includes a camera device, but may also include other detection instruments, such as a navigator for navigation and positioning.
And the data transmission unit (not shown in the figure) is used for data transmission among the fire-fighting robot, the unmanned aerial vehicle and the remote control unit.
It should be noted that the data detection unit is disposed on the fire extinguishing robot, the unmanned aerial vehicle and the remote control unit, and generally adopts a wireless transmission mode or a wireless and wired transmission mode.
And a remote control unit (not shown in the figure) is used for controlling the fire-extinguishing robot and the unmanned aerial vehicle.
It should be noted that, the remote control unit is usually located the fire control center of distal end, has special technical staff to control, can make the fire fighter put out a fire through controlling fire-fighting robot and unmanned aerial vehicle in the department of keeping away from the fire like this, has protected fire fighter's safety.
The fire extinguishing robot comprises a robot body and a gun barrel arranged on the robot body, wherein a first fire point identifier and a second fire point identifier which rotate synchronously with the gun barrel and are used for acquiring identification information of fire point position areas at two different observation positions are arranged on the gun barrel.
It should be noted that the first fire point identifier and the second fire point identifier may be two monocular thermal imagers or may also be one binocular thermal imager. The working principle of the thermal imager for searching the fire point is that firstly, an area with abnormal temperature in a visual field is preselected according to the temperature of an object in the visual field, then the dynamic shape characteristic of flame in a video is extracted, and the position of the fire point in the visual field range is comprehensively judged in combination with the dynamic characteristic of the flame in the area with abnormal temperature.
The reason why the first fire recognizer and the second fire recognizer are used here is that the binocular vision imaging principle is used to achieve accurate recognition of the fire. FIG. 4 is a schematic diagram of obtaining the spatial relative position of the fire point P and the lens according to the binocular vision imaging principle, specifically, the fire point P is located on the lens OLThe imaging point on is PLP is at lens ORThe imaging point on is PRThe coordinate of P is ORP and OLThe three-dimensional coordinate of the fire point P is determined by the relation between the coordinates and the trigonometric theorem at the intersection of the two straight lines P to obtain the fire point P and the lens OL、ORThe spatial relative position of (a). The geometric position relation between the lens and the muzzle is determined by the structure, and finally the fire point P and the lens O are determinedL、ORThe spatial relative position of (a) is converted into a spatial relative positional relationship of the fire point P and the muzzle on the barrel.
And the unmanned aerial vehicle receives a flight instruction sent by the fire-extinguishing robot or the remote control unit, acquires the difference value of the horizontal distance between the jet flow landing point position and the fire point position emitted by the fire-extinguishing robot by using the data detection unit on the unmanned aerial vehicle, and feeds back the difference value of the horizontal distance between the jet flow landing point position and the fire point position to the fire-extinguishing robot and/or the remote control unit by using the data transmission unit on the unmanned aerial vehicle.
It should be noted that the unmanned aerial vehicle here may be controlled by a remote control unit, may also be controlled by a fire-extinguishing robot, and may be set as required.
In another or some embodiments of the fire-extinguishing robot, the fire-extinguishing robot further comprises a first rotating mechanism which is arranged on the robot body and rotates along a first direction, a second rotating mechanism which rotates synchronously with the first rotating mechanism and can independently rotate along a second direction is arranged on the first rotating mechanism, a gun barrel which rotates synchronously with the second rotating mechanism is arranged on the second rotating mechanism, specifically, the first rotating mechanism comprises a first rotating motor and a first rotating platform, a first rotating transmission part is arranged between the first rotating motor and the first rotating platform, and a second rotating mechanism which rotates synchronously with the first rotating platform is arranged on the first rotating platform; the second rotating mechanism comprises a second rotating motor, and a second rotating transmission part is arranged between the second rotating motor and the gun barrel.
