CN114870302A - Fire extinguishing control system and method based on intelligent robot fire fighting device - Google Patents
Fire extinguishing control system and method based on intelligent robot fire fighting device Download PDFInfo
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- CN114870302A CN114870302A CN202210481143.3A CN202210481143A CN114870302A CN 114870302 A CN114870302 A CN 114870302A CN 202210481143 A CN202210481143 A CN 202210481143A CN 114870302 A CN114870302 A CN 114870302A
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 239000007788 liquid Substances 0.000 claims abstract description 38
- 239000000463 material Substances 0.000 claims abstract description 29
- 239000007921 spray Substances 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 35
- 238000012544 monitoring process Methods 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 238000005507 spraying Methods 0.000 claims description 11
- 229910001220 stainless steel Inorganic materials 0.000 claims description 11
- 239000010935 stainless steel Substances 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000005086 pumping Methods 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 claims description 4
- 238000003331 infrared imaging Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims description 2
- 230000001629 suppression Effects 0.000 claims 5
- 238000012423 maintenance Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000013500 data storage Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—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 invention discloses a fire extinguishing control system and method based on an intelligent robot fire fighting device, which comprises a main control module (2) and a fire fighting material storage and emission module, wherein the main control module (2) and the fire fighting material storage and emission module are arranged on a robot chassis (1); the front end and the rear end of the robot chassis (1) are respectively provided with a double-shaft holder (3) and a double-light holder (4), the double-shaft holder (3) is provided with a nozzle (5), the nozzle (5) is connected with a fire-fighting material storage and emission module, and the double-light holder (4) is provided with a visible light camera (6) and an infrared camera (7). When the infrared camera sensor finds temperature abnormity and sudden fire, the double-shaft holder is controlled to adjust the angle of the spray head to aim at a fire source, and meanwhile, the fire-fighting material storage and emission module and the nozzle are controlled to spray fire-fighting liquid to implement fire-fighting and fire-extinguishing treatment. The invention has the characteristic of effectively improving the fire extinguishing precision.
Description
Technical Field
The invention relates to an inspection robot, in particular to a fire extinguishing control system and method based on an intelligent robot fire fighting device.
Background
Fire control and extinguishment are important problems in the current fire control field, and along with the development of artificial intelligence, advanced industrial technology and automation technology, an intelligent fire-fighting robot is in charge. When facing to inflammable, explosive, toxic gas and other high risk conditions, the intelligent fire-fighting robot can easily cause the unnecessary casualties of fire fighters, the occurrence of the intelligent fire-fighting robot has important and profound significance for the smooth development of fire-fighting work, the intelligent fire-fighting robot can autonomously carry out patrol and early warning on fire sources and eliminate and dispose real-time fire conditions, and the casualties of the personnel are reduced. However, when a conventional fire-fighting robot performs fire-fighting, the accuracy of striking the fire source point is low, a large amount of fire-fighting liquid needs to be consumed, and the fire-fighting efficiency is relatively low. Therefore, the prior art has the problem of low fire extinguishing precision.
Disclosure of Invention
The invention aims to provide a fire extinguishing control system and method based on an intelligent robot fire fighting device. The invention has the characteristic of effectively improving the fire extinguishing precision.
The technical scheme of the invention is as follows: the fire extinguishing control system based on the intelligent robot fire fighting device comprises a main control module and a fire fighting material storage and emission module, wherein the main control module and the fire fighting material storage and emission module are arranged on a robot chassis; the front end and the rear end of the robot chassis are respectively provided with a double-shaft holder and a double-light holder, the double-shaft holder is provided with a nozzle, the nozzle is connected with the fire-fighting material storage and emission module, and the double-light holder is provided with a visible light camera and an infrared camera.
In the fire extinguishing control system based on the intelligent robot fire fighting device, the fire fighting material storage and emission module comprises a fire fighting tank located on a robot chassis, an electromagnetic valve, a pressure sensor and a hose are arranged at an output port of the fire fighting tank, and the hose is connected with a nozzle.
In the foretell fire control system based on intelligent robot fire control unit, fire control material storage emission module is including the fire hose that is located robot chassis top left and right sides, and the top of every fire hose all is equipped with the inlet tube, and the rear side of two fire hoses links to each other through connecting the water pipe, and the rear side of one of them fire hose has the booster pump through first pipe connection, and the booster pump links to each other with the nozzle through the second pipeline.
