CN114028751A - Underground master-slave type fire-extinguishing robot system and master and slave fire-extinguishing robots - Google Patents
Underground master-slave type fire-extinguishing robot system and master and slave fire-extinguishing robots Download PDFInfo
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- CN114028751A CN114028751A CN202111256663.6A CN202111256663A CN114028751A CN 114028751 A CN114028751 A CN 114028751A CN 202111256663 A CN202111256663 A CN 202111256663A CN 114028751 A CN114028751 A CN 114028751A
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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
- 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
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- 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
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
- A62C31/07—Nozzles specially adapted for fire-extinguishing with two or more outlets for different media
-
- 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
- A62C31/12—Nozzles specially adapted for fire-extinguishing for delivering foam or atomised foam
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/04—Spraying barriers
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/06—Fluids used for spraying
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
- F21V33/0064—Health, life-saving or fire-fighting equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
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- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention provides an underground master-slave fire-extinguishing robot system and a master and slave fire-extinguishing robot, wherein the underground master-slave fire-extinguishing robot system comprises: the fire extinguishing system comprises a main fire extinguishing robot, an auxiliary fire extinguishing robot and a controller; the main fire-extinguishing robot at least comprises: the system comprises a main body, a first camera module, a first positioning module, a fire-fighting module, a base station assembly, a gas sensor, an antenna and a first illuminating lamp, wherein the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp are arranged on the main body; the auxiliary fire-extinguishing robot at least comprises: the auxiliary machine body and the foam installed on the auxiliary machine body provide a module, a mixing valve, a pressure reducing valve, a second camera module, a second positioning module, an antenna and a second illuminating lamp. The main fire-extinguishing robot in the underground master-slave fire-extinguishing robot system has a long range and can extinguish fire at a large flow and a fixed point, the auxiliary fire-extinguishing robot follows the movement of the main fire-extinguishing robot and provides a large-load loading function, the cooperative operation among the robots is realized, and the fire-extinguishing function of multiple fire-extinguishing media is provided.
Description
Technical Field
The invention relates to the field of machinery, in particular to an underground master-slave fire-extinguishing robot system and a master and slave fire-extinguishing robot.
Background
China is the largest coal producing country and consuming country in the world, and accidents such as gas explosion, water inrush, fire disasters and the like frequently occur in coal mining, so that the life safety of workers is seriously harmed, and the coal operation development is restricted. At present, the main rescue means after an accident is still dependent on manual fire extinguishing operation. Due to the fact that after disasters, the environment is complex and severe, the space is narrow, a large number of electromechanical devices, toxic and flammable explosive gases and the like are arranged inside the disasters, secondary disasters can happen at any time, life safety of rescuers is seriously threatened, and great challenges are provided for robbing gold rescue time of mines.
At present, the fire-extinguishing robot gradually replaces the manual work to carry out the operation, but conventional fire-extinguishing robot mainly adopts wheeled or crawler-type monomer structure, and when the fire-extinguishing robot sprayed the rescue at the scene, the track became little with wet slippery ground contact back friction, very easily took place the problem of skidding, made the load capacity of fire-extinguishing robot slide down rapidly, can't drag the hosepipe that the rear was filled with water to influence the scene and dispose, delay the rescue opportunity. In addition, the accident site environment is complex, only water is far from being enough as a fire extinguishing source, fire extinguishing media such as foam are needed, and when the robot body carries loads such as foam, the problem that driving force is insufficient easily occurs when loads such as a water belt filled with water are dragged behind the robot body is caused.
Disclosure of Invention
Based on the problems, the invention provides an underground master-slave fire-extinguishing robot system which is long in range, can extinguish fire at a large flow and a fixed point, and an auxiliary fire-extinguishing robot follows the movement of a main fire-extinguishing robot and provides a large-load loading function, so that the cooperative operation among robots is realized, and a multi-fire-extinguishing medium fire-extinguishing function is provided; the main and auxiliary robots cooperatively move and cooperatively extinguish fire through follow-up, so that the rapid, accurate and safe fire extinguishment after disaster accidents such as fire disasters and explosions is improved, the fire extinguishing efficiency and safety are improved, the rescue opportunity is seized, and the casualties are reduced.
