CN114534147A - Automatic high temperature of AI artificial intelligence that falls to ground is tracked location and is sprayed and patrol and examine robot - Google Patents
Automatic high temperature of AI artificial intelligence that falls to ground is tracked location and is sprayed and patrol and examine robot Download PDFInfo
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Abstract
The invention discloses a floor type AI artificial intelligence automatic high temperature tracking positioning spraying inspection robot, which comprises a robot main body, an infrared thermal scanning holder and an automatic positioning emergency spraying device, wherein the infrared thermal scanning holder is arranged at the upper end of the robot main body, a cooling and fire extinguishing medium container is arranged at the upper end of the inner part of the robot main body, a water film forming foam liquid is arranged in the cooling and fire extinguishing medium container, the infrared thermal scanning cradle head is provided with a far infrared scanning temperature measurement imaging device and an AI visible light identification device, the gun barrel is provided with a thermal imaging temperature measurement detector and a camera, the setting of above-mentioned structure for the robot possesses the early conflagration early warning function of far infrared scanning that people's emergency operation put out a fire function and people do not possess, and the on-the-spot early conflagration is promptly handled to mode that can be full-automatic and semi-automatic, wins the on-the-spot time for emergency rescue personnel, can realize unmanned automation comprehensively and patrol and examine.
Description
Technical Field
The invention relates to a floor type AI artificial intelligence automatic high-temperature tracking, positioning and spraying inspection robot.
Background
In an oil reservoir oil pump and natural gas transportation area and a large transformer area, the area of the oil reservoir oil pump and natural gas transportation area is large, the environment form is complex, and potential safety hazards are not easy to investigate. At present, instruments and meters in work occasions such as various regions can only be manually detected on the spot. The contents of the inspection point items needed in such places are various, and the inspection point items generally comprise various working occasions such as oil (gas) transmission pipelines, oil (gas) storage tank bottoms, pump stations, metering rooms, flow rooms, fireproof channels and the like, and are used for carrying out safety inspection on various valves, instruments and equipment. The contents to be detected exist indoors and outdoors, structured and unstructured, in the daytime and at night, under better and poorer lighting conditions, in rainy days, snowy days and even in severe environments such as smoke, water vapor and the like, and huge working strength and dangerousness are brought to the inspection task. The autonomous inspection robot is adopted to replace manual inspection tasks, the working strength of workers can be greatly reduced, the working risk is reduced, once air leakage and oil leakage occur on site, the personnel cannot respond to the occurrence of a large accident possibly without measures when meeting a certain combustion interface high-temperature numerical value.
The inspection robots are applied to substations and oil chemical industries slowly at present, because compared with substations and indoor environments, the factory environments are higher in unstructured degree, and the inspection contents, types of places and environments are more complex. In addition, the requirement of the inspection in severe weather such as daytime, night, rain, snow and the like is also met. Due to the complexity of the routing inspection task, the robot has strong positioning capability and passing capability, can adapt to various complex occasions and environmental conditions, and also has to strictly ensure the positioning precision, so that the robot is ensured not to collide with dangerous equipment or other objects in the autonomous navigation and movement processes and can immediately enter an emergency early warning measure when air leakage and oil leakage occur on site. Under the condition that personnel do not arrive when the robot is operated to a scene accident point, the autonomous inspection robot preprocesses the early accident area under the high-precision and high-reliability positioning of various complex environments, and plays an important role in winning rescue time for rescuers.
The existing robot works in a mode that the robot carries a high-definition camera, a high-sensitivity infrared thermal imager and an environment monitoring sensor, has functions of human hearing (mechanical abnormal sound), vision (on-site abnormal condition), smell (oil leakage) and the like, performs one-by-one inspection according to an operation sequence set by a system and inspection contents, and performs prejudgment on acquired data and uploads the data to a comprehensive management platform at a high speed through a redundant optical fiber network. When the robot detects that the parameters exceed the standard, a sound-light alarm is initiated locally to warn field operators; and after the operator analyzes and confirms the information, assigning the operator to the site for treatment. The monitoring center can see the on-site operation process in the high-definition video of the robot, and can command the on-site processing work through the robot two-way intercom system. The data analysis and report management module of the management platform can store detailed inspection information and analysis diagnosis in the database, generated task reports, diagnosis reports and the like can be downloaded and checked by operators, the system can analyze the running data for a long time, the problem data change in the whole space is monitored, and data support is provided for the structure change of the pipe rack. In the task process, when the electric quantity is insufficient, the robot can automatically arrive at a nearby charging station to supplement the electric quantity; after the robot finishes the operation task, the robot automatically returns to a set starting point or a working well station to wait and execute conventional security monitoring. In the process, the conventional AI inspection robot has the functions of scanning and detecting in the early stage, emergency action, automatic positioning and spraying treatment, automatic winding, covering, cooling and the like.
