CN112915420A - Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot - Google Patents
Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot Download PDFInfo
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- CN112915420A CN112915420A CN202110380954.XA CN202110380954A CN112915420A CN 112915420 A CN112915420 A CN 112915420A CN 202110380954 A CN202110380954 A CN 202110380954A CN 112915420 A CN112915420 A CN 112915420A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/002—Fire prevention, containment or extinguishing specially adapted for particular objects or places for warehouses, storage areas or other installations for storing goods
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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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
Abstract
A fire scene positioning and fire extinguishing method of a warehouse intelligent fire extinguishing robot comprises the following steps: 1. the warehouse is divided into a plurality of areas, and a smoke alarm module is installed in each area; 2. planning a driving route from a starting point of the fire-fighting robot to each area and storing the driving route in the fire-fighting robot, and 3, determining the area where a fire scene is located according to the smoke alarm module of each area and the wireless signal receiving module on the fire-fighting robot; 4. triggering a running program corresponding to the ignition area in the fire-fighting robot program, and enabling the fire-fighting robot to travel to the ignition area through a special channel along a corresponding running route; when the special passage has an obstacle, the fire-extinguishing robot plans a driving route autonomously, bypasses the obstacle in front and returns to the original driving route to continue driving by adopting a nearby principle; 5. the fire extinguishing robot searches and positions a fire source through the infrared thermal imager to carry out fire extinguishing operation. The method can enable the fire extinguishing robot to quickly locate the fire scene under the condition of no participation of people, and eliminate the fire from the sprouts.
Description
Technical Field
The invention belongs to the technical field of fire fighting, and particularly relates to a fire scene positioning and fire extinguishing method for a warehouse intelligent fire extinguishing robot.
Background
In social life, hidden dangers of fire disasters exist everywhere, and big and small fire disasters frequently occur, and the fire disasters become one of the most important disasters which harm the life health of people and public property. Particularly, in the case of an indoor fire, the flame spread rate is very high, and if the fire cannot be extinguished in time at the initial stage of the fire, the fire is difficult to control after the fire becomes large, and the consequences are not easy to assume.
In the prior art, three methods are mainly used for realizing the positioning of a fire scene by a fire extinguishing robot:
1. the fire extinguishing robot is controlled to run to a fire scene to execute a fire extinguishing task in a manual site or remote control mode. For example, patent invention No. CN 111267128B provides a remote fire-fighting robot controller, by which a fire-fighting robot can be controlled to go to a fire scene. The method needs manual participation and has low intelligence degree.
2. And providing fire scene position information for the fire-extinguishing robot through the reconnaissance equipment. For example, the invention patent with the authorization number of CN 110101996B provides a fire-fighting robot cooperative positioning and autonomous operation method under a complex environment, and two scout robots provide fire scene position information for the fire-fighting robot; for example, the invention patent with the authorization number of CN 107137838B provides a fire rescue closed-loop control system and a fire rescue closed-loop control method based on a fire-fighting robot, and fire scene position information is provided for the fire-fighting robot in a high-altitude reconnaissance mode of an unmanned aerial vehicle. The method for providing fire scene position information for the fire-extinguishing robot through the reconnaissance equipment is complex in principle, high in technical difficulty, limited in application scene, large in damage to the unmanned aerial vehicle in a high-altitude reconnaissance mode of the unmanned aerial vehicle, dependent on GPS (global positioning system) precision in positioning precision, and invalid in the face of indoor fire situations.
3. The fire-extinguishing robot realizes the positioning of the fire-catching point through the binocular vision equipment of the fire-extinguishing robot body. For example, patent invention with the authorization number of CN 109331378B provides an fire-extinguishing robot based on image processing and an intelligent fire-extinguishing method, which uses a video acquisition module to acquire images of an area in front of the fire-extinguishing robot in real time and transmit position information of a fire point to the fire-extinguishing robot. This is suitable for situations where the general location of the fire is known and the particular fire is located. If the positioning method is adopted for fire scene positions in a large range, the positioning efficiency is low, the fire extinguishing time can be delayed, and the method has a complex principle and high technical difficulty.