The invention provides an underground master-slave fire-extinguishing robot system, which comprises:
the fire extinguishing system comprises a main fire extinguishing robot, an auxiliary fire extinguishing robot and a controller;
the main fire-extinguishing robot at least comprises: the system comprises a main body, a first camera module, a first positioning module, a fire-fighting module, a base station assembly, a gas sensor, an antenna and a first illuminating lamp, wherein the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp are arranged on the main body;
the auxiliary fire-extinguishing robot at least comprises: the auxiliary machine body, and a foam providing module, a mixing valve, a pressure reducing valve, a second camera module, a second positioning module, an antenna and a second illuminating lamp which are arranged on the auxiliary machine body;
the main fire-extinguishing robot is connected with the auxiliary fire-extinguishing robot through a water pipe, and the controller is in signal connection with both the main fire-extinguishing robot and the auxiliary fire-extinguishing robot;
the controller sends command signals to the main fire-extinguishing robot and the auxiliary fire-extinguishing robot, the main fire-extinguishing robot and the auxiliary fire-extinguishing robot act after receiving the command signals through the antennas, and the auxiliary fire-extinguishing robot provides foam extinguishing agent for the main fire-extinguishing robot.
Further, the first camera module includes: the thermal imaging camera, the front camera and the rear camera are arranged on the front side of the camera;
the thermal imaging camera is fixed on a water cannon of the fire-fighting module, the front camera is installed at the front end of the main body, and the rear camera is installed at the rear end of the main body;
the thermal imaging camera rotates and pitches along with the gun head of the water cannon to provide image data for automatic fire finding, and the front camera and the rear camera are both base station components to provide image data.
Further, the first positioning module includes: the obstacle avoidance sensor and the laser radar are both arranged at the front end of the main body;
keep away barrier sensor and be used for avoiding host computer body and object collision, laser radar is used for the navigation.
Furthermore, the fire fighting module comprises: the water cannon, the water hose adapter, the spraying device and the fire hose;
the water cannon is fixed with the host computer body, and the hosepipe adapter is installed on the rear end gun barrel of water cannon, and fire hose one end is passed through the hosepipe adapter and is linked to each other with the water cannon, and the other end links to each other with the blend valve, and the blend valve provides the fire extinguishing agent for the water cannon, and the one side at the auxiliary engine body is crossed to the fire hose.
Further, the water cannon comprises: the fire extinguishing gun comprises a gun rotating body, a rotary motor, a pitching motor and an atomizing motor, wherein the rotary motor, the pitching motor and the atomizing motor are arranged on the gun rotating body, and fire extinguishing agents are sprayed in different directions through two-degree-of-freedom rotary steering.
In addition, main fire-fighting robot still includes pusher, and pusher is fixed in on the host computer body through fixed platform, and on the basic station subassembly was fixed in pusher through the release guide rail, pusher propelling movement release guide rail made basic station subassembly break away from pusher.
In addition, the main fire-extinguishing robot further comprises a first obstacle-crossing auxiliary arm fixed on the main machine body, and the auxiliary fire-extinguishing robot further comprises a second obstacle-crossing auxiliary arm fixed on the auxiliary machine body;
the first obstacle surmounting auxiliary arm comprises: fixing support, swing arm, pivot support and electric jar, the tail end of electric jar is fixed in fixing support's upper portion through pivot, pivot support, and the head of electric jar is articulated with the swing arm, and the electric jar is flexible to drive the swing arm and rotate around fixing support's pin joint.
Further, the foam providing module includes: a foam water tank and a high-pressure small-flow foam pump;
the foam water tank is installed on the auxiliary engine body, the high-pressure small-flow foam pump is installed on the foam water tank, one end of the high-pressure small-flow foam pump is communicated with the foam water tank, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve.
The invention also proposes a main fire-extinguishing robot comprising: the system comprises a main body, a first camera module, a first positioning module, a fire-fighting module, a base station assembly, a gas sensor, an antenna and a first illuminating lamp, wherein the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp are arranged on the main body;
the first camera module includes: the fire-fighting water cannon comprises a thermal imaging camera, a front camera and a rear camera, wherein the thermal imaging camera is fixed on the water cannon of a fire-fighting module, the front camera is installed at the front end of a main machine body, the rear camera is installed at the rear end of the main machine body, the thermal imaging camera rotates and pitches along with the cannon head of the water cannon to provide image data for automatic fire finding, and the front camera and the rear camera both provide image data for a base station component;
the first positioning module comprises: the obstacle avoidance sensor and the laser radar are both arranged at the front end of the main body, the obstacle avoidance sensor is used for avoiding collision between the main body and an object, and the laser radar is used for navigation;
the fire fighting module includes: water cannon, hosepipe adapter, spray set, fire hose, the water cannon is fixed with the host computer body, and the hosepipe adapter is installed on the rear end gun barrel of water cannon, and fire hose one end is passed through the hosepipe adapter and is linked to each other with the water cannon, and the other end links to each other with the blend valve, and the blend valve provides the fire extinguishing agent for the water cannon, and the fire hose cross-over connection is in one side of auxiliary engine body.