Meanwhile, more and more robots are currently used for inspection work in environment places with high temperature fields such as oil depot chemical warehouses and the like, even if the robots acquire fire hazard hidden-range (high temperature/smoke) early warning through visual thermal imaging scanning and AI visual video analysis algorithms of a visible light camera during inspection, the robots can ensure that emergency rescue personnel can safely and quickly arrive at the site for solving the problem, the existing robots can not perform automatic tracking and positioning emergency processing functions to wait for rescue, therefore, uncontrollable fire accidents can easily occur before rescue workers arrive at the accident site, the temperature rise of objects at certain positions is obvious in the process of robot inspection in areas such as chemical warehouses, oil depots and the like, due to the special characteristics of gas, oil and other medium molecule activities, the areas can be quickly changed into open fire due to high temperature, and the robot is likely to have uncontrollable accidents and the like in the process of personnel arriving at the site under the condition that the robot does not have emergency treatment.
Therefore, the existing robot has the defects that the existing robot mainly solves the problem of the security inspection link:
1. the robot can not achieve the self-positioning function of ultra-high temperature early warning such as spontaneous combustion of objects in the inspection process (the cradle head is locked, the high temperature point is snapshot and returned in a thermal imaging rendering mode, and the cradle head is automatically adjusted to align the high temperature point and visible light to carry out double-light fusion so as to facilitate observation of an accurate area).
2. The robot can not carry out positioning injection in the area before the open fire appears in the automatic inspection process (the open fire is forbidden to appear in an oil depot pump room and a gas transportation area, and once the open fire appears, the open fire cannot be controlled).
3. The robot cannot automatically measure the high-temperature distance and automatically maintain the distance even after the high-temperature area exceeds a preset value through the frame frequency processing of the thermal scanning image.
4. The robot cannot automatically identify, track and position after discovering a safety accident before an open fire happens, and cannot perform early area covering jet cooling treatment by tracking the highest temperature value in real time;
5. when the problem target is continuously monitored after the automatic positioning injection emergency treatment, the self-judgment self-tracking hidden fire highest temperature source surrounding positioning cooling can not be carried out according to the object temperature-rising curve analysis graph (namely, the robot automatically avoids the distance and automatically surrounds to carry out reciprocating covering cooling).
Therefore, a new robot needs to be developed to solve the problems encountered in the prior art.
Disclosure of Invention
The invention aims to solve the technical problem of providing a floor type AI artificial intelligent automatic high-temperature tracking and positioning injection inspection robot which has the functions of fire extinguishing by human emergency operation and far infrared scanning early fire early warning function which is not possessed by human, avoids uncontrollable fire behavior, can emergently treat the early fire on site in a full-automatic and semi-automatic mode, wins the time of arrival at the site for emergency rescue personnel, can automatically and emergently treat the personnel before the personnel arrive at the site particularly in the danger industry to ensure the safety of the personnel, comprehensively realizes unmanned automatic inspection, and has practicability and wide application.
In order to solve the problems, the invention adopts the following technical scheme:
a ground AI artificial intelligence automatic high temperature tracking positioning spraying inspection robot comprises a robot main body, a server, an infrared thermal scanning pan-tilt and an automatic positioning emergency spraying device, wherein the infrared thermal scanning pan-tilt and the automatic positioning emergency spraying device are arranged at the upper end of the robot main body, the robot main body consists of a lithium battery, a cooling fire extinguishing medium container, a driver, a transmission motor, a driving wheel and a crawler belt, the transmission motor drives the crawler belt to rotate through the driving wheel, so that the robot moves, the cooling fire extinguishing medium container is arranged at the upper end inside the robot main body, an aqueous film forming foam liquid is arranged inside the cooling fire extinguishing medium container, a high-pressure electromagnetic valve is arranged on the cooling fire extinguishing medium container, the automatic positioning emergency spraying device comprises a gun body, a gun barrel and a revolving body, a supporting plate is fixed on the gun body, the revolving body is fixed on the supporting plate and connected with the gun body, and the gun barrel is fixed on the revolving body, the inboard of the solid of revolution is equipped with gear four, install motor two on the big gun body, gear three is installed to the one end of motor two, and gear three is connected with four interlocks of gear, the lower extreme of the big gun body is fixed with the pivot, and pivot and big gun body junction are equipped with the bearing, the lower extreme of pivot is equipped with the base, and the base is fixed in the robot main part, big gun body bottom is equipped with the roof, installs motor one on the roof, installs gear one on the motor one, be fixed with gear two in the pivot, gear one is connected with two interlocks of gear, and motor one drives the big gun body and rotates around the pivot, install the combination detector on the barrel, the combination detector includes thermal imaging double vision detector and camera.
