CN114602088B - Robot automatic fire extinguishing method, equipment and storage medium - Google Patents
Robot automatic fire extinguishing method, equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 189
- 238000005507 spraying Methods 0.000 claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract description 13
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- 238000004891 communication Methods 0.000 claims description 5
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
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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
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—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
- A62C37/40—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 with electric connection between sensor and actuator
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Abstract
The application discloses automatic robot fire extinguishing method belongs to the robot field, and the method includes: the robot collects working site images through a heat source detection lens and a binocular distance measuring lens, and fire source position information of a working site is determined according to the working site images; determining three-dimensional environment information in a specified range near the fire source according to the fire source position information; acquiring spatial environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to fire source position information, three-dimensional environment information in a specified range near a fire source and the spatial environment information; determining an optimal fire extinguishing point in a fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, fire source position information and information of a three-dimensional environment near the fire source; wherein, the water spray information at least comprises one or more of the following items: water spraying height, water spraying angle and initial water spraying speed. The fire source can be identified quickly, and the fire spread is prevented.
Description
Technical Field
The application relates to the field of robots, in particular to a robot automatic fire extinguishing method, equipment and a storage medium.
Background
Recently, a serious fire disaster happens frequently, which not only causes property loss of people, but also influences life safety of people, and if the rescue is not timely, more serious consequences are caused.
If the fire is small, the fire source can be completely eliminated by using the fire extinguisher, but if the fire is too big and the fire extinguisher cannot be controlled, the fire is extinguished by dialing a fire alarm telephone and driving a water truck by a fireman. However, the fire fighters often cannot arrive at the fire extinguishing point in time, so that the fire condition is spread in a short time and further causes greater harm. In addition, due to the limitation of environment and the influence of field conditions, casualties and property loss can be caused by untimely rescue.
Disclosure of Invention
The application provides a robot automatic fire extinguishing method, which solves the technical problem of fire expansion caused by incapability of extinguishing fire in time.
A robot automatic fire extinguishing method comprises the following steps:
the robot acquires a working field image through a heat source detection lens and a binocular distance measurement lens, and determines fire source position information of a working field according to the working field image;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring space environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the space environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
In an embodiment of the present application, the space environment information around the fire-fighting robot is obtained through the lidar on the robot, and according to the fire source position information and the three-dimensional environment information in the specified range near the fire source, and the space environment information, a fire-fighting area is determined, which specifically includes: acquiring edge coordinates of the three-dimensional environment, wherein the edge coordinates comprise a first left edge coordinate set and a first right edge coordinate set; respectively connecting the coordinates corresponding to the fire source position with the line segment where the first left edge coordinate set is located and the line segment where the first right edge coordinate set is located by taking the fire source position as an endpoint to form a left edge ray and a right edge ray; determining an area corresponding to a first included angle formed between the left edge ray and the right edge ray, and determining a part of the area corresponding to the first included angle, which is intersected with an area where the fire-extinguishing robot can move, as a fire-extinguishing area of the fire-extinguishing robot; wherein the first included angle is an acute angle.
In one embodiment of the present application, after determining the fire suppression area, the method further comprises: determining a vertical plane where the coordinates of the water outlet and the coordinates of the fire source are located together, establishing a vertical plane coordinate system in the vertical plane, and taking the coordinates of the projection point of the water outlet on the ground as the origin coordinates in the vertical plane; determining a second fire source coordinate of the fire source in the vertical plane; determining a second upper edge coordinate and a second lower edge coordinate in the vertical plane; and determining a standard water column parabola capable of reaching the fire source according to the second upper edge coordinate, the second lower edge coordinate and the second fire source coordinate.
In an embodiment of the present application, the determining a standard water column parabola capable of reaching the fire source according to the second upper edge coordinate, the second lower edge coordinate and the second fire source coordinate specifically includes: determining a water column parabola passing through the second fire source coordinate in the vertical plane; determining the horizontal coordinates of the upper edge and the lower edge of the three-dimensional environment in the vertical plane as standard horizontal coordinates; selecting a vertical coordinate smaller than the vertical coordinate of the upper edge and larger than the vertical coordinate of the lower edge in the vertical plane according to the standard horizontal coordinate as a standard vertical coordinate; and determining a water column parabola passing through the standard abscissa and the standard ordinate as a standard water column parabola.