In the fire extinguishing control system based on the intelligent robot fire fighting device, a plurality of reinforcing partition plates which are distributed in parallel are further arranged in the fire box.
In the fire extinguishing control system based on the intelligent robot fire fighting device, the reinforced partition plate comprises a plate body, circulation holes are formed in the middle of the plate body, circulation grooves are formed in the upper end and the lower end of the plate body, and reinforcing ribs are further arranged on the side faces of the plate body.
In the fire extinguishing control system based on the intelligent robot fire fighting device, the main control module is further connected with the wireless communication module and the IO control box.
The fire extinguishing control method based on the intelligent robot fire fighting device comprises the following steps:
firstly, self-checking the states of sensors in a visible light camera and a fire-fighting material storage and emission module, carrying out data protocol communication detection on an IO control box and a wireless communication module, and judging the integrity of the system state;
secondly, the intelligent robot performs task fire source inspection according to a preset detection track; carrying out data acquisition on heat source targets on two sides of a road through a carried infrared camera and a carried visible light camera;
thirdly, the main control module trains and models by using an infrared imaging principle and an image depth processing technology, and alarms when the temperature exceeds a set range, so that a heat source is identified and locked;
fourthly, after the main control module locks the heat source, acquiring the three-dimensional space coordinate of the position of the heat source, converting and compensating the three-dimensional coordinate of the fire source target and the angle of the double-shaft holder by controlling the pitching and azimuth angles of the double-shaft holder, and initially aligning the stainless steel spray head to the fire source target to realize fire source positioning and automatic aiming;
the fifth step: the main control module uploads the fire source warning information to a monitoring interface of the background server through the wireless communication module, and alarm data is reported;
and a sixth step: after manual confirmation, the wireless communication module sends a control instruction of the monitoring interface to the main control module, and the main control module receives the control instruction and drives the IO control box;
the seventh step: the main control module receives the control command, performs data communication with the IO control box, and controls the fire-fighting material storage and emission module to extract and spray the fire-fighting liquid;
eighth step: according to the position information of the fire source point target, the main control module adjusts the course angle and the pitching angle of the double-shaft holder through a PID algorithm, and performs horizontal and vertical sweeping at the speed of 5 degrees/s to extinguish the fire source target;
the ninth step: the main control module controls the spraying state of the fire-fighting liquid according to the fire-fighting effect of the fire source and the storage amount in the fire-fighting material storage and emission module; stopping pumping and cancelling the liquid-proof when the storage volume in the fire-fighting material storage and emission module is lower than a set value or the fire-fighting effect reaches a set effect;
the tenth step: after the fire extinguishing is finished, the intelligent robot retreats to a safe area, and the task inspection is finished.
Compared with the prior art, the intelligent fire source target monitoring system comprises a main control module, a fire fighting material storage and emission module, a double-shaft holder and nozzle, a double-light holder, a visible light camera and an infrared camera, wherein the main control module is used for acquiring data of the visible light camera and the infrared camera, performing data analysis on the fire source target, and controlling the intelligent robot to walk and the double-shaft holder to rotate to align the fire source target; after the fire early warning signal is manually confirmed through the WIFI communication module and the background server; the main control module controls the fire-fighting material storage and emission module, the double-shaft holder and the spray head to spray fire sources, so that the aim of eliminating and disposing the fire sources accurately is achieved, consumption of fire-fighting liquid can be reduced, and fire-fighting efficiency can be improved. In conclusion, the invention has the characteristic of effectively improving the fire extinguishing precision.
Drawings
FIG. 1 is a schematic structural view of embodiment 1 of the present invention;
FIG. 2 is a structural view of embodiment 2 of the present invention;
FIG. 3 is a cross-sectional view of the fire box;
fig. 4 is a structural view of a reinforced separator plate.
The labels in the figures are: the system comprises a robot chassis, a main control module, a 3-double-shaft tripod head, a 4-double-light tripod head, a 5-nozzle, a 6-visible light camera, a 7-infrared camera, a 8-fire-fighting tank, a 9-electromagnetic valve, a 10-pressure sensor, a 11-hose, a 12-fire-fighting box, a 13-water inlet pipe, a 14-connecting water pipe, a 15-first pipeline, a 16-booster pump, a 17-second pipeline, an 18-reinforced partition plate, a 181-plate body, a 182-circulation hole, a 183-circulation groove, a 184-reinforcing rib, a 19-wireless communication module and a 20-IO control box.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Example 1. The fire extinguishing control system based on the intelligent robot fire fighting device is formed as shown in figure 1 and comprises a main control module 2 and a fire fighting material storage and emission module which are arranged on a robot chassis 1; the front end and the rear end of the robot chassis 1 are respectively provided with a double-shaft holder 3 and a double-light holder 4, the double-shaft holder 3 is provided with a nozzle 5, the nozzle 5 is connected with a fire-fighting material storage and emission module, and the double-light holder 4 is provided with a visible light camera 6 and an infrared camera 7.