Preferably, the gun body is provided with a thermal imaging temperature detector.
Preferably, the inside of the gun barrel is provided with a fluid director, and the top of the gun barrel is provided with a medium jetting outlet.
Preferably, the base and the rotating shaft are of hollow structures, and the cooling fire extinguishing medium container, the base, the rotating shaft, the gun body and the gun barrel are sequentially connected and communicated.
Preferably, the infrared thermal scanning cloud platform comprises a horizontal rotating device, a vertical rotating device, a far infrared scanning temperature measurement imaging device, an AI visible light identification device and a barrel, the far infrared scanning temperature measurement imaging device and the AI visible light identification device are installed on two sides of the barrel, the horizontal rotating device comprises a permanent magnet synchronous motor II, a fixed seat, a switching seat II and a fixed shaft II, the lower end of the fixed seat is connected with the robot main body, the switching seat II is fixed on the barrel, the upper end of the fixed shaft II is of a gear ring structure, the permanent magnet synchronous motor II rotates around the fixed shaft II, and the lower end of the fixed shaft II is fixed on the fixed seat.
Preferably, the vertical rotation device comprises a first adapter, a first fixed shaft, a fifth gear and a first permanent magnet synchronous motor, the first adapter is fixed on the barrel, the first fixed shaft is installed on the first adapter, one end of the first fixed shaft is connected with the far infrared scanning temperature measurement imaging device, the fifth gear is fixed on the first fixed shaft, and the first permanent magnet synchronous motor drives the first fixed shaft to rotate through the fifth gear.
Preferably, the method for tracking and positioning the jet fire point by the robot is as follows:
1) the angular speed of the rotation of the automatic positioning emergency injection device can be determined by measuring the time of the automatic positioning emergency injection device rotating for one circle and obtaining the angular speed according to a formula omega (phi)/t;
2) determining the angle of the medium injection outlet when the medium injection outlet is turned to the fire point from the vertical position, timing by a single chip microcomputer, and obtaining the angle by back-pushing a formula omega phi/t;
3) measuring the vertical distance y from the automatic positioning emergency injection device to the horizontal ground;
4) obtaining the horizontal distance x between the device and the fire point according to the trigonometric function tan phi which is x/y;
5) determining the initial flow velocity V of the water flow according to the Bernoulli equation p + rho gh + (1/2) × rho V ^2 ^ c;
6) determining vertical initial speeds Vx and Vy of the water flow speed according to the related knowledge of the parabola; obtaining a simultaneous system of equations:
(1) the movement time period t is √ 2h/g, h is the height, namely the vertical distance y from the previous measuring sensor to the horizontal ground, and g is the vertical acceleration constant, so the value of t is obtained;
(2) vertical initial speed Vy g t, i.e. Vy g v 2 h/g;
(3) the horizontal initial speed Vx is V, namely the ejected water medium is in an ideal state without considering wind resistance;
from the above, Vx and Vy can be obtained, where Vy/Vx is tana, and the angle a is obtained by reverse extrapolation,
namely, the angle a which the machine should rotate when spraying water can be calculated by the vertical height y and the angle phi which the sensor rotates when positioning, so that the fire point can be accurately positioned;
preferably, the step of tracking and positioning the fire point of the jet by the robot is as follows:
1) the robot carries out thermal scanning on a walking picture through a far infrared scanning temperature measurement imaging device, stops moving once the temperature is higher than a preset value, carries out alarm snapshot to obtain a heat map, and simultaneously stops a highest temperature area at the middle position of the heat map;
2) shooting through an AI visible light recognition device on one side of the infrared thermal scanning holder, simultaneously transmitting the screenshot back to the server, and overlaying the screenshot of the high-temperature early warning rendering area onto a visible light photo by the server and then displaying a clear high-temperature area;
3) the laser ranging function of the three-dimensional laser navigation module is started, the robot body is instructed to move, the robot and a high-temperature hazard source are kept at 2-3 meters, a medium jet outlet thermal imaging temperature measurement detector is started to carry out thermal image scanning, a thermal imaging area is positioned by 180 degrees from left to right, an area higher than an early warning value is positioned through thermal imaging, a captured highest temperature point in a highest temperature area is overlapped with a central position point in a picture, and then a high-pressure electromagnetic valve in a cooling and fire extinguishing medium container is opened through a control system instruction to jet a film-forming foam liquid to isolate oxygen and cool immediately;
4) after the temperature of the area of the picture is reduced, the robot performs micro-motion to move forward according to the three-dimensional laser navigation module, the automatic positioning emergency spraying device continuously captures the highest temperature point in the moving process to send an instruction, and when the spraying point cannot accurately cover the highest temperature point under the influence of the spraying gravity of the temperature-reducing fire-extinguishing medium when a long-distance target is sprayed, compensation of self-judgment vertical angle after positioning is needed, so that the aim of accurately positioning and tracking the spraying of the highest temperature point is fulfilled;
5) after the naked light is disposed, the corresponding valve is automatically closed by the automatic positioning emergency injection device, the robot far infrared scanning temperature measurement imaging device can scan and measure temperature at the time, emergency rescue personnel wait for entering, if the object has high temperature again, the remote control interface of the automatic positioning emergency injection device can perform secondary early warning and bounce when the server, and personnel in a control room can automatically position the emergency injection device to work through remote control on a window through a 485 communication protocol network signal instruction.