Disclosure of Invention
The invention aims to provide a fire scene positioning and fire extinguishing method of an intelligent fire extinguishing robot for a warehouse.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
a fire scene positioning and fire extinguishing method of a warehouse intelligent fire extinguishing robot specifically comprises the following steps:
1.1, dividing a warehouse into N areas, and installing a smoke alarm module in each area to ensure that any place in the area can be detected by the smoke alarm module when a fire occurs;
step 1.2, planning a driving route from a starting point of the fire-fighting robot to each area, manufacturing the driving route into a special channel for the fire-fighting robot, completely keeping the driving route smooth during the closing period of a warehouse, and avoiding occupying the driving route for more than 0.5h when the warehouse is in storage and delivery;
the fire extinguishing robot comprises a mobile robot, a wireless signal receiving module, a main control unit, a fire extinguishing device and a flame identification and positioning device; the intelligent wheel type chassis of the mobile robot can establish a two-dimensional map of the surrounding environment according to signals of the laser radar, a driving route is planned autonomously, a plurality of driving programs can be recorded and stored in the intelligent wheel type chassis, and the fire-extinguishing robot can drive according to the prestored driving programs;
the wireless signal receiving module is arranged in the mobile robot, can receive a wireless signal from the wireless signal transmitting module of the smoke alarm module and transmits the signal to the main control unit;
the main control unit is arranged in the mobile robot and is connected with the intelligent wheel type chassis, the wireless signal receiving module, the fire extinguishing device and the flame identification and positioning device through leads, and the main control unit can receive information from the wireless signal receiving module and the flame identification and positioning device and control the intelligent wheel type chassis to move and the fire extinguishing device to execute a fire extinguishing instruction;
step 1.3, recording each driving route into a program of an intelligent wheel type chassis of the fire-fighting robot, and using the driving route as an alternative driving program when the fire-fighting robot executes a fire-fighting task;
step 1.4, establishing a one-to-one corresponding relation among a warehouse area, a smoke alarm module, a planned driving route and a driving program of a fire extinguishing robot;
The smoke alarm modules in all the areas collect signals in real time and send the collected signals to the main control unit; the smoke alarm module comprises a smoke sensor, an auxiliary control unit and a wireless signal transmitting module; the smoke sensor is used for measuring the smoke concentration in the air in real time and sending the smoke concentration to the auxiliary control unit; the auxiliary control unit is used for receiving the smoke concentration sent by the smoke sensor, comparing the smoke concentration with a preset smoke concentration threshold value, judging whether a fire occurs or not, and if the fire occurs, controlling the wireless signal transmitting module to send out a wireless signal and transmit fire information; the wireless signal transmitting module is used for transmitting a wireless signal with fire information to the wireless signal receiving module in the fire-fighting robot; the signal transmitted by the wireless signal transmitting module comprises a position code representing the area information and a fire code representing the area state;
Step 3.1, a wireless signal receiving module arranged in the mobile robot receives a wireless signal from a wireless signal transmitting module of the smoke alarm module and transmits the signal to a main control unit in the mobile robot, the main control unit determines the position information of an area through a position code part in the wireless signal, and then judges whether a fire occurs in the area through a fire code part; if a fire occurs, triggering a running program corresponding to a fire area in an intelligent wheel type chassis program of the fire-fighting robot, and carrying out fire fighting on the fire-fighting robot along a corresponding running route to the fire area through a special channel of the fire-fighting robot; if the fire does not occur, the fire extinguishing robot does not move and is in a standby state, and continues to receive wireless signals from the area;
3.2, when an obstacle appears in the special channel, the mobile robot can detect the distance of the front obstacle and transmit the distance information to the main control unit, a safety distance threshold value from the front obstacle is preset in the main control unit, when the distance from the fire extinguishing robot to the front obstacle reaches the threshold value, the main control unit can immediately trigger the laser radar of the intelligent wheel type chassis, the intelligent wheel type chassis establishes a two-dimensional map of the surrounding environment according to signals of the laser radar, and a driving route is planned autonomously to bypass the front obstacle; when the mobile robot detects that no obstacle exists in front, the information is transmitted to the main control unit, the main control unit controls the fire-extinguishing robot to return to the initially selected running route according to the current point and the nearby principle, and the fire-extinguishing robot continues to run to the fire area according to the original running program;