In one embodiment of the present application, determining an optimal fire extinguishing point in the fire extinguishing area specifically comprises: determining coordinates of an upper edge and a lower edge of the three-dimensional environment in a three-dimensional map; determining a vertical bisector of a line segment where the upper edge and the lower edge are located according to the coordinates of the upper edge and the lower edge, and determining a vertical plane passing through the coordinates of the second fire source and the vertical bisector; determining an intersection line of the vertical plane and the fire extinguishing area as an optimal moving route of the robot; and determining the middle point of the optimal moving route as an optimal fire extinguishing point.
In one embodiment of the present application, after determining the standard water column parabola that can reach the fire source, the method further comprises: selecting an optimal water column parabola among the standard water column parabolas, comprising: selecting a coordinate located between the vertical coordinate of the upper edge and the vertical coordinate of the lower edge as an optimal vertical coordinate; determining an optimal coordinate for entering the three-dimensional environment according to the standard abscissa and the optimal ordinate; and determining an optimal water column parabola passing through the optimal coordinate, the second fire source coordinate and the water outlet coordinate.
In an embodiment of the present application, determine the water spray height, the water spray angle, the initial water spray speed of delivery port, specifically include: determining the ordinate of the parabola on the longitudinal axis as the water spraying height according to the calculated final water column parabola, and determining the height of the water outlet according to the water spraying height; determining the coordinate of the parabola on a longitudinal axis according to the final water column parabola, drawing a tangent line of the water column parabola through the coordinate on the longitudinal axis, and determining an included angle between the tangent line and the direction of a transverse axis as a water spraying angle; and calculating according to the water spraying angle to obtain the initial water spraying speed.
In one embodiment of the present application, prior to acquiring the work site image, the method further comprises: scanning, by a plurality of unmanned aerial vehicles, spatial environment information in a work site; the multiple unmanned aerial vehicles transmit signals through the wireless communication module to exchange the space environment information, and a three-dimensional map and coordinate information are established according to the space environment information; and determining a first fire source coordinate of the fire source in the three-dimensional map through the heat source detection lens.
A robotic automatic fire suppression apparatus, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
the robot collects working site images through a heat source detection lens and a binocular distance measuring lens, and fire source position information of a working site is determined according to the working site images;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring space environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the space environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
A non-volatile storage medium storing computer-executable instructions configured to:
the robot collects working site images through a heat source detection lens and a binocular distance measuring lens, and fire source position information of a working site is determined according to the working site images;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring spatial environment information around the fire-extinguishing robot through a laser radar on the robot, and determining a fire-extinguishing area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the spatial environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
The application provides a robot automatic fire extinguishing method, equipment and storage medium, which at least comprise the following beneficial effects: a three-dimensional map is established through the unmanned aerial vehicle, so that the lifting type fire extinguishing robot can determine the position of the lifting type fire extinguishing robot and the position of a fire source; the fire extinguishing robot can calculate the fire extinguishing point, the water spraying angle and the height according to the self coordinate information of the fire extinguishing robot, the fire source position information and the three-dimensional environment information around the fire source, calculate the optimal fire extinguishing point and the water column parabola reaching the fire source, and accordingly extinguish fire; through the scheme of this application, can be at the fire fighter under the unable condition that in time arrives fast discernment fire source, effectively prevented the intensity of a fire to spread.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic step diagram of a robot automatic fire extinguishing method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a fire suppression system according to an embodiment of the present disclosure;
FIG. 3 is a bird's eye view of a working site of the elevating fire-fighting robot provided in the embodiment of the present application;
FIG. 4 is a vertical plane view of a water column parabola as provided by an embodiment of the present application;
fig. 5 is a structural diagram of a robot automatic fire extinguishing apparatus according to an embodiment of the present disclosure;
the fire extinguishing system comprises a work allowing area-301, a fire source-302, an obstacle-303, a fire extinguishing area-304, an upper edge and a lower edge midpoint-305, an optimal moving path-306, a water outlet-401, a water column-402, a fire source shelter-403, a processor-501, a bus-502 and a memory-503.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in detail and completely with reference to specific embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In an embodiment of the application, a major fire sometimes occurs, but due to the environmental limitation and the influence of field conditions, rescue is not timely, and casualties and property loss are caused. At this time, the use of the fire extinguishing robot can reduce the occurrence of such a situation. At present, fire extinguishing robots in the market are mostly wheel type chassis, the performance is limited in a complex working environment, and common fire extinguishing robots cannot play a role in a higher fire extinguishing point, so that situations such as delay of rescue opportunity can be caused.