The invention has the beneficial effects that: possess the early conflagration early warning function of far infrared scanning that people's emergency operation put out a fire function and people did not possess, stop the uncontrollable of intensity of a fire, can the on-the-spot early conflagration of full-automatic and semi-automatic mode emergency treatment, win the arrival live time for emergency rescue personnel, can arrive automatic emergency treatment between the scene at personnel in danger ization trade very much, guarantee the security of treatment personnel, realize unmanned automatic patrolling and examining comprehensively, have practicality and the using universality.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, but the protection scope of the present invention is not limited.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic cross-sectional view of the present invention;
FIG. 5 is a schematic cross-sectional view of an automatically positioned emergency spray device of the present invention;
FIG. 6 is a schematic cross-sectional view of an automatic positioning emergency spraying device according to the present invention;
FIG. 7 is a schematic view of an infrared thermal scanning pan/tilt head according to the present invention;
the system comprises a three-dimensional laser navigation module 1, an infrared thermal scanning holder 2, a lithium battery 3, a temperature-reducing fire-extinguishing medium container 4, a driver 5, a transmission motor 6, a driving wheel 7, a crawler belt 8, a high-pressure electromagnetic valve 9, an automatic positioning emergency injection device 10, a horizontal rotating device 11, a vertical rotating mechanism 12, a far infrared scanning temperature-measuring imaging device 13, an AI visible light identification device 14, a thermal imaging double-view detector 15, a gun barrel 16, a medium injection outlet 17, a rotating shaft 18, a rotating shaft 19, a base 20, a motor I, a gear II, a gear 23, a top plate 24, a gun body 25, a motor II, a motor 26, a thermal imaging temperature-measuring detector 27, a combined detector 28, a fluid director 29, a gear III, a gear 30, a bearing 31, a revolving body 32, a supporting plate 33, a gear IV and a limiting block 34, 35. the camera comprises a camera 36, a first adapter base 37, a first fixed shaft 38, a fifth gear 39, a first permanent magnet synchronous motor 40, a second permanent magnet synchronous motor 41, a fixed base 42, a second adapter base 43, a second fixed shaft 44 and a barrel.
Detailed Description
Referring to fig. 1 to 7, the floor AI artificial intelligence automatic high temperature tracking positioning spraying inspection robot comprises a robot main body, a server, an infrared thermal scanning pan-tilt 2 and an automatic positioning emergency spraying device 10, wherein the infrared thermal scanning pan-tilt 2 and the automatic positioning emergency spraying device 10 are installed at the upper end of the robot main body, the robot main body is composed of a lithium battery 3, a cooling fire-extinguishing medium container 4, a driver 5, a transmission motor 6, a driving wheel 7 and a crawler 8, the transmission motor 6 drives the crawler 8 to rotate through the driving wheel 7, so that the robot moves, the cooling fire-extinguishing medium container 4 is arranged at the upper end inside the robot main body, a water film forming foam liquid is arranged inside the cooling fire-extinguishing medium container 4, a high-pressure electromagnetic valve 9 is installed on the cooling fire-extinguishing medium container 4, the automatic positioning emergency spraying device 10 comprises a gun body 24, a gun barrel 16 and a revolving body 31, a supporting plate 32 is fixed on the gun body 24, the revolved body 31 is fixed on the support plate 32 and connected with the gun body 24, the gun barrel 16 is fixed on the revolved body 32, the inner side of the revolved body 32 is provided with a gear four 33, the gun body 24 is provided with a motor two 25, one end of the motor two 25 is provided with a gear three 29, the gear three 29 is in meshed connection with the gear four 33, one side of the gear four 33 is provided with a limit block, a medium ejection outlet is enabled to rotate in the vertical direction at an angle of +45 degrees to-45 degrees under the action of the limit block and the motor two, the lower end of the gun body 24 is fixed with a rotating shaft 18, a bearing 30 is arranged at the connection position of the rotating shaft 18 and the gun body 24, the lower end of the rotating shaft 18 is provided with a base 19, the base 19 is fixed on the robot body, the bottom of the gun body 24 is provided with a top plate 23, the top plate 23 is provided with a motor one 20, the motor one 20 is provided with a gear one 21, the rotating shaft 18 is fixed with a gear two 22, the gear one 21 is in meshed connection with the gear two 22, the first motor 20 drives the gun body 24 to rotate around the rotating shaft 18, so that 360-degree rotation of the gun body 24 is completed, the gun barrel 16 is provided with a combined detector 27, and the combined detector 27 comprises a thermal imaging double-vision detector 15 and a camera 35.