The main fire-extinguishing robot is connected with the external auxiliary fire-extinguishing robot through a water pipe, and the external controller is in signal connection with the main fire-extinguishing robot and the auxiliary fire-extinguishing robot.
The invention also provides a secondary fire-extinguishing robot, comprising: the auxiliary machine body, and a foam providing module, a mixing valve, a pressure reducing valve, a second camera module, a second positioning module, an antenna and a second illuminating lamp which are arranged on the auxiliary machine body;
the foam providing module includes: a foam water tank and a high-pressure small-flow foam pump;
the foam water tank is arranged on the auxiliary machine body, the high-pressure small-flow foam pump is arranged on the foam water tank, one end of the high-pressure small-flow foam pump is communicated with the foam water tank, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve;
the main fire-extinguishing robot and the auxiliary fire-extinguishing robot are connected through a water pipe, and the controller is in signal connection with the main fire-extinguishing robot and the auxiliary fire-extinguishing robot.
Through adopting above-mentioned technical scheme, have following beneficial effect:
the main fire-extinguishing robot in the underground master-slave fire-extinguishing robot system has a long range and can extinguish fire at a large flow and a fixed point, the auxiliary fire-extinguishing robot follows the movement of the main fire-extinguishing robot and provides a large-load loading function, so that the cooperative operation among the robots is realized, and a multi-fire-extinguishing medium fire-extinguishing function is provided; the main and auxiliary robots cooperatively move and cooperatively extinguish fire through follow-up, so that the rapid, accurate and safe fire extinguishment after disaster accidents such as fire disasters and explosions is improved, the fire extinguishing efficiency and safety are improved, the rescue opportunity is seized, and the casualties are reduced.
Drawings
FIG. 1 is an overall schematic view of a downhole master-slave fire suppression robot system provided by one embodiment of the present invention;
FIG. 2 is a schematic diagram of a main fire-fighting robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a main fire-fighting robot according to an embodiment of the present invention;
FIG. 4 is a schematic left-side view of a main fire-fighting robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a front view of a fire-fighting robot according to an embodiment of the present invention;
FIG. 6 is a schematic left-side view of a fire-fighting robot according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a right-view structure of a fire-fighting robot according to an embodiment of the present invention;
fig. 8 is a schematic top view of a fire-fighting robot according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to specific embodiments and the attached drawings. It is intended that the present invention not be limited to the particular embodiments disclosed, but that the present invention be limited only by the appended claims.
Referring to fig. 1, 2 and 5, the present invention provides a downhole master-slave fire-extinguishing robot system, comprising:
a main fire-extinguishing robot 1, an auxiliary fire-extinguishing robot 2 and a controller;
the main fire fighting robot 1 includes at least: the system comprises a main body 1-1, and a first camera module, a first positioning module, a fire-fighting module, a base station component 1-9, a gas sensor 1-12, an antenna and a first illuminating lamp 1-15 which are arranged on the main body 1-1;
the sub fire-extinguishing robot 2 includes at least: the auxiliary machine comprises an auxiliary machine body 2-1, and a foam providing module, a mixing valve 2-4, a pressure reducing valve 2-5, a second camera module, a second positioning module, an antenna and a second illuminating lamp 2-11 which are arranged on the auxiliary machine body 2-1;
the main fire-extinguishing robot 1 is connected with the auxiliary fire-extinguishing robot 2 through a water pipe, and the controller is in signal connection with the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2;
the controller sends instruction signals to the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2, the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2 act after receiving the instruction signals through the antennas, and the auxiliary fire-extinguishing robot 2 provides foam extinguishing agent for the main fire-extinguishing robot 1.
When the fire extinguishing robot is used, the controller controls the main body 1-1 of the main fire extinguishing robot 1 to move, namely the controller sends command signals, the antenna of the main body 1-1 receives the command signals, and the receiver in the main body 1-1 processes the command signals and controls the main body 1-1 to move. In the moving process, the first camera module carries out video acquisition on images in front of and behind the robot, the first positioning module detects obstacles in the front and realizes autonomous navigation, and the main fire-extinguishing robot 1 moves under real-time obstacle avoidance path planning.