3.3, when the fire extinguishing robot runs to a fire area, the main control unit triggers a flame recognition and positioning device arranged behind the top of the mobile robot to start and rotate after detecting that a running program is finished, and transmits a detected temperature image to the main control unit, and the main control unit analyzes the temperature image and selects a point with the highest temperature as a preferential fire extinguishing direction;
3.4, after the fire extinguishing direction is determined, the main control unit controls the intelligent wheel type chassis to adjust the direction of the locomotive, so that the locomotive is aligned with the selected fire extinguishing direction, and the intelligent wheel type chassis is controlled to move forward to the fire extinguishing direction until the safety distance between the intelligent wheel type chassis and a fire source preset in the main control unit is reached; at the moment, because the nozzle of the fire extinguishing apparatus is in the horizontal direction and may have angular deviation with the fire extinguishing direction, the main control unit further converts the angle information of the nozzle of the fire extinguishing apparatus and the fire extinguishing direction into the rotation number of the rotation of the driving motor, controls the rotation of the driving motor, enables the nozzle of the fire extinguishing apparatus to be aligned with the fire extinguishing direction, and controls the opening of the electromagnetic valve of the fire extinguishing apparatus to open the fire extinguishing apparatus for fire extinguishing;
3.5, in the fire extinguishing process, the flame recognition and positioning device continuously transmits the detected temperature image to the main control unit, when the main control unit detects that the highest temperature point in the image is lower than a preset threshold value, the fire at the point is considered to be extinguished, the main control unit controls an electromagnetic valve of the fire extinguishing device to be closed, the fire is stopped to be extinguished, and a spray head of the fire extinguishing device is reset to the horizontal direction; and the main control unit controls the flame identification and positioning device to continue rotating, the steps are repeated, the highest temperature point is used as the next fire extinguishing direction, the fire in the area is judged to be extinguished until the highest temperature values around are lower than a preset threshold value, and the main control unit controls the fire extinguishing robot to return to the starting point.
Preferably, the mobile robot comprises a wheeled robot body, a flashing light and an infrared distance measuring sensor, wherein the wheeled robot body comprises a fire-fighting robot box body, an intelligent wheeled chassis and a laser radar, the fire-fighting robot box body is arranged on the intelligent wheeled chassis, and the laser radar is arranged behind the top of the fire-fighting robot box body; the explosion flash lamp is arranged in front of the top of the box body of the fire-extinguishing robot, can emit strong explosion flash light and alarm sound to remind the responsible personnel of the warehouse of fire and can provide a visual field in a dense smoke environment; the infrared distance measuring sensor is installed around the fire-fighting robot box body, can measure the distance with obstacles all around, and transmits distance information to the main control unit.
Preferably, the fire extinguishing device comprises a canned dry powder fire extinguisher and a driving motor, the canned dry powder fire extinguisher is installed on the upper part of the intelligent wheel type chassis, a switch of the canned dry powder fire extinguisher is an electromagnetic valve, the driving motor is used for controlling the angle of a spray nozzle of the canned dry powder fire extinguisher, the spray nozzle of the canned dry powder fire extinguisher always points to the front of the vehicle head, the drive motor drives the spray nozzle to rotate up and down around the horizontal direction, and the initial and reset directions of the spray nozzle are the horizontal direction; the rotation of the driving motor and the opening and closing of the electromagnetic valve are controlled by a main control unit.
Preferably, the flame identification and positioning device comprises an infrared thermal imager and a rotating motor, the rotating motor is installed behind the top of the mobile robot, the infrared thermal imager is installed on the rotating motor and can rotate for 360 degrees, the infrared thermal imager is started and the rotating motor rotates under the control of a main control unit, and temperature images detected by the infrared thermal imager are transmitted to the main control unit in real time for analysis.
As a further preferable aspect of the present invention, the step 1.2 is to plan the driving route mainly on a straight line as much as possible and to bypass a place with many obstacles and high frequency of use.
As a further preferred aspect of the present invention, step 1.4 may use the numbering principle to establish a one-to-one correspondence relationship between warehouse areas, smoke alarm modules, planned travel routes, and fire-extinguishing robot travel programs, where if one of the areas is named as area 01, the smoke alarm module installed in the area is named as smoke alarm module 01, the travel route from the starting point of the fire-extinguishing robot to the area is named as travel route 01, and the travel route is entered into the fire-extinguishing robot program and named as travel program 01.