The intelligent robot is characterized in that a wiring maintenance box is further arranged outside the equipment cabin, a detachable maintenance cover is arranged above the wiring maintenance box, a plurality of waterproof plug-ins are arranged on the side face of the wiring maintenance box, and a power supply junction box, a switch and a communication module are arranged in the wiring maintenance box. The wiring maintenance box is additionally connected, so that the upper surface space occupied by the waterproof plug-in can be reduced, and the space utilization rate is improved; the risk of failure of the waterproof seal is reduced.
The fire-fighting material storage and emission module comprises a fire-fighting tank 8 positioned on the robot chassis 1, an electromagnetic valve 9, a pressure sensor 10 and a hose 11 are arranged at the output port of the fire-fighting tank 8, and the hose 11 is connected with the nozzle 5.
The main control module 2 is further connected with a wireless communication module 19 and an IO control box 20.
The main control module 2 is also connected with a background server, a monitoring interface and the like.
The main control module: the device is used for controlling the walking of the robot and the rotation of the double-shaft holder; collecting data of sensors such as a fire fighting tank pressure sensor, an infrared camera, a visible light camera and the like; data exchange is carried out with the background server through the communication module; controlling an IO control box to drive a solenoid valve switch, opening the fire-fighting tank, and spraying fire-fighting liquid through a stainless steel hose and a spray head;
the wireless communication module: the communication module comprises a host and a WIFI antenna; the communication mode adopts a WIFI mode for networking, so that the main control module and the background server perform data exchange;
a sensor: the fire fighting tank pressure monitoring system comprises a pressure sensor, an infrared camera and a visible light camera, wherein the pressure sensor monitors the pressure state of the fire fighting tank in real time; the infrared camera and the visible light camera are used for detecting a fire source and monitoring the environment;
an IO control box: the electromagnetic valve is controlled to be opened and closed through signal interaction with the main control module;
double-shaft pan-tilt: adjusting the direction and the pitching angle of the spray head, aiming at a fire source target, and spraying the fire-fighting liquid;
electromagnetic valve: opening the fire-fighting tank to spray the fire-fighting liquid;
a fire-fighting tank: a container for holding a fire fighting liquid;
nozzle stainless steel shower nozzle: the fire fighting tank is used for spraying out the fire fighting liquid of the fire fighting tank;
hose stainless steel hose: the nozzle is used for conveying fire fighting liquid in the fire fighting tank to the nozzle;
a background server: for monitoring data storage and interaction;
monitoring an interface: monitoring the state of the system, and manually and interactively confirming the spraying of the fire-fighting tank.
When an infrared camera sensor carried by the intelligent robot finds temperature abnormity and sudden fire, a double-shaft holder carried by the intelligent robot adjusts the angle of a spray head to aim at a fire source; the monitoring interface that returns backend server immediately with fire source point information carries out the early warning, and the backstage control personnel carry out the manual work according to returning the information and confirm the back, then assigns the instruction of handling of putting out a fire, and host system drive IO control box opens the solenoid valve, and the fire control liquid of fire control jar is swept the fire source through stainless steel hose and shower nozzle and is sprayed, closes the solenoid valve after the fire source is dealt with the completion, finishes the condition of a fire and deals with the task.
The system workflow steps are as follows:
the first step is as follows: the fire extinguishing control system of the intelligent robot fire fighting tank carries out self-checking on the states of the carried double-shaft holder, the infrared camera, the visible light camera and the pressure sensor, carries out data protocol communication detection on the IO control box and the wireless communication module, and judges the integrity of the state of the fire extinguishing control system of the intelligent robot fire fighting tank;
the second step is that: the intelligent robot performs task fire source inspection according to a preset detection track; carrying out data acquisition on heat source targets on two sides of a road through sensors such as a mounted infrared camera and a visible light camera;
the third step: the main control module of the intelligent robot trains and models by using an infrared imaging principle and an image depth processing technology, and alarms when the temperature exceeds a set range, so that a heat source is identified and locked;
the fourth step: after the main control module locks the heat source, the position three-dimensional space coordinate of the heat source is obtained, and the three-dimensional coordinate of the fire source target and the angle of the double-shaft holder are converted and compensated by controlling the pitching and azimuth angles of the double-shaft holder, so that the stainless steel spray head is initially aligned to the fire source target; realize the location of the fire source and automatic aiming.