Referring to fig. 3 and 4, the first camera module is, for example: the system comprises a thermal imaging camera 1-3, a front camera 1-4 and a rear camera 1-7; the thermal imaging camera 1-3 is fixed on a water cannon 1-2 of the fire-fighting module, the front camera 1-4 is installed at the front end of the main machine body 1-1, and the rear camera 1-7 is installed at the rear end of the main machine body 1-1; the thermal imaging camera 1-3 rotates and pitches along with the water cannon head 1-2 to provide image data for automatic fire finding, and the front camera 1-4 and the rear camera 1-7 both provide image data for the base station component 1-9.
The first positioning module is for example: the fire-fighting robot comprises obstacle avoidance sensors 1-5, laser radars 1-6 and obstacle avoidance sensors 2-8, wherein the obstacle avoidance sensors are arranged at the front end of a main machine body 1-1 and used for preventing the main fire-fighting robot 1 from colliding with obstacles. The laser radar 2-9 is installed at the front end of the main machine body 1-1 and used for achieving autonomous navigation of the main fire-extinguishing robot 1.
The fire fighting module includes, for example: 1-2 parts of water cannons, 1-11 parts of water hose adapters, 1-13 parts of spraying devices and 1-14 parts of fire hoses; the water cannon 1-2 is fixed with the main machine body 1-1, the water hose adapter 1-11 is installed on a cannon pipe at the rear end of the water cannon 1-2, one end of the fire hose 1-14 is connected with the water cannon 1-2 through the water hose adapter 1-11, the other end of the fire hose is connected with the mixing valve 2-4, the mixing valve 2-4 provides fire extinguishing agents for the water cannon 1-2, and the fire hose 1-14 is bridged on one side of the auxiliary machine body 2-1.
The water cannon 1-2 is fixed with the main machine body 1-1 and is used for rectifying and atomizing water sources at the rear, so that water columns can be ejected farther. The water hose adapter 1-11 is arranged on a gun tube at the rear end of the water cannon 1-2 and used for connecting the water cannon and the fire hose 1-14. The spraying devices 1-13 are arranged on the gun pipes of the water guns 1-2 and used for cooling the main fire-extinguishing robot 1.
One end of the fire hose 1-14 is connected with the water cannon 1-2 through a hose adapter 1-11, and the other end is connected with the mixing valve 2-4 to provide fire extinguishing agent for the water cannon 1-2. The fire hose 1-14 is also bridged on one side of the auxiliary machine body 2-1, so that the auxiliary machine body 2-1 provides support for the auxiliary machine body.
When the remote controller is far away from the main fire-fighting robot 1, the base station components 1-9 can be placed on the ground as intermediate relay devices for signal transmission.
The gas sensors 1-12 are used to detect the ambient gas concentration.
The first illumination lamps 1 to 15 are used to provide a stable light source.
The main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2 are connected through a water pipe during cooperative work, and when the cooperative work is not needed, the water pipe is dismantled and coiled on the main fire-extinguishing robot 1 or the auxiliary fire-extinguishing robot 2.
The layout of the auxiliary fire-extinguishing robot 2 is arranged behind the main fire-extinguishing robot 1, and in the moving process of the main fire-extinguishing robot 1, the auxiliary fire-extinguishing robot 2 also performs image acquisition by controlling the second camera module and the second positioning module, so that the obstacle is avoided and navigation is performed, and the auxiliary fire-extinguishing robot 2 is moved under real-time obstacle avoiding path planning. In addition, the auxiliary fire-fighting robot 2 jointly detects the distance from the front main fire-fighting robot 1 through a second positioning module such as an obstacle avoidance sensor and a laser radar in the moving process, so that distance following control is realized.
Optionally, the first camera module and the second camera module can reconstruct the terrain in front of the laser radar, so that the precise obstacle avoidance is realized.
Working steps of main and auxiliary fire-extinguishing robots cooperatively extinguishing fire
(1) In the main machine body 1-1 removal process of controller control main fire-fighting robot 1, the first camera module of controller control, for example thermal imaging camera, leading camera and rear camera survey subassembly and look for and survey the flame source, when looking for and finding the flame source, main fire-fighting robot 1 and vice fire-fighting robot 2 stop motion, controller control water cannon 1-2 drives thermal imaging camera and realizes angle adjustment, finally accomplish the accurate aim at the ignition, fire fighter starts the rivers switch at the rear, spray through water cannon 1-2 and put out a fire.
(2) When a mixed type fire extinguishing medium is required when the ignited substance is not suitable for pure water jet fire extinguishing, the auxiliary fire extinguishing robot 2 supplies the foam extinguishing agent to the main fire extinguishing robot 1, for example, a high-pressure small-flow foam pump 2-3 next to a foam water tank 2-2 carrying a high-power foam extinguishing agent is started to supply the foam extinguishing agent to the water cannon 1-2.