The invention has the advantages and beneficial effects that:
(1) the positioning and fire extinguishing method provided by the invention is designed aiming at the characteristics of large warehouse space, less people flow and simple and regular overall layout, and has strong environmental adaptability according to local conditions.
(2) The positioning and fire extinguishing method provided by the invention can automatically complete the fire extinguishing task without manual participation, and has high intelligent degree.
(3) The method provided by the invention has the advantages of simple and reliable positioning principle, convenience, easiness and rapidness in positioning; the warehouse area and the driving route are numbered by using wireless signals, and no additional auxiliary reconnaissance equipment is needed to provide position information of a fire scene for the fire-extinguishing robot and establish a local area network for realizing communication between the reconnaissance equipment and the fire-extinguishing robot; in addition, the method plans the special channel for the fire-extinguishing robot, and under the condition that most of the special channels for the fire-extinguishing robot are not blocked by obstacles, the fire-extinguishing robot does not need to plan a route and carry out obstacle avoidance operation autonomously, does not need to search a fire source unintentionally by using binocular vision equipment, and can quickly locate a fire area at the first time when a fire occurs.
Drawings
FIG. 1 is a schematic view of the fire fighting robot of the present invention;
FIG. 2 is a schematic diagram of a smoke alarm module according to the present invention;
FIG. 3 is a schematic diagram of warehouse area partitioning according to the present invention;
FIG. 4 is a diagram of the warehouse areas, travel routes, and travel programs according to the present invention;
FIG. 5 is a flow chart of the fire scene positioning and fire extinguishing method of the fire extinguishing robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 to 5, the fire scene positioning and fire extinguishing method of the intelligent fire extinguishing robot for the warehouse provided by the invention specifically comprises the following steps:
1.1, dividing a warehouse into N areas, and installing a smoke alarm module in each area to ensure that any place in the area can be detected by the smoke alarm module 2 when a fire occurs; fig. 3 shows a schematic diagram of a warehouse divided into 6 areas, where the 6 areas are respectively denoted as area 01, area 02, area 03, area 04, area 05, and area 06, and the smoke alarm modules installed in each area are respectively denoted as smoke alarm module 01, smoke alarm module 02, smoke alarm module 03, smoke alarm module 04, smoke alarm module 05, and smoke alarm module 06;
step 1.2, planning a driving route from a starting point of the fire-fighting robot 1 to each area, and manufacturing the driving route into a special channel for the fire-fighting robot; when planning a driving route, the fire extinguishing robot mainly takes a straight line as possible and bypasses a place with more obstacles and higher use frequency so as to be convenient for the fire extinguishing robot to walk; the running route is kept smooth completely during the period of closing the warehouse, and the running route is not occupied for more than 0.5h when the warehouse is in and out; the driving routes from the starting point of the fire-extinguishing robot 1 to each area are respectively recorded as a driving route 01, a driving route 02, a driving route 03, a driving route 04, a driving route 05 and a driving route 06;
the fire-extinguishing robot 1 comprises a mobile robot, a wireless signal receiving module, a main control unit 8, a power module 7, a fire-extinguishing device and a flame identification and positioning device; the mobile robot comprises a wheeled robot body, a flashing light 1 and an infrared distance measuring sensor 4, wherein the wheeled robot body comprises a fire-extinguishing robot box body 5, an intelligent wheeled chassis 6(WHEELTEC heavy-duty type) and a laser radar 9, the fire-extinguishing robot box body 5 is installed on the intelligent wheeled chassis 6, the intelligent wheeled chassis 6 can establish a two-dimensional map of the surrounding environment according to signals of the laser radar 9, a driving route is planned autonomously, a plurality of driving programs can be recorded and stored in the intelligent wheeled chassis 6, and the fire-extinguishing robot can drive according to the prestored driving programs; the laser radar 9 is arranged behind the top of the fire-fighting robot box body 5; the explosion flash lamp 1 is arranged at the front end of the top of the box body 5 of the fire-extinguishing robot, can emit strong explosion flash light and alarm sound to remind the responsible personnel of the warehouse of the occurrence of fire and can provide a visual field in a dense smoke environment; the infrared distance measuring sensor 4 is arranged around the box body 5 of the fire-fighting robot, can measure the distance between the fire-fighting robot and surrounding obstacles and transmits distance information to the main control unit 8;