As shown in fig. 1 to 3, an embodiment of a fire fighting robot provided with a first rotation mechanism and a second rotation mechanism is shown, specifically, the first rotation mechanism includes a stand rotation gear 23, a pan/tilt head 3 (corresponding to a first rotation table), a motor gear 18, a bottom motor 20 (corresponding to a first rotation motor), a bottom pillar 17, a vehicle box 2, a pillar flange 24, a motor connection block 21: the carriage 2 is fixed with the pillar flange 24 through bolts, the bottom pillar 17 is connected with the pillar flange 24 through threads, the cradle head 3 is matched with the bottom pillar 17 through a bearing, the support rotating gear 23 is connected and fixed with the cradle head 3, the motor connecting block 21 is fixed with the carriage 2 through screws, the motor connecting block 21 is fixed with the bottom motor 20 through screws, the bottom motor 20 is connected with the motor gear 18 through threads, the motor gear 18 is matched with the support rotating gear 23, and the first rotating mechanism realizes rotation in the horizontal direction (namely, the first direction).
In addition, the second rotating mechanism includes a top motor 8 (equivalent to the second rotating motor), a left baffle 5, a gun barrel support 11, a gun barrel connecting block 12 and a right baffle 16, the thermal imager support 14 is connected with the binocular thermal imager 22 through threads, the gun barrel connecting block 12, the thermal imager support 14 and the gun barrel support 11 are fixed through bolts, the top motor 8 is connected with the gun barrel support 11 through a pin shaft, the gun barrel support 11 is matched with the left baffle 5 through a bearing, the gun barrel support 11 is matched with the right baffle 16 through a bearing, the gun barrel support 11, the top motor 8 and the left baffle 5 are fixed through screws, the second rotating mechanism realizes rotation in a pitching direction (namely, the second direction), the gun barrel 7 is connected with the gun barrel connecting block 12 on the second rotating mechanism through threads, so that the gun barrel 7 has a function of synchronous rotation along with the second rotating mechanism, and the thermal imager support 14 is arranged on the gun barrel 7, the thermal imager support 14 is connected with a binocular thermal imager 22 through threads.
As shown in fig. 4 to 6, one embodiment of a control method of the fire fighting robot is as follows.
And step 21, identifying by using the first fire point identifier and the second fire point identifier to obtain a same fire point according to a binocular vision imaging principle, and obtaining relative rectangular coordinate values (delta x, delta y and delta z) of the same fire point in a three-dimensional Cartesian coordinate system taking a muzzle on the gun barrel as a coordinate origin.
And step 22, converting the relative rectangular coordinate values (delta x, delta y, delta z) of the fire points into spherical coordinate values (delta r, delta phi, delta theta) in a spherical coordinate system taking a gun muzzle on the gun barrel as a pole.
And step 23, driving the first rotating mechanism to rotate by an angle delta phi, and driving the second rotating mechanism to rotate by an angle delta theta.
One specific example of the rotation designated angle herein is to convert the angles Δ Φ and Δ θ into the number of pulses required by the first rotating electrical machine and the second rotating electrical machine, respectively.
As shown in fig. 1 to 3, the transmission members are gears, so that the angles Δ Φ and Δ θ can be converted into the number of pulses required for the stepping motor according to the respective gear ratios of the meshes.
As shown in fig. 6, in order to improve the accuracy of the rotation angle, PID control is used, and the PID formula used is as follows:
in the formula of UkAs computer output value at the kth sampling instant, ekDeviation value input for k-th sampling time, ek-1Deviation value input for the K-1 th sampling time, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient, u0Is the original initial value at the start of PID control.
And 24, starting the launching fire extinguishing cannon.
It should be noted that the fire extinguishing cannon herein does not necessarily refer to water, but also other fire extinguishing materials (such as foam, dry powder, etc.), and the specific reference is determined according to the needs.
The control method provides possibility for realizing real-time aiming tracking of the fire point by the gun barrel.
As shown in fig. 7, one embodiment of the control method of the air-ground coordinated fire extinguishing system is as follows.
And 3, the fire extinguishing robot or the remote control unit sends the unmanned aerial vehicle to fly to a preset position between the current fire extinguishing robot and a fire point.
To facilitate subsequent calculations, the drone may be instructed to hover over the center of the horizontal distance of the fire suppression robot from the fire.