The main fire-extinguishing robot in the underground master-slave fire-extinguishing robot system provided by the embodiment has a long range and can extinguish fire at a large flow and fixed point, the auxiliary fire-extinguishing robot follows the movement of the main fire-extinguishing robot and provides a large-load loading function, so that the cooperative operation among robots is realized, and a multi-fire-extinguishing medium fire-extinguishing function is provided; the main and auxiliary robots cooperatively move and cooperatively extinguish fire through follow-up, so that the rapid, accurate and safe fire extinguishment after disaster accidents such as fire disasters and explosions is improved, the fire extinguishing efficiency and safety are improved, the rescue opportunity is seized, and the casualties are reduced.
In one embodiment thereof, the first camera module comprises: the system comprises a thermal imaging camera 1-3, a front camera 1-4 and a rear camera 1-7;
the thermal imaging camera 1-3 is fixed on a water cannon 1-2 of the fire-fighting module, the front camera 1-4 is installed at the front end of the main machine body 1-1, and the rear camera 1-7 is installed at the rear end of the main machine body 1-1;
the thermal imaging camera 1-3 rotates and pitches along with the water cannon head 1-2 to provide image data for automatic fire finding, and the front camera 1-4 and the rear camera 1-7 both provide image data for the base station component 1-9.
In one embodiment thereof, the first positioning module comprises: the obstacle avoidance sensor 1-5 and the laser radar 1-6 are both arranged at the front end of the main machine body 1-1;
the obstacle avoidance sensor 1-5 is used for avoiding collision between the main body 1-1 and an object, and the laser radar 1-6 is used for navigation.
By adopting the obstacle avoidance sensors 1-5 and the laser radar 1-6, the main body 1-1 can accurately avoid obstacles and navigate.
In one embodiment thereof, the fire fighting module comprises: 1-2 parts of water cannons, 1-11 parts of water hose adapters, 1-13 parts of spraying devices and 1-14 parts of fire hoses;
the water cannon 1-2 is fixed with the main machine body 1-1, the water hose adapter 1-11 is installed on a cannon pipe at the rear end of the water cannon 1-2, one end of the fire hose 1-14 is connected with the water cannon 1-2 through the water hose adapter 1-11, the other end of the fire hose is connected with the mixing valve 2-4, the mixing valve 2-4 provides fire extinguishing agents for the water cannon 1-2, and the fire hose 1-14 is bridged on one side of the auxiliary machine body 2-1.
The water cannon 1-2 is used for rectification and atomization for a rear water source, so that the water column can be ejected farther. The water hose adapter 1-11 is arranged on a gun barrel at the rear end of the water cannon 1-2 and used for connecting the water cannon and the fire hose 1-14. The spraying devices 1-13 are arranged on the gun barrel of the water cannon and used for cooling the main fire-extinguishing robot 1. One end of the fire hose 1-14 is connected with the water cannon 1-2 through a hose adapter 1-11, and the other end is connected with the mixing valve 2-4 to provide fire extinguishing agent for the water cannon 1-2. The fire hose 1-14 is also bridged on one side of the auxiliary machine body 2-1, so that the auxiliary machine body 2-1 provides support for the auxiliary machine body.
Optionally, in one of the embodiments, a method of reducing the temperature of the main machine body 1-1 of the main fire fighting robot 1 is also provided: when the temperature sensor in the main machine body 1-1 detects that the temperature of the main machine body 1-1 is too high, the controller controls the spraying device 1-13 to start, so that the cooling effect on the vehicle body is realized.
In one embodiment, water cannons 1-2 comprise: the fire extinguishing gun comprises a gun rotating body, a rotary motor, a pitching motor and an atomizing motor, wherein the rotary motor, the pitching motor and the atomizing motor are arranged on the gun rotating body, and fire extinguishing agents are sprayed in different directions through two-degree-of-freedom rotary steering.
In one embodiment, the main fire-fighting robot 1 further comprises a pushing device 1-8, the pushing device 1-8 is fixed on the main machine body 1-1 through a fixed platform, the base station component 1-9 is fixed on the pushing device 1-8 through a release guide rail, and the pushing device 1-8 pushes the release guide rail to separate the base station component 1-9 from the pushing device 1-8.
The base station components 1-9 comprise two relays which respectively serve the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2, when the controller is far away from the main fire-extinguishing robot 1, the pushing devices 1-8 enable the base station components 1-9 to be separated from the pushing devices 1-8 through pushing release guide rails, the base station components fall on the ground, which is equivalent to a transfer station added with signals, and the signals of the controller are transmitted to the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2 through the base station components 1-9.