Realize the accurate fire extinguishing through cooperative control system in this application, cooperative control system includes over-and-under type fire extinguishing robot and a plurality of unmanned aerial vehicle. The lifting type fire-extinguishing robot is used, and the height of the robot can be adjusted according to the actual height of a fire source. The three-dimensional map of work place is obtained and established through a plurality of unmanned aerial vehicles, convey the three-dimensional map to during the over-and-under type fire-fighting robot, make over-and-under type fire-fighting robot make clear and definite own position and the position of fire source, then calculate the best point of putting out a fire and reach the water column parabola of fire source according to fire-fighting robot self position and fire source position, calculate the angle and the height that self sprayed water through the water column parabola to put out a fire. The following is a detailed description.
Fig. 1 is a schematic step diagram of a robot automatic fire extinguishing method provided in an embodiment of the present application, and may include the following steps:
s101: the robot acquires a working field image through the heat source detection lens and the binocular distance measuring lens, and the fire source position information of the working field is determined according to the working field image.
Specifically, the robot is a lifting type fire extinguishing robot, and the lifting type fire extinguishing robot is matched with an unmanned aerial vehicle in a fire extinguishing system to acquire images of a work site so as to determine fire source position information.
In one embodiment of the application, before the fire-fighting robot collects the work site image, the space environment information in the work site is scanned by a plurality of unmanned aerial vehicles; the multiple unmanned aerial vehicles transmit signal exchange space environment information through the wireless communication module, and a three-dimensional map and coordinate information are established according to the space environment information; and determining a first fire source coordinate of the fire source in the three-dimensional map through the heat source detection lens.
The fire extinguishing system is composed of a plurality of unmanned aerial vehicles and lifting fire extinguishing robots as shown in figure 2. Including unmanned aerial vehicle platform motion control module, wireless communication module, video acquisition module in the unmanned aerial vehicle, video acquisition module includes heat source detection camera lens and vision in time fixes a position and builds the picture unit. The lifting type fire-extinguishing robot comprises an information processing system, a water spraying platform, a laser radar, a lifting platform, a mobile platform, the information processing system comprises a visual information processing module, a wireless communication module, a main control module, a lifting platform driving module, the water spraying platform comprises a water spraying system A shaft rotating motor, a water spraying system B shaft rotating motor, a water pressure control module, a heat source detection lens, a visual acquisition module and a binocular range finding lens, the lifting platform comprises a lifting A arm main driving motor, a lifting A arm auxiliary driving motor, a lifting B arm main driving motor, a lifting B arm auxiliary driving motor, a water spraying platform main driving motor, a water spraying platform auxiliary driving motor, the mobile platform comprises an A crawler driving motor controller, an A crawler driving motor, a B crawler driving motor controller and a mobile controller.
After the cooperative control system of the lifting type fire-extinguishing robot is activated, the multiple unmanned aerial vehicles are lifted off, the platform motion control system of the unmanned aerial vehicles controls the unmanned aerial vehicles to quickly and stably reach a certain height of a working site, the lifting height is determined by the height value of a fire source which can be processed by the lifting type fire-extinguishing robot in design, and environmental information in the height is scanned; the visual acquisition module of unmanned aerial vehicle begins work, the visual instant location and the unit of drawing of building are through the quick all-round scanning to the environment, establish the three-dimensional map of job site, the initial point coordinate of three-dimensional map can be for the first unmanned aerial vehicle position when taking off of accomplishing the three-dimensional map scanning and uploading data, unmanned aerial vehicle scans and acquires other unmanned aerial vehicle's coordinate position to each unmanned aerial vehicle, three-dimensional map data integration that each unmanned aerial vehicle established is in the same place according to each unmanned aerial vehicle's coordinate information, form complete three-dimensional map.
After the unmanned aerial vehicle completes the establishment of the three-dimensional map, the position of a fire source in the three-dimensional map is determined through a heat source detection lens of the unmanned aerial vehicle, the coordinate of the fire source in the three-dimensional map (the fire source coordinate analyzed by the unmanned aerial vehicle) is analyzed according to the position of the fire source, and the coordinate information is transmitted to an information processing system of the lifting type fire extinguishing robot.
And after the three-dimensional map in the working range is scanned, activating the lifting type fire-extinguishing robot, starting the lifting type fire-extinguishing robot, and then firstly performing field analysis, wherein the field analysis content comprises fire source position analysis and field space environment analysis. The data of the position of the fire source is obtained through the heat source detection lens and the binocular range finding lens, the heat source detection lens locks the direction of the heat source, and the binocular range finding lens collects the field visual range data of the fire source.