And 4, acquiring a difference value of the horizontal distance between the current jet flow falling point position and the fire point position emitted by the fire extinguishing robot by the unmanned aerial vehicle, feeding back the difference value to the fire extinguishing robot and/or a remote control unit if the difference value is not zero, determining a pitching angle according to the fed-back difference value, and rotating the gun barrel by the fire extinguishing robot through a second rotating mechanism.
As shown in fig. 7, the difference between the current jet drop point position and the horizontal distance between the fire point position emitted by the fire-fighting robot is obtained and measured by the data detection unit, the camera 31 carried by the unmanned aerial vehicle usually identifies the relative horizontal distance between the gun barrel and the fire point according to the captured image, after the gun barrel is sprayed, the drop point position of the trajectory of the emergent jet is identified through the image, whether the positions of the jet drop point and the fire point are consistent or not is compared, if not, the relative position difference between the fire point and the jet drop point is fed back, and the gun barrel readjusts the elevation angle according to the feedback data until the fire point is extinguished.
It should be noted that when the barrel is aligned with the fire, the barrel and the fire are in the same line. The gun barrel is lifted upwards for a certain angle, and jet flow passes through the gun barrel and is ejected out at a certain pressure. The fire-extinguishing robot provides a certain pressure, and a relation model of the elevation angle of the gun barrel and the distance of the jet flow falling point is established through experiments. As shown in fig. 5, according to the formula
The horizontal distance from the muzzle on the gun barrel to the firing point P can be obtained as a line segment, and the horizontal distance from the firing point P to the jet flow drop point C is measured through the data detection unit.
Therefore, the pitch angle of the gun barrel is adjusted and the jet flow drop point is changed through the visual feedback of the jet flow drop point, so that the fire point is accurately extinguished.
And 5, continuously launching the fire extinguishing cannon.
and 7, repeating the steps 2 to 6 until all fire points of the area in which the fire points exist are extinguished.
In addition, in the existing fire fighting system adopting the cooperation of the unmanned aerial vehicle and the ground robot, the unmanned aerial vehicle is used as the 'eyes' of the ground robot to indicate the direction of the ground robot in real time, so that instruments such as a camera, an infrared thermal imager, a laser ranging sensor and the like are usually installed on the existing unmanned aerial vehicle, the camera is used for shooting real-time pictures, the infrared thermal imager is used for identifying fire points, jet flow tracks and drop points, the laser ranging sensor is used for sensing the distance between the fire points and the jet flow drop points, as the unmanned aerial vehicle needs to load so many instruments, higher requirements are provided for the load capacity of the unmanned aerial vehicle, in addition, an information transmission module on the unmanned aerial vehicle also needs to transmit data detected by the instruments to a remote control unit or the ground robot, the data volume is large, the requirements for data transmission are improved, in the aspect of electricity, as the unmanned aerial vehicle needs to carry the, the demand for electricity is also great, and the navigation time of the unmanned aerial vehicle can be influenced by the electricity consumed by the part.
Counter-view this air-ground coordinated type fire extinguishing systems, the unmanned aerial vehicle in this system only needs the load camera to shoot the picture, put thermal infrared imager above ground robot, compare like this with current unmanned aerial vehicle and ground robot complex fire extinguishing system, requirement greatly reduced to unmanned aerial vehicle's load, the cost of the unmanned aerial vehicle of purchase or manufacturing obtains effectively reducing like this, the data bulk that unmanned aerial vehicle sent to remote control unit or ground robot also reduces greatly in addition, the load of data transmission unit has been alleviateed, thereby the required time of transmission data has also been reduced, in order to reduce the required time of control ground robot, in addition because the reduction of the required instrument that carries of unmanned aerial vehicle, the demand to the electricity also can reduce, be favorable to prolonging unmanned aerial vehicle's voyage time.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
It should be noted that the above terms used herein are only for the convenience of describing and explaining the essence of the present invention and do not exclude the possibility of using other terms. They are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (8)
1. The utility model provides a ground fire-fighting robot, includes robot body and the barrel of locating on it, its characterized in that, the barrel on be equipped with rather than synchronous pivoted be used for acquireing respectively at two different observation positions first ignition recognizer and the second ignition recognizer of the regional identification information of ignition position.
