CN112870605B - Positioning and fire extinguishing method for artificial intelligent inspection robot for overhead rail AI - Google Patents
Positioning and fire extinguishing method for artificial intelligent inspection robot for overhead rail AI Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0018—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using gases or vapours that do not support combustion, e.g. steam, carbon dioxide
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Abstract
The invention discloses a positioning and fire extinguishing method of a hanging rail AI artificial intelligent inspection robot, which comprises an intelligent robot main body and a server, wherein the lower end of the intelligent robot main body is provided with an emergency jet medium container, one end of the intelligent robot main body is provided with an infrared thermal scanning holder consisting of an AI camera, an infrared thermal imaging lens and a red ultraviolet flame spectrum sensor, the infrared thermal imaging lens is used for carrying out thermal scanning on the site and forming a heat map, the AI camera is used for shooting a visible light photo of the site and forming a clear high-temperature area temperature and position map by overlapping with the heat map, and positioning of a fire point is completed, the lower end of the infrared thermal scanning holder is provided with a three-dimensional laser navigation module, the three-dimensional laser navigation module is used for locking the distance between the intelligent robot main body and the high-temperature area, and an automatic positioning emergency jet device is fixed on the emergency jet medium container, emergency fire extinguishing is carried out by spraying medium high-pressure nitrogen.
Description
Technical Field
The invention relates to a positioning fire extinguishing method of an artificial intelligent inspection robot for overhead rails AI.
Background
In underground cable piping lane, battery warehouse, comprehensive storehouse, gas cabin, ordinary rail-mounted AI intelligence patrols and examines robot automatic operation in the space, carries high definition camera, high sensitivity infrared thermal imager and environmental monitoring sensor, possesses functions such as people's sense of hearing, vision, sense of smell, and the operation order and the content of patrolling and examining that set for according to the system patrols and examines one by one, and the robot carries out the prejudgement and uploads the integrated management platform to through redundant fiber optic network at a high speed with the data of gathering. When the robot detects that the parameters exceed the standard, a sound-light alarm is initiated locally to warn field operators; and after the operator analyzes and confirms the information, assigning the operator to the site for treatment. The monitoring center can see the on-site operation process in the high-definition video of the robot, and can command the on-site processing work through the robot two-way intercom system. The data analysis and report management module of the management platform can store detailed routing inspection information and analysis diagnosis in the database, generated task reports, diagnosis reports and the like can be downloaded and checked by operators, the system can analyze according to long-time running data, problem data changes in the whole space are monitored, and data support is provided for structure change of a pipe gallery. In the task process, when the electric quantity is insufficient, the robot can automatically arrive at a nearby charging station to supplement the electric quantity; after the robot finishes the operation task, the robot automatically returns to a set starting point or a working well station to wait and execute conventional security monitoring.
In the process, the functions of the conventional AI inspection robot are summarized as point inspection and inspection functions, but the safety inspection function is lacked, and even if the robot is used for early detection, emergency action, automatic injection treatment, automatic winding covering and cooling and other action functions.
At present, more and more robots are in inspection work in severe environments such as a battery warehouse, a cable tunnel and the like, the robots with long underground cable pipe gallery distance (hundreds of meters and more and dozens of kilometers) are internally used for realizing inspection, even if fire hidden-model early warning is acquired through vision, emergency rescue personnel cannot rapidly arrive at the site for solution due to the special passing of the pipe gallery, the existing robots cannot perform emergency processing function for waiting for rescue, so that fire uncontrollable occurs easily before the rescue personnel arrive at the underground accident site, and for example, the robots in the battery warehouse and other chemical warehouses find that the temperature of certain object is obviously raised in the inspection process, the area can rapidly change the chemical change due to the special activity of the object molecules to generate open fire, and the robots are likely to have the conditions of accident uncontrollable and the like in the process of arriving at the site under the condition that the robots do not have emergency processing, therefore, the invention not only solves the problem of early-stage false-alarm-free image fire early warning and positioning, but also solves the autonomous ability that the inspection robot cannot process fire accidents in a minimally invasive manner in an emergency, and the structural characteristics (high integration level, small structure and light weight) of the robot emergency technology conform to the maximum carrying weight range of the inspection robot.