Data collected by the binocular distance measuring lens and the heat source detection lens are transmitted to a visual processing module of the information processing system, and the visual processing module analyzes coordinates of the position of a fire source in a three-dimensional map (the fire source coordinates are analyzed through the lifting type fire extinguishing robot). The information processing system processes the fire source coordinates analyzed by the unmanned aerial vehicle and the lifting type fire extinguishing robot, re-determines fire source position information, calibrates and issues a three-dimensional map coordinate of a fire source, and the three-dimensional map coordinate is used as a first fire source coordinate of the fire source in a three-dimensional map and used for coordinating system work.
S102: and determining three-dimensional environment information in a specified range near the fire source according to the fire source position information.
Specifically, the three-dimensional environment information in the specified range near the fire source includes a window shape, a balcony shape, edge coordinates of a balcony, a depth of the fire source in a building body, whether an obstacle is present for shielding, and the like.
S103: the method comprises the steps of obtaining space environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to fire source position information, three-dimensional environment information in a specified range near a fire source and the space environment information.
In one embodiment of the application, 4 (or n) laser radar scanning robots can be installed in the lifting fire-fighting robot for 360-degree space environment information, and collected data are sent to a main control system. The main control module combines unmanned aerial vehicle transmission data through the data that acquire and analyze vision processing module and laser radar, through sending data control robot to the motion control ware and removing to the best operating point of putting out a fire.
The lifting fire-extinguishing robot acquires edge coordinates of a three-dimensional environment (such as the upper edge, the lower edge, the left edge and the right edge of a balcony) according to the acquired three-dimensional environment information, wherein the edge coordinates comprise a first left edge coordinate set and a first right edge coordinate set; respectively connecting the coordinates corresponding to the fire source position with a line segment where the first left edge coordinate set is located and a line segment where the first right edge coordinate set is located by taking the fire source position as an end point to form a left edge ray and a right edge ray; determining an area corresponding to a first included angle formed between the left edge ray and the right edge ray, and determining a part of the area corresponding to the first included angle, which is intersected with an area where the fire-fighting robot can move, as a fire-fighting area of the fire-fighting robot; wherein the first included angle is an acute angle.
Specifically, as shown in fig. 3, a bird's eye view of a work site of the lifting type fire-fighting robot, coordinates of the left edge, the right edge, the upper edge and the lower edge of a window are obtained through a vision processing module of the lifting type fire-fighting robot. The allowable working area 301 of the lifting type fire-fighting robot is calculated by analyzing coordinate data of the left edge and the right edge of the window and combining barrier data of a working plane of the lifting type fire-fighting robot.
Specifically, the coordinates of the fire source 302 are used as end points, the fire source 302 is connected with the left edge and the right edge of the window to form two beams of rays, an area corresponding to a first included angle α (acute angle) between the two beams of rays is determined, and a part (shaded part in the figure) where the area corresponding to the first included angle α intersects with an area (area between obstacles 303) where the fire-fighting robot can move is determined as a work-allowing area 301, namely a fire-fighting area.
S104: determining an optimal fire extinguishing point in a fire extinguishing area, and determining water spraying information of a water outlet 401 of the robot according to the optimal fire extinguishing point, position information of the fire source 302 and information of a three-dimensional environment near the fire source 302; wherein, the water spray information at least comprises one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
In one embodiment of the present application, the coordinates of the upper and lower edges of a three-dimensional environment (e.g., window, balcony) in a three-dimensional map are determined; determining a perpendicular bisector of the line segment along which the upper edge and the lower edge are located according to the coordinates of the upper edge and the lower edge (the perpendicular bisector is shown as a projected point 305 in the bird's eye view in fig. 3), and determining a perpendicular plane passing through the coordinates of the second fire source 302 and the perpendicular bisector (the perpendicular plane is shown as a projected line in the bird's eye view in fig. 3, i.e., an optimal movement path 306); determining an intersection line of the vertical plane and the fire extinguishing area, that is, a portion where the hatched portion and the vertical plane in fig. 3 intersect, as an optimal moving path 306 of the robot; the midpoint of the optimal movement path 306 is determined as the optimal fire suppression point. The fire-fighting robot may enter and exit the fire-fighting area along a line of motion 304.