In one embodiment, the main fire-fighting robot 1 further comprises a first obstacle-crossing auxiliary arm 1-10 fixed on the main machine body 1-1, and the auxiliary fire-fighting robot 2 further comprises a second obstacle-crossing auxiliary arm 2-10 fixed on the auxiliary machine body 2-1;
the first obstacle detouring auxiliary arm 1-10 includes: fixing support, swing arm, pivot support and electric jar, the tail end of electric jar is fixed in fixing support's upper portion through pivot, pivot support, and the head of electric jar is articulated with the swing arm, and the electric jar is flexible to drive the swing arm and rotate around fixing support's pin joint.
Through the flexible of electric jar, realize the swing arm and rotate around fixing support's pin joint to improve main fire extinguishing robot 1's the height of hindering more, and can retrieve to the eminence when not needing.
The second obstacle-crossing auxiliary arm 2-10 comprises a fixed support, a swing arm, a supporting wheel, a rotating shaft support and an electric cylinder, the tail end of the electrified cylinder is fixed on the upper part of the fixed support through the rotating shaft and the rotating shaft support, and the head of the electric cylinder is hinged with the swing arm. Through the flexible of electric jar, realize the swing arm and rotate around the fixing support pin joint to improve main fire extinguishing robot's the height of hindering more, and can retrieve to the eminence when not needing.
The embodiment also provides a method for improving the climbing and obstacle crossing performance of the main fire-extinguishing robot and the auxiliary fire-extinguishing robot, which comprises the following steps: when the main fire-extinguishing robot 1 climbs and surmounts the obstacle, the heavier load drags the water filled hose to pull back the gravity center of the auxiliary fire-extinguishing robot to cause the climbing and obstacle surmounting performance of the auxiliary fire-extinguishing robot to be reduced or even topple, at the moment, the first obstacle surmounting auxiliary arm 1-10 and the second obstacle surmounting auxiliary arm 2-10 start to operate, the controller controls the electric cylinder to extend, the swing arm rotates around the hinged point of the fixed support through the extension and retraction of the electric cylinder, the supporting effect is realized by the contact of the lower part of the supporting wheel, and therefore the obstacle surmounting height of the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2 is improved. After the robot climbs the slope and gets over the obstacle, the controller controls the electric cylinder to retract, and at the moment, the first obstacle-crossing auxiliary arm 1-10 and the second obstacle-crossing auxiliary arm 2-10 are folded and recovered to the high positions of the upper ends of the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2.
Referring to fig. 6-8, in one embodiment thereof, the foam providing module includes: a foam water tank 2-2 and a high-pressure low-flow foam pump 2-3;
the foam water tank 2-2 is arranged on the auxiliary machine body 2-1, the high-pressure small-flow foam pump 2-3 is arranged on the foam water tank 2-2, one end of the high-pressure small-flow foam pump 2-3 is communicated with the foam water tank 2-2, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve 2-4. The other end of the mixing valve 2-4 is connected with a water pipe.
When the high-pressure small-flow foam pump 2-3 sprays water flow in a water belt, one end of the high-pressure small-flow foam pump 2-3 is communicated with the foam water tank 2-2 and the other end is communicated with the mixing valve 2-4 under the action of the mixing valve 2-4, water and foam are mixed, and the purpose of providing a foam extinguishing agent for a water cannon is achieved.
The fire hydrant and the pressure reducing valve 2-4 are connected with the upper fire hose and the lower fire hose of the auxiliary fire-extinguishing robot 2.
The invention also proposes a main fire-extinguishing robot comprising: the system comprises a main body 1-1, and a first camera module, a first positioning module, a fire-fighting module, a base station component 1-9, a gas sensor 1-12, an antenna and a first illuminating lamp 1-15 which are arranged on the main body 1-1;
the first camera module includes: the fire-fighting system comprises a thermal imaging camera 1-3, a front camera 1-4 and a rear camera 1-7, wherein the thermal imaging camera 1-3 is fixed on a water monitor 1-2 of a fire-fighting module, the front camera 1-4 is installed at the front end of a main machine body 1-1, the rear camera 1-7 is installed at the rear end of the main machine body 1-1, the thermal imaging camera 1-3 rotates and tilts along with the water monitor 1-2 to provide image data for automatic fire finding, and the front camera 1-4 and the rear camera 1-7 both provide the image data for a base station assembly 1-9;
the first positioning module comprises: the obstacle avoidance sensor 1-5 and the laser radar 1-6 are both arranged at the front end of the host body 1-1, the obstacle avoidance sensor 1-5 is used for avoiding collision between the host body 1-1 and an object, and the laser radar 1-6 is used for navigation;
the fire fighting module includes: the fire fighting hose comprises a water cannon 1-2, a water hose adapter 1-11, a spraying device 1-13 and a fire hose 1-14, wherein the water cannon 1-2 is fixed with a main machine body 1-1, the water hose adapter 1-11 is installed on a cannon pipe at the rear end of the water cannon 1-2, one end of the fire hose 1-14 is connected with the water cannon 1-2 through the water hose adapter 1-11, the other end of the fire hose is connected with a mixing valve 2-4, the mixing valve 2-4 provides a fire extinguishing agent for the water cannon 1-2, and the fire hose 1-14 is bridged on one side of an auxiliary machine body 2-1.