Therefore, the defects of the conventional rail-hanging type AI artificial intelligent robot are mainly the problems of the security inspection link:
1. the robot cannot achieve the ultrahigh-temperature early warning self-positioning function of spontaneous combustion of objects and the like in the routing inspection process (the cradle head is locked, a high-temperature point is snapshot and returned in a thermal imaging rendering mode, and the cradle head is automatically adjusted to align the high-temperature point and visible light to perform double-light fusion so as to observe an accurate area conveniently);
2. the robot can not accurately position the early flame/small flame by zero false alarm in the automatic inspection process (the small flame appearing in the current area is pre-judged by the robot with an AI video image processing frame frequency technology, and certain misjudgment rate exists);
3. the robot cannot automatically measure the open fire distance and the automatic avoiding distance even after the open fire appears through image frame frequency processing;
4. the robot cannot automatically perform emergency treatment after finding a fire safety accident and cannot perform early regional minimally invasive treatment in a self-positioning tracking mode;
5. when a problem target is continuously monitored after open fire emergency treatment, the self-judgment self-tracking blind fire highest temperature source surrounding positioning cooling can not be carried out according to an object temperature rise curve analysis graph.
Accordingly, there is a need for improvements in the art that address the problems currently encountered.
Disclosure of Invention
The invention aims to solve the technical problem of providing a positioning and fire extinguishing method of a hanging rail AI artificial intelligent inspection robot, which is convenient to use and simple to operate, has the human emergency operation fire extinguishing function and the human-unavailable far infrared scanning early fire early warning function, avoids uncontrollable fire behavior, can position fire points, can emergently treat the early fire on site in a full-automatic and semi-automatic mode, wins time for emergency rescue personnel to arrive at the site, can automatically and emergently treat the early fire before the personnel arrive at the site particularly in the danger industry, ensures the safety of the personnel, reduces the loss caused by fire and comprehensively realizes unmanned automatic inspection.
In order to solve the problems, the invention adopts the following technical scheme:
a positioning and fire extinguishing method of a hanging rail AI artificial intelligence inspection robot comprises an intelligent robot main body and a server, wherein the upper end of the intelligent robot main body is provided with a driving wheel, a battery is arranged in the intelligent robot main body, the lower end of the intelligent robot main body is provided with an emergency jet medium container, one end of the intelligent robot main body is provided with an infrared thermal scanning pan head consisting of an AI camera, an infrared thermal imaging lens and a red ultraviolet flame spectrum sensor, the infrared thermal imaging lens is used for carrying out thermal scanning on the site and forming a heat map, the AI camera is used for shooting a visible light photo of the site and forming a clear high-temperature area temperature and position map by overlapping with the heat map, the lower end of the infrared thermal scanning pan head is provided with a three-dimensional laser navigation module, the three-dimensional laser navigation module is used for locking the distance between the intelligent robot main body and the high-temperature area, and an automatic positioning emergency jet device is fixed on the emergency jet medium container, the emergency spraying medium container is internally provided with spraying medium high-pressure nitrogen, and the high-pressure nitrogen is used for emergency fire extinguishing.
Preferably, a high-pressure electromagnetic valve is arranged between the automatic positioning emergency spraying device and the emergency spraying medium container.
In the device, the ejection of the ejection medium high-pressure nitrogen and the like in the emergency ejection medium container is controlled by the high-pressure electromagnetic valve.
Preferably, emergency travel touch switches are installed at two ends of the intelligent robot main body.
This setting has realized the control to intelligent robot main part removal stroke, prevents the collision.