In one embodiment of the present application, after the fire extinguishing area is determined, a vertical plane where the coordinates of the water gap 401 and the coordinates of the fire source 302 are located together is determined, a vertical plane coordinate system is established in the vertical plane, as shown in fig. 4, the horizontal axis is an x axis, the vertical axis is a y axis, and the projection of the water gap 401 to the ground is a coordinate origin; determining the coordinates of a second fire source 302 in the vertical plane for the fire source 302; determining a second upper edge coordinate and a second lower edge coordinate in the vertical plane; and determining a standard water column parabola capable of reaching the fire source 302 according to the second upper edge coordinate, the second lower edge coordinate and the second fire source 302 coordinate.
In one embodiment of the present application, a water column parabola is determined in the vertical plane through the coordinates of the second fire source 302 (where the water column parabola is not unique); determining the horizontal coordinates of the upper edge and the lower edge of the three-dimensional environment in a vertical plane as standard horizontal coordinates; selecting a vertical coordinate smaller than the vertical coordinate of the upper edge and larger than the vertical coordinate of the lower edge in the vertical plane according to the standard horizontal coordinate as a standard vertical coordinate; a water column parabola, passing through a standard abscissa and a standard ordinate, is determined as a standard (but not exclusive) water column parabola. That is, any water column parabola can be used as the standard water column parabola as long as it can enter the three-dimensional environment (fire source shelter 403 such as a window, a balcony, etc.).
Specifically, as shown in fig. 4, a vertical plane view passing through the coordinates of the fire source 302 and a vertical bisector of a line segment where the upper edge and the lower edge are located is shown, in which a plane coordinate system is established with the projection of the water outlet 401 of the elevating fire-extinguishing robot on the ground as the origin, and the coordinates (x) of the second fire source 302 in the vertical plane are determined 1 ,y 2 ) Second upper edge coordinate (x) 0 ,y 1 ) The second lower edge is seatedLabel (x) 0 ,y 0 ) If the parabola formed by the water column 402 reaches the fire source 302, it can be regarded as a standard water column parabola, which must pass through the coordinate (x) 1 ,y 2 ) And the standard water column parabola is on the standard abscissa x 0 Where the corresponding ordinate y is greater than y 0 Is less than y 1 That is, a standard water column parabola can pass through the coordinate (x) 1 ,y 2 ) And (x) 0 ,y)。
In one embodiment of the present application, after determining the standard water column parabola that can reach the fire source 302, the optimal water column parabola is selected among the standard water column parabolas by first selecting the coordinate located midway between the ordinate of the upper edge and the ordinate of the lower edge, i.e., the coordinate located midway between the ordinate of the upper edge and the ordinate of the lower edge
As the best ordinate; according to a standard x0 abscissa and an optimal ordinate
Determining an optimal coordinate for entering a three-dimensional environment; and determining an optimal water column parabola passing through the optimal coordinate, the coordinate of the second fire source 302 and the coordinate of the water outlet 401.
In particular, coordinates are selected
The second fire source 302 is coordinated (x) as the best coordinate for the water column 402 to enter the window 1 ,y 2 ) Coordinate of, a
Substituted parabola formula y = Ax 2 + Bx + C, determining the parameter range in the parabola, and further framing the parameter range of the parabola according to the height range in which the water outlet 401 of the lifting type fire extinguishing robot can move.
Under the parameter range condition of the framed parabola, the height range [ h ] within which the water outlet 401 of the lifting type fire extinguishing robot can move is determined min ,h max ]Selecting the middle of the height range to be movedHeight
As the ordinate of the water outlet 401, thereby determining the water outlet 401 as the ordinate
Coordinate the water outlet 401
And (4) putting the parabola into a certain range, and determining a unique parabola as an optimal water column parabola.
And determining the water spraying height, the water spraying angle and the initial water spraying speed of the water outlet 401 according to the optimal water column parabola.
In an embodiment of the application, the ordinate of the parabola on the longitudinal axis is determined as the water spraying height according to the calculated final water column parabola, and the height of the water outlet 401 is determined according to the water spraying height; determining the coordinate of the parabola on the longitudinal axis according to the final water column parabola, making the tangent of the water column parabola through the coordinate on the longitudinal axis, and determining the included angle between the tangent and the direction of the transverse axis as the water spraying angle; and calculating according to the water spraying angle to obtain the initial water spraying speed.