The fifth step: the main control module uploads the fire source warning information to a monitoring interface of the background server through the wireless communication module, and alarm data is reported;
and a sixth step: after manual confirmation, the wireless communication module sends a control instruction of the monitoring interface to the main control module, and the main control module receives the control instruction and drives the IO control box;
the seventh step: the main control module receives the control command, performs data communication with the IO control box, and sends a pulse control signal to drive the electromagnetic valve to open the fire-fighting tank;
eighth step: according to the position information of the fire source point target, the main control module adjusts the course angle and the pitching angle of the double-shaft holder through a PID algorithm, and performs horizontal and vertical sweeping at the speed of 5 degrees/s to extinguish the fire source target;
the ninth step: according to the fire extinguishing condition of the fire source, the main control module closes the electromagnetic valve after the fire-fighting liquid of the fire-fighting tank is completely sprayed or under the condition that a background instruction closes the fire-fighting tank;
the tenth step: after the fire extinguishing control system of the intelligent robot fire-fighting tank extinguishes fire, the intelligent robot retreats to a safe area, and the task is patrolled and examined.
Example 2. The fire extinguishing control system based on the intelligent robot fire fighting device is formed as shown in figures 2-4 and comprises a main control module 2 and a fire fighting material storage and emission module which are arranged on a robot chassis 1; the front end and the rear end of the robot chassis 1 are respectively provided with a double-shaft holder 3 and a double-light holder 4, the double-shaft holder 3 is provided with a nozzle 5, the nozzle 5 is connected with a fire-fighting material storage and emission module, and the double-light holder 4 is provided with a visible light camera 6 and an infrared camera 7.
Fire control material storage emission module is including being located the fire hose 12 of 1 top left and right sides on robot chassis, and the top of every fire hose 12 all is equipped with inlet tube 13, and the rear side of two fire hoses 12 links to each other through connecting water pipe 14, and the rear side of one of them fire hose 12 is connected with booster pump 16 through first pipeline 15, and booster pump 16 links to each other with nozzle 5 through second pipeline 17.
By adopting the fire-fighting box, the fire-fighting liquid can be supplemented in time conveniently, and the shell of the device does not need to be detached when the fire-fighting liquid is supplemented.
A plurality of reinforced partition plates 18 which are distributed in parallel are also arranged in the fire box 12. Set up the purpose of strengthening the division board, can improve the structural strength of fire hose on the one hand, on the other hand can also prevent that the liquid in the box from taking place to rock, improves the stability of operation.
The reinforced partition plate 18 comprises a plate body 181, a flow hole 182 is arranged in the middle of the plate body 181, flow grooves 183 are arranged at the upper end and the lower end of the plate body 181, and reinforcing ribs 184 are arranged on the side surfaces of the plate body 181.
The main control module 2 is further connected with a wireless communication module 19, an IO control box 20 and a solid state relay.
A liquid level sensor and a water level switch are also arranged in the fire-fighting box.
The main control module: the device is used for controlling the walking of the robot and the rotation of the double-shaft holder; collecting data of a liquid level sensor, an infrared camera, a visible light camera and other sensors of a fire water tank; data exchange is carried out with the background server through the communication module; controlling an IO control box to drive a solid relay, starting a pressure pump, pumping fire fighting liquid of a water tank out for pressurization, and spraying fire fighting liquid through a stainless steel hose and a spray head;
a communication module: the communication module comprises a host and a WIFI antenna; the communication mode adopts a WIFI mode for networking, so that the main control module and the background server perform data exchange;
a sensor: the fire-fighting water tank monitoring system comprises a liquid level sensor, a water level switch, an infrared camera and a visible light camera, wherein the liquid level sensor monitors the water level state of the fire-fighting water tank in real time; the water level switch is used for automatically closing the water injection valve after reaching the water injection height when water is injected; the infrared camera and the visible light camera are used for detecting a fire source and monitoring the environment;
an IO control box: the control circuit is in signal interaction with the main control module to control the solid-state relay and the water level switch;
double-shaft pan-tilt: adjusting the direction and the pitching angle of the spray head, aiming at a fire source target, and spraying a fire-fighting liquid;
solid-state relay: starting a booster pump, and removing liquid prevention and pressurization during pumping;
fire hose: a container for holding a fire fighting liquid;
a booster pump: pumping out the fire-fighting liquid in the water tank, increasing the pressure through a turbine and increasing the spraying distance of the fire-fighting liquid;
nozzle (stainless steel nozzle): used for spraying the fire-fighting liquid of the fire-fighting box;
a background server: for monitoring data storage and interaction;
monitoring an interface: and monitoring the state of the system, and confirming the manual interaction of the fire water tank injection.