Further, a thermal imaging temperature detector 26 is arranged on the gun body 24.
Further, a flow guide 28 is provided inside the barrel 16, and a medium ejection outlet 17 is provided at the top of the barrel 16.
Further, the base 19 and the rotating shaft are of a hollow structure, and the cooling fire extinguishing medium container 4, the base 19, the rotating shaft 18, the gun body 24 and the gun barrel 16 are sequentially connected and communicated.
Further, the infrared thermal scanning cloud platform comprises a horizontal rotating device 11, a vertical rotating device 12, a far infrared scanning temperature measurement imaging device 13, an AI visible light recognition device 14 and a cylinder 44, the far infrared scanning temperature measurement imaging device 13 and the AI visible light recognition device 14 are installed on two sides of the cylinder 44, the horizontal rotating device 11 comprises a second permanent magnet synchronous motor 40, a fixed seat 41, a second adapter seat 42 and a second fixed shaft 43, the lower end of the fixed seat 41 is connected with the robot main body, the second adapter seat 42 is fixed on the cylinder 44, the upper end of the second fixed shaft 43 is of a gear ring structure, the second permanent magnet synchronous motor 40 rotates around the second fixed shaft 43, so that the whole horizontal rotating device 11 is driven to horizontally rotate for 360 degrees, and the lower end of the second fixed shaft 43 is fixed on the fixed seat 41.
Further, the vertical rotation device 12 comprises a first adapter 36, a first fixed shaft 37, a fifth gear 38 and a first permanent magnet synchronous motor 39, the first adapter 36 is fixed on the cylinder 44, the first fixed shaft 37 is installed on the first adapter 36, one end of the first fixed shaft 37 is connected with the far infrared scanning temperature measurement imaging device 13, the fifth gear 38 is fixed on the first fixed shaft 37, and the first permanent magnet synchronous motor 39 drives the first fixed shaft 37 to rotate through the fifth gear 38, so that the far infrared scanning temperature measurement imaging device 13 can rotate by 360 degrees.
When the invention works, the robot carries out thermal scanning on a walking picture through the far infrared scanning temperature measurement imaging device in the inspection process, stops moving once the temperature is higher than the preset value, automatically avoids and keeps a certain distance for alarm snapshot to obtain a heat image, then the robot automatically corrects the angle through the first permanent magnet synchronous motor and the second permanent magnet synchronous motor by the infrared thermal scanning pan head so that the highest temperature area is stopped at the middle position of the heat image, and takes a picture through the AI visible light recognition device at one side of the infrared thermal scanning pan head, at the same time, the screenshot is transmitted back to the server, the server processes the two transmitted pictures after receiving the early warning signal, the screenshot of the high-temperature early warning rendering area is superposed on the visible light picture and the temperature value is displayed, then, a clear high-temperature area is displayed, so that rear-end personnel can quickly lock a specific position and remotely observe the specific position.
And then the robot receives the infrared radiation of the object heat source to determine an area higher than a preset value in the inspection process, and then immediately links the automatic positioning emergency spraying device at the front end.