the wireless signal receiving module is arranged in the mobile robot, can receive a wireless signal from the wireless signal transmitting module of the smoke alarm module and transmits the signal to the main control unit 8;
the power module 7 and the main control unit 8 are installed at the rear part inside the box body 5 of the fire-fighting robot, and the power module 7 and the main control unit 8 are fixedly installed on the intelligent wheel type chassis 6 through a flame-retardant box;
the main control unit 8 is connected with the intelligent wheel type chassis 6, the wireless signal receiving module, the fire extinguishing device and the flame identification and positioning device through leads, and can receive information from the wireless signal receiving module and the flame identification and positioning device, control the intelligent wheel type chassis to move and control the fire extinguishing device to execute a fire extinguishing instruction;
the fire extinguishing device is arranged at the front end inside the fire extinguishing robot box body 5 and comprises a canned dry powder fire extinguisher 3 and a driving motor 11, the canned dry powder fire extinguisher 3 is arranged at the upper part of an intelligent wheel type chassis, a switch of the canned dry powder fire extinguisher is an electromagnetic valve, the driving motor 11 is used for controlling the angle of a spray nozzle 2 of the canned dry powder fire extinguisher, the spray nozzle of the canned dry powder fire extinguisher extends out of the box body through a notch on the fire extinguishing robot box body 5 and always points to the front of a vehicle head, the fire extinguishing device is driven by the driving motor 11 to rotate up and down (swing up and down along the notch) in the horizontal direction, and the; the rotation of the driving motor 11 and the opening and closing of the electromagnetic valve are controlled by a main control unit 8;
the flame identification and positioning device comprises an infrared thermal imager 10 and a rotating motor 12, wherein the rotating motor 12 is installed at the rear of the top of the mobile robot, the infrared thermal imager 10 is installed on the rotating motor 12 and can rotate for 360 degrees, the opening of the infrared thermal imager 10 and the rotation of the rotating motor are controlled by a main control unit 8, and a temperature image detected by the infrared thermal imager 10 is transmitted to the main control unit in real time for analysis;
step 1.3, recording each driving route into a program of an intelligent wheel type chassis of the fire-extinguishing robot, wherein the program of the fire-extinguishing robot recorded by the 6 driving routes is named as a driving program 01, a driving program 02, a driving program 03, a driving program 04, a driving program 05 and a driving program 06 respectively;
step 1.4, establishing a one-to-one corresponding relation among a warehouse area, a smoke alarm module, a planned driving route and a driving program of the fire extinguishing robot, namely associating the area 01 with the smoke alarm module 01 installed in the area, the driving route 01 from a starting point of the fire extinguishing robot to the area and the driving program 01 of the fire extinguishing robot recorded in the driving route;
The smoke alarm modules 2 in each area collect signals in real time and send the collected signals to the main control unit 8; the smoke alarm module comprises a smoke sensor 21, an auxiliary control unit 22 and a wireless signal transmitting module 23; wherein, the sensor 21 is arranged on the auxiliary control unit 22 and is connected with the auxiliary control unit through a lead; the wireless signal transmitting module 23 is installed on the auxiliary control unit 22 and is connected with the auxiliary control unit through a wire; the smoke sensor is used for measuring the smoke concentration in the air in real time and sending the smoke concentration to the auxiliary control unit; the auxiliary control unit is used for receiving the smoke concentration sent by the smoke sensor, comparing the smoke concentration with a preset smoke concentration threshold value, judging whether a fire occurs or not, and if the fire occurs, controlling the wireless signal transmitting module to send out a wireless signal and transmit fire information; the wireless signal transmitting module is used for transmitting a wireless signal with fire information to the wireless signal receiving module in the fire-fighting robot;
the signal transmitted by the wireless signal transmitting module at least comprises two parts, wherein one part is a position code representing area information, and the code is consistent with an area number, for example, the position code part in the wireless signal transmitted by the wireless signal transmitting module in the area 01 is '01', and the position code part in the wireless signal transmitted by the wireless signal transmitting module in the area 02 is '02'; the other part is a fire code representing the state of the area, and the fire code has only two types: "01" and "02"; when a fire occurs, the fire code part in the wireless signal transmitted by the wireless signal transmitting module of the region is '01', and when no fire occurs, the fire code part in the wireless signal transmitted by the wireless signal transmitting module of the region is '02';