When an infrared camera sensor carried by the intelligent robot finds temperature abnormity and sudden fire, a double-shaft holder carried by the intelligent robot adjusts the angle of a spray head to aim at a fire source; the monitoring interface that returns backend server immediately with fire source point information carries out the early warning, and backstage monitoring personnel carry out the manual work according to returning information and confirm the back, then assigns the instruction of handling of putting out a fire, and host system drive IO control box opens solid state relay, starts the booster pump, takes out the pressure boost back with fire control liquid, sweeps the injection through stainless steel hose and shower nozzle to the fire source, closes solid state relay after the completion is dealt with to the fire source, finishes the condition of a fire and deals with the task.
The system workflow steps are as follows:
the first step is as follows: the fire extinguishing control system of the intelligent robot fire water tank carries out self-inspection on the states of the carried double-shaft holder, the infrared camera, the visible light camera and the liquid level sensor, carries out data protocol communication detection on the IO control box and the wireless communication module, and judges the integrity of the state of the fire extinguishing control system of the intelligent robot fire water tank;
the second step is that: the intelligent robot carries out task fire source inspection according to a preset detection track; carrying out data acquisition on heat source targets on two sides of a road through sensors such as a mounted infrared camera and a visible light camera;
the third step: the main control module of the intelligent robot trains and models by using an infrared imaging principle and an image depth processing technology, and alarms when the temperature exceeds a set range, so that a heat source is identified and locked;
the fourth step: after the main control module locks the heat source, the position three-dimensional space coordinate of the heat source is obtained, and the three-dimensional coordinate of the fire source target and the angle of the double-shaft holder are converted and compensated by controlling the pitching and azimuth angles of the double-shaft holder, so that the stainless steel spray head is initially aligned to the fire source target; the fire source is positioned and automatically aimed;
the fifth step: the main control module uploads the fire source warning information to a monitoring interface of the background server through the wireless communication module, and alarm data is reported;
and a sixth step: after manual confirmation, the wireless communication module sends a control instruction of the monitoring interface to the main control module, and the main control module receives the control instruction and drives the IO control box;
the seventh step: the main control module receives the control command, performs data communication with the IO control box, sends a pulse control signal to drive the solid-state relay, and starts the booster pump;
eighth step: the solid-state relay receives a high-level direct-current signal from the IO driving box, controls to turn on a power supply and starts a booster pump; pumping out the fire-fighting liquid, pressurizing and spraying;
the ninth step: according to the position information of the fire source point target, the main control module adjusts the course angle and the pitching angle of the double-shaft holder through a PID algorithm, and performs horizontal and vertical sweeping at the speed of 5 degrees/s to extinguish the fire source target;
the tenth step: according to the fire extinguishing effect of a fire source and the water level condition of the liquid level sensor, the main control module automatically turns off the solid-state relay according to a liquid level alarm signal of fire extinguishing liquid of the fire box, or turns off the solid-state relay after receiving a background instruction;
the eleventh step: the solid-state relay receives a direct current signal of the IO driving box, the direct current signal is low level, the power supply is controlled to be turned off, and the booster pump stops working; stopping the drawing of the fire fighting liquid from the fire box;
the twelfth step: after the fire extinguishing control system of the intelligent robot fire water tank extinguishes fire, the intelligent robot retreats to a safe area, and the task is patrolled and examined.