When receiving a robot instruction, the laser ranging function of the three-dimensional laser navigation module is started, the robot body is instructed to move, the robot and a high-temperature danger source are ensured to be kept at 2-3 meters (automatically adjusted according to preset and scanning temperature), after the robot measures the distance, the automatic positioning emergency jet device is instructed to reset to an initial point (the initial point is arranged on the left side and is vertical to the proceeding direction of the robot) to act, a medium jet outlet is kept horizontal, a medium jet outlet thermal imaging temperature measurement detector is started to carry out thermal image scanning, 180 degrees are carried out from left to right, the thermal imaging positioning is higher than an early warning value area, at the moment, original data are sent by thermal imaging to an internal analysis circuit software system of the robot, and the horizontal X axis and the vertical Y axis are corrected and positioned according to a two-data overlapping correction method and a driving circuit motor control mechanical positioning method through a determined high-temperature point and a screen central point, overlapping the captured highest temperature point in the highest temperature area with a central position point in the picture, then immediately opening a high-pressure electromagnetic valve in a cooling fire-extinguishing medium container through a control system instruction to spray the birth water film-forming foam liquid for isolating oxygen and cooling, and finishing cooling in the picture area; then the robot carries out micro-motion advancing according to a three-dimensional laser navigation module, an automatic positioning emergency spraying device continuously captures a highest temperature point to send an instruction in the advancing process, a motor I and a motor II keep horizontal and vertical double-accurate real-time spraying, when the spraying point can not accurately cover the highest temperature point under the influence of the spraying gravity of a temperature-reducing fire-extinguishing medium when a remote target is sprayed, compensation of a vertical angle needs to be carried out after positioning, so that the aim of accurately positioning and tracking the spraying of the highest temperature point is achieved, the distance between the sprayer and a fire source and the angle value of the spraying port rising from-90 degrees are still obtained according to trigonometric function theorem, the angle value of the rising compensation of the spraying outlet of the medium is obtained according to a parabolic algorithm of the spraying medium, the test result of the flow of 0.8L per second of the pressurized 8MP container is used, and the program corresponding to the compensation angle is programmed according to 12 test results between +45 degrees and-45 degrees (divided into 12 degree values) To ensure that the spraying medium directly covers the ignition source, isolate oxygen and simultaneously reduce the temperature for disposal.
After the naked light is dealt with, emergent injection apparatus self-closing corresponding valve of automatic positioning, robot far infrared scanning temperature measurement image device can scan the temperature measurement here this moment, wait for emergency rescue personnel's entering, if the object appears high temperature again here (thermal imaging software need research and development possess temperature measurement characteristic curve analysis chart), the server can secondary early warning and the spring remote control interface of emergent injection apparatus of automatic positioning, the control room personnel can be through remote control on the window, 485 communication protocol's network signal command device about from top to bottom move and open valve and close valve etc..
The equation involved in the invention:
one, polar coordinate system
A coordinate system consisting of poles, polar axes and polar diameters in a plane. A certain point O is taken on the plane and is called a pole. Starting from O, a ray Ox is drawn, called the polar axis. One unit of length is then determined, typically with the prescribed angle being positive in the counterclockwise direction. Thus, the position of any point P on the plane can be determined by the length ρ of the line segment OP and the angle θ from Ox to OP, and the ordered number pair (ρ, θ) is called the polar coordinate of the point P and is marked as P (ρ, θ); ρ is the polar diameter of point P and θ is the polar angle of point P. When the limit rho is more than or equal to 0 and theta is less than 2 pi, each other point on the plane except the grid point O has a unique polar coordinate. Here, the poles may be analogous to the spraying device and the pole axis may be analogous to the direction indicated by the water outlet head of the spraying device.
Equation of two, Bernoulli
When the ideal positive pressure fluid does a steady motion under the action of potential volume force, the motion equation (namely Euler equation) is integrated along a flow line to obtain an equation expressing the conservation of mechanical energy of the motion fluid. For an incompressible homogeneous fluid in a gravitational field, the equation is p + ρ gh + (1/2) × ρ v ^2 ═ c, where p, ρ, v are the pressure, density and linear velocity of the fluid, respectively; h is the vertical height; g is the acceleration of gravity; c is a constant, each item of the above formula represents the pressure energy p, the gravitational potential energy rho gh and the kinetic energy (1/2). rho v ^2 of the unit volume of fluid respectively, and the sum keeps unchanged in the process of moving along the flow line, namely the total energy is conserved. But the total energy (i.e., the constant value in the above equation) may be different between streamlines. For gases, gravity can be neglected and the equations are reduced to p + (1/2) × ρ v ^2 ═ constant (p0), each referred to as static pressure, dynamic pressure, and total pressure, respectively. Obviously, the pressure decreases with increasing velocity in the flow; the pressure intensity is increased when the speed is reduced; the velocity drops to zero and the pressure reaches a maximum (theoretically equal to the total pressure).
And thirdly, a parabolic equation is a trajectory equation of a parabola, the method is a method for expressing the parabola by using an equation, the parabola can be drawn according to the parabolic equation on a geometric plane, and the specific expression of the equation is y ═ a × x + b × x + c.