The main fire-extinguishing robot 1 is connected with the external auxiliary fire-extinguishing robot 2 through a water pipe, and the external controller is in signal connection with the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2.
The main fire-extinguishing robot finds a fire source to realize quick fire extinguishing through the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp.
The invention also provides a secondary fire-extinguishing robot, comprising: the auxiliary machine comprises an auxiliary machine body 2-1, and a foam providing module, a mixing valve 2-4, a pressure reducing valve 2-5, a second camera module, a second positioning module, an antenna and a second illuminating lamp 2-11 which are arranged on the auxiliary machine body 2-1;
the foam providing module includes: a foam water tank 2-2 and a high-pressure low-flow foam pump 2-3;
the foam water tank 2-2 is arranged on the auxiliary machine body 2-1, the high-pressure small-flow foam pump 2-3 is arranged on the foam water tank 2-2, one end of the high-pressure small-flow foam pump 2-3 is communicated with the foam water tank 2-2, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve 2-4;
the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2 are connected through a water pipe, and the controller is in signal connection with the main fire-extinguishing robot 1 and the auxiliary fire-extinguishing robot 2.
The auxiliary fire extinguishing robot provides a fire extinguishing agent for the main fire extinguishing robot, so that the fire extinguishing mode is diversified, and the fire extinguishing of different scenes can be met.
Optionally, the main fire-extinguishing robot and the auxiliary fire-extinguishing robot are respectively placed when not participating in work at ordinary times, and are connected when in use.
The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.
Claims (10)
1. A master-slave type fire extinguishing robot system in a well is characterized by comprising:
the fire extinguishing system comprises a main fire extinguishing robot, an auxiliary fire extinguishing robot and a controller;
the main fire-extinguishing robot at least comprises: the system comprises a main body, a first camera module, a first positioning module, a fire-fighting module, a base station assembly, a gas sensor, an antenna and a first illuminating lamp, wherein the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp are arranged on the main body;
the auxiliary fire-extinguishing robot at least comprises: the auxiliary machine body, and a foam providing module, a mixing valve, a pressure reducing valve, a second camera module, a second positioning module, an antenna and a second illuminating lamp which are arranged on the auxiliary machine body;
the main fire-extinguishing robot is connected with the auxiliary fire-extinguishing robot through a water pipe, and the controller is in signal connection with both the main fire-extinguishing robot and the auxiliary fire-extinguishing robot;
the controller sends command signals to the main fire-extinguishing robot and the auxiliary fire-extinguishing robot, the main fire-extinguishing robot and the auxiliary fire-extinguishing robot act after receiving the command signals through the antennas, and the auxiliary fire-extinguishing robot provides foam extinguishing agent for the main fire-extinguishing robot.
2. A downhole master-slave fire suppression robot system according to claim 1,
the first camera module includes: the thermal imaging camera, the front camera and the rear camera are arranged on the front side of the camera;
the thermal imaging camera is fixed on a water cannon of the fire-fighting module, the front camera is installed at the front end of the main body, and the rear camera is installed at the rear end of the main body;
the thermal imaging camera rotates and pitches along with the gun head of the water cannon to provide image data for automatic fire finding, and the front camera and the rear camera are both base station components to provide image data.
3. A downhole master-slave fire suppression robot system according to claim 1,
the first positioning module comprises: the obstacle avoidance sensor and the laser radar are both arranged at the front end of the main body;
keep away barrier sensor and be used for avoiding host computer body and object collision, laser radar is used for the navigation.