Preferably, the emergent injection apparatus of automatic positioning includes pivot, the big gun body, shell, is equipped with out the water piece on the shell, is equipped with the injection mouth of pipe on the play water piece, and the injection mouth of pipe is connected with the pivot, and the pivot is hollow structure and is connected with emergent injection medium container, the outside of pivot is fixed with main shaft gear, install micro motor one on the big gun body, install motor gear on the micro motor one, motor gear and main shaft gear connection, the pivot is equipped with the stopper with big gun body junction.
This setting, through the effect control automatic positioning emergency injection device horizontal rotation of micromotor to realize the location.
Preferably, the injection nozzle is provided with a vertical positioning infrared detector and a camera, the shell is provided with an ultraviolet detector and a horizontal positioning infrared detector, and the vertical positioning infrared detector and the horizontal positioning infrared detector are used for determining the angle between the injection nozzle and the fire point.
This setting is convenient for automatic positioning emergency device to accomplish the fire extinguishing to the ignition.
Preferably, a cavity is formed between the water outlet block and the shell, and a second micro motor is arranged at the joint of the cavity and the rotating shaft.
The setting is adjusted from top to bottom through two pairs of injection pipe orifices of the micromotor.
The invention has the beneficial effects that: convenient to use, and easy operation, the early conflagration early warning function of far infrared scanning that possesses people's emergency operation function of putting out a fire and people do not possess cooperatees, stop the uncontrollable of intensity of a fire, can fix a position the ignition, can the on-the-spot early conflagration of full-automatic and semi-automatic mode emergency treatment, win the time for emergency rescue personnel and arrive the scene, in danger ization trade very much, can be before personnel arrive the scene, automatic emergency treatment, the security of treatment personnel has been guaranteed, reduce the loss that the conflagration caused, realize unmanned automatic patrolling and examining comprehensively, the universality that has practicality and use.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, but the protection scope of the present invention is not limited.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side schematic view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic side view of the automatically positioned emergency spray device of the present invention;
FIG. 5 is a schematic cross-sectional view of an automatically positioned emergency spray device of the present invention;
FIG. 6 is a schematic polar diagram of the present invention;
the intelligent robot comprises an intelligent robot main body 1, a driving wheel 2, an emergency injection medium container 3, an automatic positioning emergency injection device 4, a battery 5, an emergency travel touch switch 6, an infrared thermal scanning holder 7, a three-dimensional laser navigation module 8, a high-pressure electromagnetic valve 9, an ultraviolet controller 10, a horizontal positioning infrared controller 11, a rotating shaft 12, a gun body 13, a spindle gear 14, a motor gear 15, a micromotor I, a housing 17, a water outlet block 18, a limiting block 19, a micromotor II, a injection pipe orifice 21 and a vertical positioning infrared controller 22.
Detailed Description
Referring to fig. 1 to 6, a positioning and fire extinguishing method for an artificial intelligent inspection robot for overhead rail AI comprises an intelligent robot main body 1 and a server, wherein the intelligent robot main body 1 is connected with the server through a 485 communication protocol for network signal transmission, a driving wheel 2 is arranged at the upper end of the intelligent robot main body 1, a battery 5 is arranged in the intelligent robot main body, an emergency spraying medium container 3 is arranged at the lower end of the intelligent robot main body 1, an infrared thermal scanning pan-tilt 7 consisting of an AI camera, an infrared thermal imaging lens and a red ultraviolet flame spectrum sensor is arranged at one end of the intelligent robot main body 1, the infrared thermal imaging lens is used for thermally scanning a site and forming a heat map, the AI camera is used for shooting a visible light photo of the site and is superposed with the heat map to form a clear high-temperature area temperature and position map, a three-dimensional laser navigation module 8 is arranged at the lower end of the infrared thermal scanning pan-tilt 7, the three-dimensional laser navigation module 8 is used for locking the distance between the intelligent robot main body 1 and a high-temperature area, an automatic positioning emergency spraying device 4 is fixed on the emergency spraying medium container 3, high-pressure nitrogen for spraying medium is arranged in the emergency spraying medium container 3 