Step 3.1, a wireless signal receiving module arranged in the mobile robot receives a wireless signal from a wireless signal transmitting module of the smoke alarm module and transmits the signal to a main control unit in the mobile robot, the main control unit determines the position information of an area through a position code part in the wireless signal, and then judges whether a fire occurs in the area through a fire code part; if a fire occurs, triggering a running program corresponding to a fire area in an intelligent wheel type chassis program of the fire-extinguishing robot, and carrying out fire fighting on the fire-extinguishing robot to the fire area through a special channel of the fire-extinguishing robot along a corresponding running route (as the special channel of the fire-extinguishing robot is specified, the fire-extinguishing robot can completely keep smooth during the closed period of a warehouse and can not occupy for a long time when the warehouse is loaded or unloaded), so that the fire-extinguishing robot can not encounter obstacles in general conditions when going forward along the special channel, can smoothly run from a starting point to the fire area according to the triggered running program and does not need to plan a path autonomously); if the fire does not occur, the fire extinguishing robot does not move and is in a standby state, and continues to receive wireless signals from the area;
3.2, when an obstacle appears in the special channel, the infrared distance measuring sensor of the fire-extinguishing robot detects the distance of the front obstacle and transmits the distance information to the main control unit, a safety distance threshold value from the front obstacle is preset in the main control unit, when the distance from the fire-extinguishing robot to the front obstacle reaches the threshold value, the main control unit immediately triggers the laser radar of the intelligent wheel type chassis, the intelligent wheel type chassis establishes a two-dimensional map of the surrounding environment according to signals of the laser radar, and a driving route is planned autonomously to bypass the front obstacle; when the infrared distance measuring sensor detects that no obstacle exists in front, the information is transmitted to the main control unit, the main control unit controls the fire-extinguishing robot to return to the initially selected running route according to the current point and the nearby principle, and the fire-extinguishing robot continues to run to the ignition area according to the original running program;
3.3, when the fire extinguishing robot runs to a fire area, the main control unit triggers an infrared thermal imager 10 arranged behind the top of the mobile robot to start and rotate after detecting that a running program is finished, and transmits a detected temperature image to the main control unit, and the main control unit analyzes the temperature image and selects a point with the highest temperature as a preferential fire extinguishing direction;
3.4, after the fire extinguishing direction is determined, the main control unit controls the intelligent wheel type chassis to adjust the direction of the locomotive, so that the locomotive is aligned with the selected fire extinguishing direction, and the intelligent wheel type chassis is controlled to move forward to the fire extinguishing direction until the safety distance between the intelligent wheel type chassis and a fire source preset in the main control unit is reached; at the moment, because the nozzle of the fire extinguishing apparatus is in the horizontal direction and may have angular deviation with the fire extinguishing direction, the main control unit further converts the angle information of the nozzle of the fire extinguishing apparatus and the fire extinguishing direction into the rotation number of the rotation of the driving motor, controls the rotation of the driving motor, enables the nozzle of the fire extinguishing apparatus to be aligned with the fire extinguishing direction, and controls the opening of the electromagnetic valve of the fire extinguishing apparatus to open the fire extinguishing apparatus for fire extinguishing;
3.5, in the fire extinguishing process, the infrared thermal imager 10 continues to transmit the detected temperature image to the main control unit, when the main control unit detects that the highest temperature point in the image is lower than a preset threshold value, the fire at the point is considered to be extinguished, the main control unit controls an electromagnetic valve of the fire extinguishing device to be closed, the fire extinguishing is stopped, and a spray head of the fire extinguishing device is reset to the horizontal direction; and the main control unit controls the flame identification and positioning device to continue rotating, the steps are repeated, the highest temperature point is used as the next fire extinguishing direction, the fire in the area is judged to be extinguished until the highest temperature values around are lower than a preset threshold value, and the main control unit controls the fire extinguishing robot to return to the starting point.