4. A downhole master-slave fire suppression robot system according to claim 1,
the fire fighting module includes: the water cannon, the water hose adapter, the spraying device and the fire hose;
the water cannon is fixed with the host computer body, and the hosepipe adapter is installed on the rear end gun barrel of water cannon, and fire hose one end is passed through the hosepipe adapter and is linked to each other with the water cannon, and the other end links to each other with the blend valve, and the blend valve provides the fire extinguishing agent for the water cannon, and the one side at the auxiliary engine body is crossed to the fire hose.
5. A downhole master-slave fire suppression robot system according to claim 4,
the water cannon includes: the fire extinguishing gun comprises a gun rotating body, a rotary motor, a pitching motor and an atomizing motor, wherein the rotary motor, the pitching motor and the atomizing motor are arranged on the gun rotating body, and fire extinguishing agents are sprayed in different directions through two-degree-of-freedom rotary steering.
6. A downhole master-slave fire suppression robot system according to claim 1,
the main fire-extinguishing robot further comprises a pushing device, the pushing device is fixed on the main body through a fixing platform, the base station assembly is fixed on the pushing device through a releasing guide rail, and the pushing device pushes the releasing guide rail to enable the base station assembly to be separated from the pushing device.
7. A downhole master-slave fire suppression robot system according to claim 1,
the main fire-extinguishing robot further comprises a first obstacle-crossing auxiliary arm fixed on the main machine body, and the auxiliary fire-extinguishing robot further comprises a second obstacle-crossing auxiliary arm fixed on the auxiliary machine body;
the first obstacle surmounting auxiliary arm comprises: fixing support, swing arm, pivot support and electric jar, the tail end of electric jar is fixed in fixing support's upper portion through pivot, pivot support, and the head of electric jar is articulated with the swing arm, and the electric jar is flexible to drive the swing arm and rotate around fixing support's pin joint.
8. A downhole master-slave fire suppression robot system according to claim 1,
the foam providing module includes: a foam water tank and a high-pressure small-flow foam pump;
the foam water tank is installed on the auxiliary engine body, the high-pressure small-flow foam pump is installed on the foam water tank, one end of the high-pressure small-flow foam pump is communicated with the foam water tank, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve.
9. A main fire-extinguishing robot is characterized in that,
the method comprises the following steps: the system comprises a main body, a first camera module, a first positioning module, a fire-fighting module, a base station assembly, a gas sensor, an antenna and a first illuminating lamp, wherein the first camera module, the first positioning module, the fire-fighting module, the base station assembly, the gas sensor, the antenna and the first illuminating lamp are arranged on the main body;
the first camera module includes: the fire-fighting water cannon comprises a thermal imaging camera, a front camera and a rear camera, wherein the thermal imaging camera is fixed on the water cannon of a fire-fighting module, the front camera is installed at the front end of a main machine body, the rear camera is installed at the rear end of the main machine body, the thermal imaging camera rotates and pitches along with the cannon head of the water cannon to provide image data for automatic fire finding, and the front camera and the rear camera both provide image data for a base station component;
the first positioning module comprises: the obstacle avoidance sensor and the laser radar are both arranged at the front end of the main body, the obstacle avoidance sensor is used for avoiding collision between the main body and an object, and the laser radar is used for navigation;
the fire fighting module includes: water cannon, hosepipe adapter, spray set, fire hose, the water cannon is fixed with the host computer body, and the hosepipe adapter is installed on the rear end gun barrel of water cannon, and fire hose one end is passed through the hosepipe adapter and is linked to each other with the water cannon, and the other end links to each other with the blend valve, and the blend valve provides the fire extinguishing agent for the water cannon, and the fire hose cross-over connection is in one side of auxiliary engine body.
The main fire-extinguishing robot is connected with the external auxiliary fire-extinguishing robot through a water pipe, and the external controller is in signal connection with the main fire-extinguishing robot and the auxiliary fire-extinguishing robot.
10. An auxiliary fire-extinguishing robot is characterized in that,
the method comprises the following steps: the auxiliary machine body, and a foam providing module, a mixing valve, a pressure reducing valve, a second camera module, a second positioning module, an antenna and a second illuminating lamp which are arranged on the auxiliary machine body;
the foam providing module includes: a foam water tank and a high-pressure small-flow foam pump;
the foam water tank is arranged on the auxiliary machine body, the high-pressure small-flow foam pump is arranged on the foam water tank, one end of the high-pressure small-flow foam pump is communicated with the foam water tank, and the other end of the high-pressure small-flow foam pump is communicated with the mixing valve;
the main fire-extinguishing robot and the auxiliary fire-extinguishing robot are connected through a water pipe, and the controller is in signal connection with the main fire-extinguishing robot and the auxiliary fire-extinguishing robot.
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Application publication date: 20220211 |