The fire point positioning method of the invention comprises the following steps:
1) firstly, determining the rotating angular speed of the automatic positioning emergency injection device, and obtaining the angular speed by measuring the time of one turn through a formula omega-phi/t;
2) determining the angle of the medium injection outlet when the medium injection outlet is turned to the fire point from the vertical position, timing through a single chip microcomputer, and obtaining the angle through back-stepping according to a formula omega-phi/t;
3) measuring the vertical distance y from the automatic positioning emergency injection device to the horizontal ground;
4) obtaining the horizontal distance x between the device and the fire point according to the trigonometric function tan phi which is x/y;
5) determining the initial flow velocity V of the water flow according to the Bernoulli equation p + rho gh + (1/2) × rho V ^2 ^ c;
6) determining vertical initial speeds Vx and Vy of the water flow speed according to the related knowledge of the parabola; obtaining a simultaneous system of equations:
(1) the movement time period t is √ 2h/g, h is the height, namely the vertical distance y from the previous measuring sensor to the horizontal ground, and g is the vertical acceleration constant, so the value of t is obtained;
(2) vertical initial speed Vy g t, i.e. Vy g v 2 h/g;
(3) the horizontal initial speed Vx is V, namely the ejected water medium is in an ideal state without considering wind resistance;
from the above, Vx and Vy can be obtained, where Vy/Vx is tana, and the angle a is obtained by reverse extrapolation,
namely, the angle a which the machine should rotate when spraying water can be calculated by the vertical height y and the angle phi rotated when the sensor is positioned, so that the fire point can be accurately positioned.
The track and the driving wheel structure of the invention are common structures, so the detailed description is omitted.
The robot is embedded with a software system matched with the server, so that the connection between the robot and the server is realized.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (7)
1. The utility model provides an automatic high temperature of AI artificial intelligence that falls to ground is tracked location and is sprayed and patrol and examine robot which characterized in that: the method for tracking and positioning the fire point of the jet by the robot comprises the following steps:
1) the angular speed of the automatic positioning emergency injection device is determined by measuring the time of the automatic positioning emergency injection device rotating for one circle and obtaining the angular speed according to a formula omega (phi)/t;
2) determining the angle of the medium injection outlet when the medium injection outlet is turned to the fire point from the vertical position, timing by a single chip microcomputer, and obtaining the angle by back-pushing a formula omega phi/t;
3) measuring the vertical distance y from the automatic positioning emergency injection device to the horizontal ground;
4) obtaining the horizontal distance x between the device and the fire point according to the trigonometric function tan phi which is x/y;
5) determining an initial flow velocity V of the water flow according to a Bernoulli equation p + ρ gh + (1/2) · ρ V ^2 ═ c;
6) determining vertical initial speeds Vx and Vy of the water flow speed according to the related knowledge of the parabola; obtaining a simultaneous system of equations:
(1) the movement time period t is √ 2h/g, h is the height, namely the vertical distance y from the previous measuring sensor to the horizontal ground, and g is the vertical acceleration constant, so the value of t is obtained;
(2) vertical initial speed Vy g t, i.e. Vy g v 2 h/g;
(3) the horizontal initial speed Vx is V, namely the ejected water medium is in an ideal state without considering wind resistance;
from the above, Vx and Vy can be obtained, where Vy/Vx is tana, and the angle a is obtained by reverse extrapolation,
namely, the angle a which the machine should rotate when spraying water can be calculated by the vertical height y and the angle phi which the sensor rotates when positioning, so that the fire point can be accurately positioned;
the method for tracking and positioning the fire point of the jet by the robot comprises the following steps:
1) the robot carries out thermal scanning on a walking picture through a far infrared scanning temperature measurement imaging device, stops moving once the temperature is higher than a preset value, carries out alarm snapshot to obtain a heat map, and simultaneously stops a highest temperature area at the middle position of the heat map;
2) shooting through an AI visible light recognition device on one side of the infrared thermal scanning holder, simultaneously transmitting the screenshot back to the server, and overlaying the screenshot of the high-temperature early warning rendering area onto a visible light photo by the server and then displaying a clear high-temperature area;
3) the laser ranging function of the three-dimensional laser navigation module is started, the robot body is instructed to move, the robot and a high-temperature hazard source are kept at 2-3 m, a medium jet outlet thermal imaging temperature measurement detector is started to perform thermal image scanning, the thermal imaging temperature measurement detector is positioned by 180 degrees from left to right, an area higher than an early warning value is positioned through thermal imaging, a captured highest temperature point in a highest temperature area is overlapped with a central position point in a picture, and then a high-pressure electromagnetic valve in a cooling and fire extinguishing medium container is opened through a control system instruction to jet a birth water film-forming foam liquid to isolate oxygen and cool;
4) after the temperature of the area of the picture is reduced, the robot performs micro-motion advancing according to the three-dimensional laser navigation module, the automatic positioning emergency injection device continuously captures the highest temperature point in the advancing process and sends an instruction, and when the injection point cannot accurately cover the highest temperature point under the influence of the injection gravity of the temperature-reducing fire-extinguishing medium when a remote target is injected, compensation of self-judgment of a vertical angle after positioning is needed, so that the purpose of accurately positioning and tracking the injection of the highest temperature point is achieved;
5) after the naked light is disposed, the corresponding valve is automatically closed by the automatic positioning emergency injection device, the robot far infrared scanning temperature measurement imaging device can scan and measure temperature at the time, emergency rescue personnel wait for entering, if the object has high temperature again, the remote control interface of the automatic positioning emergency injection device can perform secondary early warning and bounce when the server, and personnel in a control room can automatically position the emergency injection device to work through remote control on a window through a 485 communication protocol network signal instruction.