and used for emergency fire extinguishing, a high-pressure electromagnetic valve 9 is arranged between the automatic positioning emergency spraying device 4 and the emergency spraying medium container 3, emergency travel touch switches 6 are installed at two ends of the intelligent robot main body 1, the automatic positioning emergency spraying device 4 comprises a rotating shaft 12, a gun body 13 and a shell 17, a water outlet block 18 is arranged on the shell 17, a spraying pipe orifice 21 is arranged on the water outlet block 18, the spraying pipe orifice 21 is connected with the rotating shaft 12, the rotating shaft 12 is of a hollow structure and is connected with the emergency spraying medium container 3, a main shaft gear 14 is fixed on the outer side of the rotating shaft 12, and a micro motor 16 is installed on the gun body 13, a motor gear 15 is mounted on a first micro motor 16, the motor gear 15 is connected with a main shaft gear 14, a limiting block 19 is arranged at the joint of the rotating shaft 12 and the gun body 13, a vertical positioning infrared detector 22 and a camera are mounted on the injection pipe orifice 21, an ultraviolet detector 10 and a horizontal positioning infrared detector 11 are arranged on the shell 17, the vertical positioning infrared detector 22 and the horizontal positioning infrared detector 11 are used for determining the angle between the injection pipe orifice 21 and a fire point, an accommodating cavity is formed between the water outlet block 18 and the shell 17, and a second micro motor 20 is arranged at the joint of the accommodating cavity and the rotating shaft 12.
When the intelligent robot works, the intelligent robot body walks along the track through the driving wheels, the intelligent robot performs thermal scanning on a walking picture through infrared thermal imaging in the inspection process, stops walking once the temperature is higher than a preset value, performs alarm snapshot, then the robot with the infrared thermal scanning pan-tilt automatically corrects the angle through the XY-axis horizontal vertical motor, so that the highest temperature area stops at the middle position of the thermal image, shoots a visible light photo through an AI camera of the infrared thermal scanning pan-tilt and transmits the shot back to the server, the server processes the two returned pictures after receiving an early warning signal, performs screenshot on a high-temperature early warning rendering area and superposes the shot on the visible light photo, displays a temperature value, displays a clear high-temperature area, and is convenient for a back-end person to quickly lock a specific position and remotely observe the specific position; in the inspection process of the robot, the infrared and ultraviolet flame spectrum sensor triggers high and low levels through the infrared and ultraviolet rays emitted by the flame (after the sensor probe is filled with active ions and receives infrared and ultraviolet spectra, the active ions can rapidly move and dissociate to generate micro-current triggering), and the infrared and ultraviolet flame spectrum sensor is sent to a server through digital signals to be matched with an image processing system to carry out a phase-matching mode (a circuit 1 is 1) to determine the occurrence of fire.
After the intelligent robot determines fire, the laser ranging function starts to instruct the robot body to move so as to ensure that the robot and a hazard source are kept at 3 meters (automatically adjusted according to sensed temperature), after the robot determines the distance, the robot instructs the automatic positioning emergency injection device to work, the automatic positioning emergency injection device starts to horizontally move for 360 degrees (a main shaft gear is driven by a motor gear of a micro motor I to rotate, the whole automatic positioning emergency injection device is driven to rotate by the main shaft gear), the horizontal X-axis positioning is carried out by a horizontal positioning infrared detector (infrared narrow slit flame spectrum positioning method), then the instantaneous injection pipe orifice carries out +30 degrees-90 degrees inspection positioning, the vertical Y-axis positioning is also carried out by a vertical positioning infrared detector (infrared narrow slit flame spectrum positioning method) so as to position the fire point, the distance between the injector and the fire point and the injection pipe orifice rising from-90 degrees are known according to trigonometric function theorem The angle value is obtained according to a parabolic algorithm of the high-pressure nitrogen (or directly less than 10UM water mist) of the sprayed medium, the angle value of the upward compensation of the spray opening is obtained, and the sprayed medium is ensured to directly cover the fire point by programming a program of the corresponding compensation angle according to 12 test results between-90 degrees and +30 degrees through a test result of the flow of a pressurized 8MP container of 0.5L per second, so that the temperature of the oxygen is isolated and the temperature is reduced.