Specifically, after a standard water column parabola is uniquely determined, the initial speed of water spraying of the water outlet 401 is obtained through calculation according to data such as gravitational acceleration, the vertical distance between the water outlet 401 and the highest point of the parabola and the like, and an included angle between a tangent line and a horizontal line (located in a vertical plane), namely a water spraying angle theta, is obtained through calculation of a tangent line at the water outlet 401; and substituting data such as speed, gravity acceleration and the like into a physical formula to calculate to obtain the initial water spraying speed.
In one embodiment of the present application, the height value of the water column may be obtained by the following formula:
wherein d is the horizontal distance from the water outlet point to the fire source 302, theta is the water jet injection angle, h is the height of the lifting platform, g is the gravity constant, C is the air resistance correction amount, x is the horizontal coordinate value of the water column, and y is the height value of the water column. To ensure that the water column falls on the fire source 302 and can keep away from the upper and lower edges of the fire source shield 403, the following relationship needs to be satisfied:
0＜h＜h max
d>0
0＜θ＜90°
0＜V 0 ＜V 0max
wherein h is max Is the maximum height of the lifting platform, V 0max The initial water outlet speed is the maximum water outlet pressure.
In order to ensure that the influence of air resistance on the kinetic energy of the water column is reduced to the minimum, d is taken as the minimum value d in the solution set of the equation set min The corresponding solution (d _ min, theta _ dmin, V0_ dmin, h _ dmin) is the optimal solution, wherein d _ min is the optimal distance value between the water outlet point and the fire source 302, and the coordinate with the distance d _ min, namely the optimal fire extinguishing point position, is selected in the allowable working area 301 in the space coordinate system. The corresponding theta _ dmin value is the optimal water outlet angle, V0_ dmin is the optimal initial water outlet speed, and h _ dmin is the optimal height of the lifting platform.
Based on the same inventive concept, the embodiment of the present application further provides a corresponding automatic fire extinguishing apparatus for a robot, as shown in fig. 5.
The embodiment provides a robot automatic fire extinguishing apparatus, including:
at least one processor 501; and the number of the first and second groups,
a memory 503 communicatively coupled to at least one processor 501 via a bus 502; wherein,
the memory 503 stores instructions executable by the at least one processor, the instructions being executable by the at least one processor 501 to enable the at least one processor 501 to:
the robot collects working site images through a heat source detection lens and a binocular distance measuring lens, and fire source position information of a working site is determined according to the working site images;
determining three-dimensional environment information in a specified range near a fire source according to the fire source position information;
acquiring spatial environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to fire source position information, three-dimensional environment information in a specified range near a fire source and the spatial environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the position information of the fire source and the information of the three-dimensional environment near the fire source; wherein, the water spray information at least comprises one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
Based on the same idea, some embodiments of the present application further provide media corresponding to the above method.
Some embodiments of the present application provide a robotic automatic fire extinguishing storage medium storing computer-executable instructions configured to:
the robot collects working site images through a heat source detection lens and a binocular distance measuring lens, and fire source position information of a working site is determined according to the working site images;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring spatial environment information around the fire-extinguishing robot through a laser radar on the robot, and determining a fire-extinguishing area according to fire source position information, three-dimensional environment information in a specified range near a fire source and the spatial environment information;
determining an optimal fire extinguishing point in a fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, fire source position information and information of a three-dimensional environment near the fire source; wherein, the water spray information at least comprises one or more of the following items: water spraying height, water spraying angle and initial water spraying speed.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as to the method and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some of the descriptions of the method embodiments for relevant points.