Claims (6)
1. A fire scene positioning and fire extinguishing method of a warehouse intelligent fire extinguishing robot is characterized by comprising the following steps:
step 1, dividing warehouse areas and recording running programs of fire-fighting robots
1.1, dividing a warehouse into N areas, and installing a smoke alarm module in each area to ensure that any place in the area can be detected by the smoke alarm module when a fire occurs;
step 1.2, planning a driving route from a starting point of the fire-fighting robot to each area, manufacturing the driving route into a special channel for the fire-fighting robot, completely keeping the driving route smooth during the closing period of a warehouse, and avoiding occupying the driving route for more than 0.5h when the warehouse is in storage and delivery;
the fire extinguishing robot comprises a mobile robot, a wireless signal receiving module, a main control unit, a fire extinguishing device and a flame identification and positioning device; the intelligent wheel type chassis of the mobile robot can establish a two-dimensional map of the surrounding environment according to signals of the laser radar, a driving route is planned autonomously, a plurality of driving programs can be recorded and stored in the intelligent wheel type chassis, and the fire-extinguishing robot can drive according to the prestored driving programs;
the wireless signal receiving module is arranged in the mobile robot, can receive a wireless signal from the wireless signal transmitting module of the smoke alarm module and transmits the signal to the main control unit;
the main control unit is arranged in the mobile robot and is connected with the intelligent wheel type chassis, the wireless signal receiving module, the fire extinguishing device and the flame identification and positioning device through leads, and the main control unit can receive information from the wireless signal receiving module and the flame identification and positioning device and control the intelligent wheel type chassis to move and the fire extinguishing device to execute a fire extinguishing instruction;
step 1.3, recording each driving route into a program of an intelligent wheel type chassis of the fire-fighting robot, and using the driving route as an alternative driving program when the fire-fighting robot executes a fire-fighting task;
step 1.4, establishing a one-to-one corresponding relation among a warehouse area, a smoke alarm module, a planned driving route and a driving program of a fire extinguishing robot;
step 2, fire scene positioning of fire-extinguishing robot
The smoke alarm modules in all the areas collect signals in real time and send the collected signals to the main control unit; the smoke alarm module comprises a smoke sensor, an auxiliary control unit and a wireless signal transmitting module; the smoke sensor is used for measuring the smoke concentration in the air in real time and sending the smoke concentration to the auxiliary control unit; the auxiliary control unit is used for receiving the smoke concentration sent by the smoke sensor, comparing the smoke concentration with a preset smoke concentration threshold value, judging whether a fire occurs or not, and if the fire occurs, controlling the wireless signal transmitting module to send out a wireless signal and transmit fire information; the wireless signal transmitting module is used for transmitting a wireless signal with fire information to the wireless signal receiving module in the fire-fighting robot; the signal transmitted by the wireless signal transmitting module comprises a position code representing the area information and a fire code representing the area state;
step 3, extinguishing fire by the fire extinguishing robot
Step 3.1, a wireless signal receiving module arranged in the mobile robot receives a wireless signal from a wireless signal transmitting module of the smoke alarm module and transmits the signal to a main control unit in the mobile robot, the main control unit determines the position information of an area through a position code part in the wireless signal, and then judges whether a fire occurs in the area through a fire code part; if a fire occurs, triggering a running program corresponding to a fire area in an intelligent wheel type chassis program of the fire-fighting robot, and carrying out fire fighting on the fire-fighting robot along a corresponding running route to the fire area through a special channel of the fire-fighting robot; if the fire does not occur, the fire extinguishing robot does not move and is in a standby state, and continues to receive wireless signals from the area;
3.2, when an obstacle appears in the special channel, the mobile robot can detect the distance of the front obstacle and transmit the distance information to the main control unit, a safety distance threshold value from the front obstacle is preset in the main control unit, when the distance from the fire extinguishing robot to the front obstacle reaches the threshold value, the main control unit can immediately trigger the laser radar of the intelligent wheel type chassis, the intelligent wheel type chassis establishes a two-dimensional map of the surrounding environment according to signals of the laser radar, and a driving route is planned autonomously to bypass the front obstacle; when the mobile robot detects that no obstacle exists in front, the information is transmitted to the main control unit, the main control unit controls the fire-extinguishing robot to return to the initially selected running route according to the current point and the nearby principle, and the fire-extinguishing robot continues to run to the fire area according to the original running program;