After open fire treatment is finished, the automatic positioning emergency injection device automatically closes a corresponding valve, at the moment, the intelligent robot infrared scanning thermal imaging system can scan and measure temperature at the position to wait for the entry of emergency rescue personnel, if the object is high in temperature again (thermal imaging software needs to research and develop a temperature measurement characteristic curve analysis graph), the server can perform secondary early warning and bounce out of a remote control interface of the emergency device, control room personnel can perform remote control on a window through remote control, and a 485 communication protocol network signal instructs the up-down left-right action of equipment, valve opening and valve closing and the like.
The invention relates to a method for converting fire point positioning, a spraying pipe orifice angle and a spraying medium distance angle, which comprises the following steps:
the polar coordinate system is a coordinate system consisting of a pole, a polar axis and a polar diameter in a plane. A certain point O is taken on the plane and is called a pole. Starting from O, a ray Ox is drawn, called the polar axis. One unit of length is then taken, usually with the prescribed angle being positive in the counterclockwise direction. Thus, the position of any point P on the plane can be determined by the length ρ of the line segment OP and the angle θ from Ox to OP, and the ordered number pair (ρ, θ) is called the polar coordinate of the point P and is marked as P (ρ, θ); ρ is the polar diameter of point P and θ is the polar angle of point P. When the limit rho is more than or equal to 0 and theta is less than 2 pi, each other point on the plane except the grid point O has a unique polar coordinate. Here, the pole may be analogous to the automatically positioned emergency spray device and the pole axis may be analogous to the direction indicated by the spray orifice of the automatically positioned emergency spray device.
The method comprises the following steps that two Bernoulli equations, when an ideal positive pressure fluid does a constant motion under the action of potential volume force, the motion equations are integrated along a flow line to obtain an equation expressing the conservation of mechanical energy of the motion fluid, for an incompressible homogeneous fluid in a gravity field, the equation is p + rho gh + (1/2). rho v 2 ^ c, and in the equation, p, rho and v are the pressure, density and linear velocity of the fluid respectively; h is the vertical height; g is the acceleration of gravity, c is a constant; the above expressions represent pressure energy p, gravitational potential energy ρ gh and kinetic energy (1/2) × ρ v ^2 of unit volume fluid respectively, and the sum remains unchanged in the process of moving along the flow line, namely the total energy is conserved. But the total energy (i.e., the constant value in the above equation) may be different between streamlines; for gases, gravity can be neglected and the equations are reduced to p + (1/2) × ρ v ^2 ═ constant (p0), each referred to as static pressure, dynamic pressure, and total pressure, respectively. Obviously, the pressure decreases with increasing velocity in the flow; the pressure intensity is increased when the speed is reduced; the velocity drops to zero and the pressure reaches a maximum (theoretically equal to the total pressure).
And thirdly, the parabolic equation is a trajectory equation of a parabola, is a method for expressing the parabola by using an equation, and can draw the parabola according to the equation of the parabola on a geometric plane. The specific expression of the equation is y ═ a × x + b × x + c.
The invention discloses a thermal power point positioning method, which comprises the following steps:
1. firstly, determining the rotating angular speed of the automatic positioning emergency injection device, and obtaining the angular speed by measuring the time of one turn through a formula omega-phi/t;
2. determining the angle of the injection pipe orifice when the injection pipe orifice is turned to a fire point from a vertical position, timing through a single chip microcomputer, and obtaining the angle through back-stepping according to a formula omega-phi/t;
3. measuring the vertical distance y between the sensor and the horizontal ground;
4. obtaining the horizontal distance x from the automatic positioning emergency spraying device to the fire point according to the trigonometric function tan phi which is y/x;
5. determining the initial flow velocity V of the water flow according to the Bernoulli equation p + rho gh + (1/2) × rho V ^2 ^ c;
6. from the knowledge about the parabola, the vertical velocities Vy and Vx of the water flow velocity are determined. Forming a simultaneous system of equations:
(1)Vx*Vx+Vy*Vy＝V*V；
(2)Vx*t＝x；
(3)g*t1＝Vy；
(4)g*t2*t2＝2y+1/2*Vy*t1；
(5)t1+t2＝t；
from the above, Vx and Vy are obtained, where Vx is V tan, Vy is V cota, and the angle a is obtained by reverse extrapolation.