The method and the medium provided by the embodiment of the application correspond to the method one to one, so the method and the medium also have the beneficial technical effects similar to the corresponding method.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process method article or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process method article or method. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in the process method commodity or method comprising the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. A robot automatic fire extinguishing method is characterized by comprising the following steps:
the robot acquires a working field image through a heat source detection lens and a binocular distance measurement lens, and determines fire source position information of a working field according to the working field image;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring space environment information around the robot through a laser radar on the robot, and determining a fire extinguishing area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the space environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed;
through laser radar on the robot acquires the space environment information around the robot of putting out a fire, according to fire source positional information and the three-dimensional environmental information in the near appointed scope of fire source, and the space environment information confirms the area of putting out a fire, specifically includes:
acquiring edge coordinates of the three-dimensional environment, wherein the edge coordinates comprise a first left edge coordinate set and a first right edge coordinate set;
respectively connecting the coordinates corresponding to the fire source position with the line segment where the first left edge coordinate set is located and the line segment where the first right edge coordinate set is located by taking the fire source position as an endpoint to form a left edge ray and a right edge ray;
determining an area corresponding to a first included angle formed between the left edge ray and the right edge ray, and determining a part of the area corresponding to the first included angle, which is intersected with an area where the fire-extinguishing robot can move, as a fire-extinguishing area of the fire-extinguishing robot; wherein the first included angle is an acute angle;
after determining the fire suppression area, the method further comprises:
determining a vertical plane where the coordinates of the water outlet and the coordinates of the fire source are located together, establishing a vertical plane coordinate system in the vertical plane, and taking the coordinates of the projection point of the water outlet on the ground as the origin coordinates in the vertical plane;
determining a second fire source coordinate of the fire source in the vertical plane;
determining a second upper edge coordinate and a second lower edge coordinate in the vertical plane;
determining a standard water column parabola capable of reaching the fire source according to the second upper edge coordinate, the second lower edge coordinate and the second fire source coordinate;
determining an optimal fire extinguishing point in the fire extinguishing area, specifically comprising:
determining coordinates of an upper edge and a lower edge of the three-dimensional environment in a three-dimensional map;
determining a vertical bisector of a line segment where the upper edge and the lower edge are located according to the coordinates of the upper edge and the lower edge, and determining a vertical plane passing through the coordinates of the second fire source and the vertical bisector;
determining an intersection line of the vertical plane and the fire extinguishing area as an optimal moving route of the robot;
and determining the middle point of the optimal moving route as an optimal fire extinguishing point.
2. The method of claim 1, wherein determining a standard water column parabola that can reach the fire source based on the second upper edge coordinate, the second lower edge coordinate, and the second fire source coordinate comprises:
determining a water column parabola passing through the second fire source coordinate in the vertical plane;
determining the horizontal coordinates of the upper edge and the lower edge of the three-dimensional environment in the vertical plane as standard horizontal coordinates;
selecting a vertical coordinate smaller than the vertical coordinate of the upper edge and larger than the vertical coordinate of the lower edge in the vertical plane according to the standard horizontal coordinate as a standard vertical coordinate;
and determining a water column parabola passing through the standard abscissa and the standard ordinate as a standard water column parabola.
3. The method of claim 2, wherein after determining the standard water column parabola that can reach the fire source, the method further comprises:
selecting an optimal water column parabola among the standard water column parabolas, comprising:
selecting a coordinate located between the vertical coordinate of the upper edge and the vertical coordinate of the lower edge as an optimal vertical coordinate;
determining an optimal coordinate for entering the three-dimensional environment according to the standard abscissa and the optimal ordinate;
and determining an optimal water column parabola passing through the optimal coordinate, the second fire source coordinate and the water outlet coordinate.
4. The method according to claim 1, wherein the determining of the water spraying height, the water spraying angle and the initial water spraying speed of the water outlet specifically comprises:
determining the ordinate of the parabola on the longitudinal axis as the water spraying height according to the calculated final water column parabola, and determining the height of the water outlet according to the water spraying height;
determining the coordinate of the parabola on a longitudinal axis according to the final water column parabola, drawing a tangent line of the water column parabola through the coordinate on the longitudinal axis, and determining an included angle between the tangent line and the direction of a transverse axis as a water spraying angle;
and calculating to obtain the initial water spraying speed according to the water spraying angle.
5. The method of claim 1, wherein prior to acquiring the work site image, the method further comprises:
scanning, by a plurality of unmanned aerial vehicles, spatial environment information in a work site;
the multiple unmanned aerial vehicles transmit signals through the wireless communication module to exchange the space environment information, and a three-dimensional map and coordinate information are established according to the space environment information;
and determining a first fire source coordinate of the fire source in the three-dimensional map through the heat source detection lens.