3.3, when the fire extinguishing robot runs to a fire area, the main control unit triggers a flame recognition and positioning device arranged behind the top of the mobile robot to start and rotate after detecting that a running program is finished, and transmits a detected temperature image to the main control unit, and the main control unit analyzes the temperature image and selects a point with the highest temperature as a preferential fire extinguishing direction;
3.4, after the fire extinguishing direction is determined, the main control unit controls the intelligent wheel type chassis to adjust the direction of the locomotive, so that the locomotive is aligned with the selected fire extinguishing direction, and the intelligent wheel type chassis is controlled to move forward to the fire extinguishing direction until the safety distance between the intelligent wheel type chassis and a fire source preset in the main control unit is reached; at the moment, because the nozzle of the fire extinguishing apparatus is in the horizontal direction and may have angular deviation with the fire extinguishing direction, the main control unit further converts the angle information of the nozzle of the fire extinguishing apparatus and the fire extinguishing direction into the rotation number of the rotation of the driving motor, controls the rotation of the driving motor, enables the nozzle of the fire extinguishing apparatus to be aligned with the fire extinguishing direction, and controls the opening of the electromagnetic valve of the fire extinguishing apparatus to open the fire extinguishing apparatus for fire extinguishing;
3.5, in the fire extinguishing process, the flame recognition and positioning device continuously transmits the detected temperature image to the main control unit, when the main control unit detects that the highest temperature point in the image is lower than a preset threshold value, the fire at the point is considered to be extinguished, the main control unit controls an electromagnetic valve of the fire extinguishing device to be closed, the fire is stopped to be extinguished, and a spray head of the fire extinguishing device is reset to the horizontal direction; and the main control unit controls the flame identification and positioning device to continue rotating, the steps are repeated, the highest temperature point is used as the next fire extinguishing direction, the fire in the area is judged to be extinguished until the highest temperature values around are lower than a preset threshold value, and the main control unit controls the fire extinguishing robot to return to the starting point.
2. The fire scene positioning and fire extinguishing method according to claim 1, wherein the mobile robot comprises a wheeled robot body, a flashing light and an infrared distance measuring sensor, the wheeled robot body comprises a fire extinguishing robot box body, an intelligent wheeled chassis and a laser radar, the fire extinguishing robot box body is installed on the intelligent wheeled chassis, and the laser radar is installed behind the top of the fire extinguishing robot box body; the explosion flash lamp is arranged in front of the top of the box body of the fire-extinguishing robot, can emit strong explosion flash light and alarm sound to remind the responsible personnel of the warehouse of fire and can provide a visual field in a dense smoke environment; the infrared distance measuring sensor is installed around the fire-fighting robot box body, can measure the distance with obstacles all around, and transmits distance information to the main control unit.
3. The fire scene positioning and fire extinguishing method according to claim 1, wherein the fire extinguishing device comprises a canned dry powder fire extinguisher and a driving motor, the canned dry powder fire extinguisher is mounted on the upper part of the intelligent wheel type chassis, a switch of the canned dry powder fire extinguisher is an electromagnetic valve, the driving motor is used for controlling the angle of a spray head of the canned dry powder fire extinguisher, the spray head of the canned dry powder fire extinguisher always points to the front of the vehicle head, the canned dry powder fire extinguisher is driven by the driving motor to rotate up and down in the horizontal direction, and the initial and reset directions are in the horizontal direction; the rotation of the driving motor and the opening and closing of the electromagnetic valve are controlled by a main control unit.
4. The fire scene positioning and fire extinguishing method according to claim 1, wherein the flame recognition and positioning device comprises an infrared thermal imager and a rotating motor, the rotating motor is installed behind the top of the mobile robot, the infrared thermal imager is installed on the rotating motor and can rotate for 360 degrees, the infrared thermal imager is started and the rotating motor rotates under the control of a main control unit, and temperature images detected by the infrared thermal imager are transmitted to the main control unit in real time for analysis.
5. The method according to claim 1, wherein the planning of the driving route in step 1.2 is mainly a straight route and bypasses the places with more obstacles and higher use frequency.
6. The fire scene positioning and fire extinguishing method according to claim 1, wherein step 1.4 can establish a one-to-one correspondence relationship among warehouse areas, smoke alarm modules, planned driving routes and fire extinguishing robot driving programs by using a numbering principle, if one area is named as area 01, the smoke alarm module installed in the area is named as smoke alarm module 01, the driving route from a starting point of the fire extinguishing robot to the area is named as driving route 01, and the driving route is recorded in the program of the fire extinguishing robot and named as driving program 01.
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