2. The automatic high temperature of AI artificial intelligence that falls to ground of claim 1 is tracked the location and is sprayed inspection robot, characterized in that: the robot comprises a robot main body, a server, an infrared thermal scanning holder and an automatic positioning emergency injection device, wherein the infrared thermal scanning holder and the automatic positioning emergency injection device are installed at the upper end of the robot main body, the robot main body consists of a lithium battery, a cooling fire-extinguishing medium container, a driver, a transmission motor, a driving wheel and a crawler, the transmission motor drives the crawler to rotate through the driving wheel, so that the robot moves, the cooling fire-extinguishing medium container is arranged at the upper end inside the robot main body, aqueous film forming foam liquid is arranged inside the cooling fire-extinguishing medium container, a high-pressure electromagnetic valve is installed on the cooling fire-extinguishing medium container, the automatic positioning emergency injection device comprises a gun body, a gun barrel and a revolving body, a support plate is fixed on the gun body, the support plate is fixed on the support plate and connected with the gun body, the gun barrel is fixed on the revolving body, a gear four is arranged on the inner side of the revolving body, and a motor two is installed on the gun body, gear three is installed to motor two's one end, and gear three is connected with gear four interlocks, the lower extreme of the big gun body is fixed with the pivot, and pivot and big gun body junction are equipped with the bearing, the lower extreme of pivot is equipped with the base, and the base is fixed in the robot main part, big gun body bottom is equipped with the roof, installs motor one on the roof, installs gear one on the motor one, be fixed with gear two in the pivot, gear one is connected with gear two interlocks, and motor one drives the big gun body and rotates around the pivot, install the combination detector on the barrel, the combination detector includes thermal imaging double vision detector and camera.
3. The automatic high temperature of AI artificial intelligence that falls to ground of claim 2 is tracked the location and is sprayed inspection robot, characterized in that: and a thermal imaging temperature detector is arranged on the gun body.
4. The automatic high temperature of AI artificial intelligence that falls to ground of claim 3 is tracked the location and is sprayed inspection robot, characterized in that: the inside of the gun barrel is provided with a fluid director, and the top of the gun barrel is provided with a medium jetting outlet.
5. The automatic high temperature of AI artificial intelligence that falls to ground of claim 4 is tracked the location and is sprayed inspection robot, characterized in that: the base and the rotating shaft are of hollow structures, and the cooling fire extinguishing medium container, the base, the rotating shaft, the gun body and the gun barrel are sequentially connected and communicated.
6. The automatic high temperature of AI artificial intelligence that falls to ground of claim 5 is tracked the location and is sprayed inspection robot, characterized in that: the infrared thermal scanning cloud platform comprises a horizontal rotating device, a vertical rotating device, a far infrared scanning temperature measurement imaging device, an AI visible light recognition device and a barrel, the far infrared scanning temperature measurement imaging device and the AI visible light recognition device are arranged on two sides of the barrel, the horizontal rotating device comprises a second permanent magnet synchronous motor, a fixed seat, a second switching seat and a second fixed shaft, the lower end of the fixed seat is connected with the robot main body, the second switching seat is fixed on the barrel, the upper end of the second fixed shaft is of a gear ring structure, the second permanent magnet synchronous motor rotates around the second fixed shaft, and the lower end of the second fixed shaft is fixed on the fixed seat.
7. The automatic high temperature of AI artificial intelligence that falls to ground of claim 6 is tracked the location and is sprayed inspection robot, characterized in that: the vertical rotating device comprises a first adapter, a first fixed shaft, a fifth gear and a first permanent magnet synchronous motor, the first adapter is fixed on the barrel, the first fixed shaft is installed on the first adapter, one end of the first fixed shaft is connected with the far infrared scanning temperature measurement imaging device, the fifth gear is fixed on the first fixed shaft, and the first permanent magnet synchronous motor drives the first fixed shaft to rotate through the fifth gear.
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