6. A robot automatic fire extinguishing apparatus, characterized in that, applied to a robot, includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to:
collecting a working site image through a heat source detection lens and a binocular distance measuring lens, and determining fire source position information of a working site according to the working site image;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring space environment information around the fire-fighting robot through a laser radar on the robot, and determining a fire-fighting area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the space environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed;
through laser radar on the robot acquires the space environment information around the robot of putting out a fire, according to fire source positional information and the three-dimensional environmental information in the near appointed scope of fire source, and the space environment information confirms the area of putting out a fire, specifically includes:
acquiring edge coordinates of the three-dimensional environment, wherein the edge coordinates comprise a first left edge coordinate set and a first right edge coordinate set;
respectively connecting the coordinates corresponding to the fire source position with the line segment where the first left edge coordinate set is located and the line segment where the first right edge coordinate set is located by taking the fire source position as an endpoint to form a left edge ray and a right edge ray;
determining an area corresponding to a first included angle formed between the left edge ray and the right edge ray, and determining a part of the area corresponding to the first included angle, which is intersected with an area where the fire-extinguishing robot can move, as a fire-extinguishing area of the fire-extinguishing robot; wherein the first included angle is an acute angle;
after the fire extinguishing area is determined, determining a vertical plane where the coordinates of the water outlet and the coordinates of the fire source are located together, establishing a vertical plane coordinate system in the vertical plane, and taking the coordinates of the projection point of the water outlet on the ground as the origin coordinates in the vertical plane;
determining a second fire source coordinate of the fire source in the vertical plane;
determining a second upper edge coordinate and a second lower edge coordinate in the vertical plane;
determining a standard water column parabola capable of reaching the fire source according to the second upper edge coordinate, the second lower edge coordinate and the second fire source coordinate;
determining an optimal fire extinguishing point in the fire extinguishing area, specifically comprising:
determining coordinates of an upper edge and a lower edge of the three-dimensional environment in a three-dimensional map;
determining a vertical bisector of a line segment where the upper edge and the lower edge are located according to the coordinates of the upper edge and the lower edge, and determining a vertical plane passing through the coordinates of the second fire source and the vertical bisector;
determining an intersection line of the vertical plane and the fire extinguishing area as an optimal moving route of the robot;
and determining the middle point of the optimal moving route as an optimal fire extinguishing point.
7. A non-transitory storage medium storing computer-executable instructions for use with a robot, the computer-executable instructions configured to:
acquiring a working site image through a heat source detection lens and a binocular distance measuring lens, and determining fire source position information of a working site according to the working site image;
determining three-dimensional environment information in a specified range near the fire source according to the fire source position information;
acquiring spatial environment information around the fire-extinguishing robot through a laser radar on the robot, and determining a fire-extinguishing area according to the fire source position information, three-dimensional environment information in a specified range near the fire source and the spatial environment information;
determining an optimal fire extinguishing point in the fire extinguishing area, and determining water spraying information of a water outlet of the robot according to the optimal fire extinguishing point, the fire source position information and the information of the three-dimensional environment near the fire source; wherein the water spray information at least comprises any one or more of the following items: water spraying height, water spraying angle and initial water spraying speed;
through laser radar on the robot acquires the space environment information around the fire-fighting robot, according to fire source positional information and the three-dimensional environmental information in the near appointed scope of fire source, and space environment information confirms the area of putting out a fire, specifically includes:
acquiring edge coordinates of the three-dimensional environment, wherein the edge coordinates comprise a first left edge coordinate set and a first right edge coordinate set;
respectively connecting the coordinates corresponding to the fire source position with the line segment where the first left edge coordinate set is located and the line segment where the first right edge coordinate set is located by taking the fire source position as an endpoint to form a left edge ray and a right edge ray;
determining an area corresponding to a first included angle formed between the left edge ray and the right edge ray, and determining a part of the area corresponding to the first included angle, which is intersected with an area where the fire-extinguishing robot can move, as a fire-extinguishing area of the fire-extinguishing robot; wherein the first included angle is an acute angle;
after the fire extinguishing area is determined, determining a vertical plane where the coordinates of the water outlet and the coordinates of the fire source are located together, establishing a vertical plane coordinate system in the vertical plane, and taking the coordinates of the projection point of the water outlet on the ground as the origin coordinates in the vertical plane;
determining a second fire source coordinate of the fire source in the vertical plane;
determining a second upper edge coordinate and a second lower edge coordinate in the vertical plane;
determining a standard water column parabola capable of reaching the fire source according to the second upper edge coordinate, the second lower edge coordinate and the second fire source coordinate;
determining an optimal fire extinguishing point in the fire extinguishing area, specifically comprising:
determining coordinates of an upper edge and a lower edge of the three-dimensional environment in a three-dimensional map;
determining a vertical bisector of a line segment where the upper edge and the lower edge are located according to the coordinates of the upper edge and the lower edge, and determining a vertical plane passing through the coordinates of the second fire source and the vertical bisector;
determining an intersection line of the vertical plane and the fire extinguishing area as an optimal moving route of the robot;
and determining the middle point of the optimal moving route as an optimal fire extinguishing point.
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