2. The ground fire-extinguishing robot according to claim 1, further comprising a first rotating mechanism provided on the robot body and rotating in a first direction, wherein the first rotating mechanism is provided with a second rotating mechanism rotating synchronously therewith and independently rotating in a second direction, and the second rotating mechanism is provided with a gun barrel rotating synchronously therewith.
3. The ground fire-fighting robot of claim 2, wherein the first rotating mechanism comprises a first rotating motor and a first rotating platform, a first rotating transmission member is arranged between the first rotating motor and the first rotating platform, and a second rotating mechanism rotating synchronously with the first rotating platform is arranged on the first rotating platform; the second rotating mechanism comprises a second rotating motor, and a second rotating transmission part is arranged between the second rotating motor and the gun barrel.
4. A method for controlling a ground fire-fighting robot, wherein the robot is the ground fire-fighting robot according to any one of claims 1 to 3, the method comprising the steps of:
according to a binocular vision imaging principle, a same fire point is obtained by utilizing the first fire point identifier and the second fire point identifier, and relative rectangular coordinate values (delta x, delta y and delta z) of the same fire point in a three-dimensional Cartesian coordinate system taking a muzzle on a gun barrel as a coordinate origin are obtained;
converting the relative rectangular coordinate values (Deltax, Deltay, Deltaz) of the fire point into spherical coordinate values (Deltar, Deltaphi, Deltatheta) in a spherical coordinate system taking a muzzle on a gun barrel as a pole;
driving the first rotating mechanism to rotate by an angle delta phi, and driving the second rotating mechanism to rotate by an angle delta theta;
and starting the launching fire extinguishing cannon.
5. The method for controlling a ground fire-fighting robot according to claim 4, wherein the step of rotating the first rotating mechanism by an angle Δ φ and the step of rotating the second rotating mechanism by an angle Δ θ converts the angles Δ φ and Δ θ into the number of pulses required by the first rotating motor and the second rotating motor, respectively.
6. The method for controlling a ground fire-fighting robot according to claim 5, wherein the step of driving the first rotation mechanism to rotate by an angle Δ φ and the step of driving the second rotation mechanism to rotate by an angle Δ θ employs PID control.
7. An air-ground linkage type fire extinguishing system is characterized by comprising a data detection unit, a data transmission unit, a fire extinguishing robot, an unmanned aerial vehicle and a remote control unit;
the data detection unit is used for acquiring position data of a fire point and a jet flow drop point;
the data transmission unit is used for data transmission among the fire-fighting robot, the unmanned aerial vehicle and the remote control unit;
a fire-fighting robot, the ground fire-fighting robot of any one of claims 1 to 3;
the unmanned aerial vehicle receives a flight instruction sent by the fire extinguishing robot or the remote control unit, acquires the difference value of the horizontal distance between the jet flow landing position and the fire point position transmitted by the fire extinguishing robot by using the data detection unit on the unmanned aerial vehicle, and feeds back the difference value of the horizontal distance between the jet flow landing position and the fire point position to the fire extinguishing robot and/or the remote control unit by using the data transmission unit on the unmanned aerial vehicle.
And the remote control unit controls the fire-extinguishing robot and the unmanned aerial vehicle.