In summary, the following steps: the angle a of the automatic positioning emergency spraying device to rotate when spraying water can be calculated by the vertical height y and the angle phi of the rotation when the sensor is positioned, so that the fire point can be accurately positioned.
The driving wheel transmission mode of the invention is similar to that commonly used in the market, so detailed description is omitted.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (8)
1. A positioning fire extinguishing method of a hanger rail AI artificial intelligence inspection robot is characterized in that: the intelligent robot comprises an intelligent robot main body and a server, wherein a driving wheel is arranged at the upper end of the intelligent robot main body, a battery is arranged in the intelligent robot main body, an emergency jet medium container is arranged at the lower end of the intelligent robot main body, an infrared thermal scanning holder consisting of an AI camera, an infrared thermal imaging lens and a red ultraviolet flame spectrum sensor is arranged at one end of the intelligent robot main body, the infrared thermal imaging lens is used for carrying out thermal scanning on the site and forming a heat map, the AI camera is used for shooting a visible light photo of the site and is superposed with the heat map to form a clear high-temperature area temperature and position map, a three-dimensional laser navigation module is arranged at the lower end of the infrared thermal scanning holder and used for locking the distance between the intelligent robot main body and the high-temperature area, an automatic positioning emergency jet device is fixed on the emergency jet medium container, and jet medium high-pressure nitrogen is arranged in the emergency jet medium container, high-pressure nitrogen gas is used for emergent fire extinguishing, emergent travel touch switch is all installed at the both ends of intelligent robot main part, the emergent injection apparatus of automatic positioning includes pivot, the big gun body, shell, is equipped with out the water piece on the shell, is equipped with the injection mouth of pipe on going out the water piece, install vertical location infrared detector and camera on the injection mouth of pipe, be equipped with ultraviolet detector and horizontal location infrared detector on the shell, vertical location infrared detector, horizontal location infrared detector are used for confirming the angle value between injection mouth of pipe and the ignition, and its location is put out a fire and is included following step:
1) the infrared thermal imaging lens is used for thermally scanning a walking picture, the walking picture stops moving immediately when the temperature is higher than a preset value, alarm snapshot is carried out, a thermal image is obtained, and then an infrared thermal scanning holder of the intelligent robot automatically corrects the angle through an XY-axis horizontal vertical motor, so that the highest temperature area stops at the middle position of the thermal image;
2) then shooting a visible light photo by an AI camera of the infrared thermal scanning pan-tilt, and returning the screenshot to the server, wherein the server processes the returned two pictures after receiving the early warning signal, and overlays the screenshot of the high-temperature early warning rendering area on the visible light photo to display a clear high-temperature area; meanwhile, the infrared and ultraviolet flame spectrum sensor triggers high and low levels through the infrared and ultraviolet rays emitted by the flame, and the high and low levels are sent to a server through digital signals to be matched with an image processing system to carry out a phase-contrast mode, so that the occurrence of fire is determined;
3) after a fire is determined, the laser ranging function is started, the server instructs the intelligent robot body to move, and the distance between the intelligent robot and the fire is determined;
4) the server instructs the automatic positioning emergency injection device to work, the automatic positioning emergency injection device starts to rotate 360 degrees horizontally, the horizontal X-axis positioning is carried out through the horizontal positioning infrared detector, the injection pipe opening carries out + 30-90-degree inspection positioning, and the vertical Y-axis positioning is carried out through the vertical positioning infrared detector, so that the fire point is positioned;
5) then, automatically positioning an emergency injection device, and injecting high-pressure nitrogen and mixed substances of injection media in an emergency injection medium container from an injection pipe orifice to directly cover a fire point, and insulating oxygen and simultaneously cooling;
6) after the open fire is disposed, the corresponding valve is automatically closed by the automatic positioning emergency injection device, the intelligent robot infrared scanning thermal imaging system scans and measures temperature to wait for the emergency rescue personnel to enter, if the object is high in temperature again, the server can perform secondary early warning and bounce out of a remote control interface of the emergency device, and personnel in a control room can remotely control the intelligent robot on a window.
2. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 1, characterized in that: the angular speed of the rotation of the automatic positioning emergency injection device is obtained by measuring the time of the automatic positioning emergency injection device rotating for one circle according to the formula omega phi/t.
3. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 2, characterized in that: timing is carried out through a single chip microcomputer, the angle when the jet pipe orifice is rotated to a fire point from a vertical position is determined by reversely deducing the formula omega phi/t.
4. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 3, characterized in that: the vertical distance y of the sensor from the horizontal ground is measured by the vertical positioning infrared controller.
5. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 4, characterized in that: and obtaining the horizontal distance x from the nozzle to the fire point according to the trigonometric function tan phi which is y/x.
6. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 5, characterized in that: the initial flow velocity V of the water flow is determined according to Bernoulli equation p + ρ gh + (1/2) × ρ V ^2 ═ c.
7. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 6, characterized in that: determining the vertical velocity Vy and Vx of the water flow velocity according to the related knowledge of the parabola,
forming a simultaneous system of equations:
(1)Vx*Vx+Vy*Vy＝V*V；
(2)Vx*t＝x；
(3)g*t1＝Vy；
(4)g*t2*t2＝2y+1/2*Vy*t1；
(5)t1+t2＝t；
and calculating the angle a which the machine should rotate when spraying water according to the vertical height y and the angle phi rotated when the sensor is positioned, thereby accurately positioning the fire point.
8. The positioning and fire extinguishing method for the artificial intelligent inspection robot for the overhead rail AI according to claim 1, characterized in that: the gun body is provided with a first micro motor, the first micro motor is provided with a motor gear, the motor gear is connected with the main shaft gear, a limiting block is arranged at the joint of the rotating shaft and the gun body, a containing cavity is formed between the water outlet block and the shell, and a second micro motor is arranged at the joint of the containing cavity and the rotating shaft.
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| CN114534147A (en) * | 2022-03-02 | 2022-05-27 | 浙江和朴实业有限公司 | Automatic high temperature of AI artificial intelligence that falls to ground is tracked location and is sprayed and patrol and examine robot |
| CN114602105A (en) * | 2022-03-23 | 2022-06-10 | 浙江和朴实业有限公司 | Low-space miniature flame spectrum automatic scanning fire extinguishing system and fire extinguishing device |
| CN114849127B (en) * | 2022-07-08 | 2022-11-11 | 四川坤弘远祥科技有限公司 | Method, apparatus and medium for controlling non-pressure storage type explosion suppression system |
| CN115741684B (en) * | 2022-11-11 | 2023-09-22 | 青岛杰瑞自动化有限公司 | Control method and system for fire extinguishing robot in petroleum exploration area and electronic equipment |
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| GB2174003B (en) * | 1985-04-23 | 1988-12-21 | Tekken Constr Co | Automatic fire extinguisher with infrared ray responsive type fire detector |
| CN106169216A (en) * | 2015-09-09 | 2016-11-30 | 河南联纵消防科技有限公司 | Fire locating method based on infrared thermal imaging technique |
| CN110652681A (en) * | 2019-09-25 | 2020-01-07 | 广州市禹成消防科技有限公司 | Automatic tracking fire extinguishing device and automatic tracking fire extinguishing method |
| CN111973911A (en) * | 2020-09-14 | 2020-11-24 | 浙江浙能技术研究院有限公司 | Emergency spraying fire extinguishing device and method for hanger rail AI inspection robot |
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