Claims (7)
1. Fire extinguishing control system based on intelligent robot fire control unit, its characterized in that: the robot comprises a main control module (2) and a fire-fighting material storage and emission module which are arranged on a robot chassis (1); the front end and the rear end of the robot chassis (1) are respectively provided with a double-shaft holder (3) and a double-light holder (4), the double-shaft holder (3) is provided with a nozzle (5), the nozzle (5) is connected with a fire-fighting material storage and emission module, and the double-light holder (4) is provided with a visible light camera (6) and an infrared camera (7).
2. The intelligent robot fire fighting device based fire suppression control system of claim 1, wherein: the fire-fighting material storage and emission module comprises a fire-fighting tank (8) located on a robot chassis (1), an electromagnetic valve (9), a pressure sensor (10) and a hose (11) are arranged at an output port of the fire-fighting tank (8), and the hose (11) is connected with a nozzle (5).
3. The intelligent robot fire fighting device based fire suppression control system of claim 1, wherein: fire control material storage emission module is including fire hose (12) that are located both sides about robot chassis (1) top, and the top of every fire hose (12) all is equipped with inlet tube (13), and the rear side of two fire hose (12) links to each other through connecting water pipe (14), and wherein the rear side of one fire hose (12) is connected with booster pump (16) through first pipeline (15), and booster pump (16) link to each other with nozzle (5) through second pipeline (17).
4. The intelligent robot fire fighting device based fire suppression control system of claim 3, wherein: and a plurality of reinforced partition plates (18) which are distributed in parallel are also arranged in the fire box (12).
5. The intelligent robot fire fighting device based fire suppression control system of claim 4, wherein: the reinforced partition plate (18) comprises a plate body (181), wherein a circulation hole (182) is formed in the middle of the plate body (181), circulation grooves (183) are formed in the upper end and the lower end of the plate body (181), and reinforcing ribs (184) are further arranged on the side faces of the plate body (181).
6. The intelligent robot fire fighting device based fire suppression control system of claim 1, wherein: the main control module (2) is also connected with a wireless communication module (19) and an IO control box (20).
7. The method applied to the intelligent robot-based fire fighting device fire extinguishing control system according to any one of claims 1 to 6, characterized by comprising the steps of:
firstly, self-checking the states of sensors in a visible light camera and a fire-fighting material storage and emission module, carrying out data protocol communication detection on an IO control box and a wireless communication module, and judging the integrity of the system state;
secondly, the intelligent robot performs task fire source inspection according to a preset detection track; carrying out data acquisition on heat source targets on two sides of a road through a carried infrared camera and a carried visible light camera;
thirdly, the main control module trains and models by using an infrared imaging principle and an image depth processing technology, and alarms when the temperature exceeds a set range, so that a heat source is identified and locked;
fourthly, after the main control module locks the heat source, acquiring the three-dimensional space coordinate of the position of the heat source, converting and compensating the three-dimensional coordinate of the fire source target and the angle of the double-shaft holder by controlling the pitching and azimuth angles of the double-shaft holder, and initially aligning the stainless steel spray head to the fire source target to realize fire source positioning and automatic aiming;
the fifth step: the main control module uploads the fire source warning information to a monitoring interface of the background server through the wireless communication module, and alarm data is reported;
and a sixth step: after manual confirmation, the wireless communication module sends a control instruction of the monitoring interface to the main control module, and the main control module receives the control instruction and drives the IO control box;
the seventh step: the main control module receives the control command, performs data communication with the IO control box, and controls the fire-fighting material storage and emission module to extract and spray the fire-fighting liquid;
eighth step: according to the position information of the fire source point target, the main control module adjusts the course angle and the pitching angle of the double-shaft holder through a PID algorithm, and performs horizontal and vertical sweeping at the speed of 5 degrees/s to extinguish the fire source target;
the ninth step: the main control module controls the spraying state of the fire-fighting liquid according to the fire-fighting effect of the fire source and the storage amount in the fire-fighting material storage and emission module; stopping pumping and cancelling the liquid prevention when the storage amount of the fire-fighting material in the storage and emission module is lower than a set value or the fire-fighting effect reaches the set effect;
the tenth step: after the fire extinguishing is finished, the intelligent robot retreats to a safe area, and the task inspection is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210481143.3A CN114870302A (en) | 2022-05-05 | 2022-05-05 | Fire extinguishing control system and method based on intelligent robot fire fighting device |
Applications Claiming Priority (1)
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| CN115591165A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Extremely early fire recognition system and recognition method for fire-fighting robot |
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Application publication date: 20220809 |