8. A control method of an air-ground coordinated fire extinguishing system according to claim 7, characterized in that the steps of the control method are as follows:
the fire extinguishing robot is controlled by the remote control unit to enter an area with fire points;
the fire extinguishing robot carries out the control method according to any one of claims 4 to 6;
the fire extinguishing robot or the remote control unit sends a flight to the unmanned aerial vehicle to a preset position between the current fire extinguishing robot and a fire point;
the unmanned aerial vehicle acquires the difference value of the horizontal distance between the current jet flow falling point position and the fire point position emitted by the fire extinguishing robot, if the difference value is not zero, the difference value is fed back to the fire extinguishing robot and/or the remote control unit, the pitching angle of the gun barrel to be rotated is determined according to the fed-back difference value, and the fire extinguishing robot rotates the pitching angle of the gun barrel through the second rotating mechanism;
launching fire extinguishing cannons;
repeating the above two steps until the fire is extinguished, and then entering the step of 'the fire-extinguishing robot performing the control method according to any one of claims 4 to 6' again until all the fire in the area where the fire is present is extinguished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011348459.2A CN112316340A (en) | 2020-11-26 | 2020-11-26 | Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011348459.2A CN112316340A (en) | 2020-11-26 | 2020-11-26 | Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112316340A true CN112316340A (en) | 2021-02-05 |
Family
ID=74308725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011348459.2A Pending CN112316340A (en) | 2020-11-26 | 2020-11-26 | Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112316340A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114307016A (en) * | 2021-11-22 | 2022-04-12 | 中国矿业大学 | Fire extinguishing system based on unmanned aerial vehicle vision auxiliary fire monitor and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| WO2017137393A1 (en) * | 2016-02-10 | 2017-08-17 | Tyco Fire & Security Gmbh | A fire detection system using a drone |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| CN109754562A (en) * | 2018-12-11 | 2019-05-14 | 中冶(北京)交通科技发展有限公司 | A kind of municipal administration synthesis pipe gallery alarm system |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
-
2020
- 2020-11-26 CN CN202011348459.2A patent/CN112316340A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| WO2017137393A1 (en) * | 2016-02-10 | 2017-08-17 | Tyco Fire & Security Gmbh | A fire detection system using a drone |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| CN109754562A (en) * | 2018-12-11 | 2019-05-14 | 中冶(北京)交通科技发展有限公司 | A kind of municipal administration synthesis pipe gallery alarm system |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114307016A (en) * | 2021-11-22 | 2022-04-12 | 中国矿业大学 | Fire extinguishing system based on unmanned aerial vehicle vision auxiliary fire monitor and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107899166B (en) | Accurate fire extinguishing system and method based on unmanned aerial vehicle and intelligent fire-fighting robot | |
| CN110180112B (en) | Cooperative reconnaissance fire-extinguishing operation method for unmanned aerial vehicle and fire-fighting robot | |
| WO2014203593A1 (en) | Control system for remote-control unmanned flight vehicle | |
| US20180217249A1 (en) | Predictive probable cause system and unmanned vehicles using the same | |
| WO2018053877A1 (en) | Control method, control device, and delivery system | |
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| CN110333735B (en) | System and method for realizing unmanned aerial vehicle water and land secondary positioning | |
| CN111256537A (en) | Interactive weapon aiming system displaying remote sensing image of target area | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| CN110624189B (en) | Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method | |
| CN207950388U (en) | Precise fire extinguishing system based on unmanned plane and intelligent fire robot | |
| US20190244536A1 (en) | Intelligent tactical engagement trainer | |
| CN104524731A (en) | Multi-information fusion intelligent water monitor extinguishing system based on electric-optic turret | |
| WO2020019193A1 (en) | Unmanned aerial vehicle control method and system, and unmanned aerial vehicle | |
| CN210228953U (en) | Unmanned aerial vehicle and fire-fighting robot reconnaissance fire extinguishing operation system | |
| CN111192318A (en) | Method and device for determining position and flight direction of unmanned aerial vehicle and unmanned aerial vehicle | |
| CN113251869A (en) | Robot target training system capable of autonomously resisting and control method | |
| CN212332970U (en) | Unmanned aerial vehicle machine carries fire extinguishing bomb device, fire control unmanned aerial vehicle | |
| CN110201333B (en) | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot | |
| CN112316340A (en) | Ground fire-extinguishing robot and control method thereof, air-ground linkage type fire-extinguishing system and control method thereof | |
| CN113848992B (en) | Target detection positioning and automatic shooting system based on unmanned aerial vehicle and armed striking robot | |
| KR102324059B1 (en) | Flight video providing system for drone operation | |
| CN215025542U (en) | Ground fire-extinguishing robot and air-ground linkage type fire-extinguishing system | |
| KR20120036684A (en) | An intelligent aviation robot using gps | |
| CN211863625U (en) | Special unmanned aerial vehicle and system for fire fighting |
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 |