CN114939250A - Sound source positioning automatic tracking fire extinguishing system applied to robot - Google Patents

Sound source positioning automatic tracking fire extinguishing system applied to robot Download PDF

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Publication number
CN114939250A
CN114939250A CN202210523784.0A CN202210523784A CN114939250A CN 114939250 A CN114939250 A CN 114939250A CN 202210523784 A CN202210523784 A CN 202210523784A CN 114939250 A CN114939250 A CN 114939250A
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sound
module
fire extinguishing
fire
sound source
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张晓勇
孙健
王兴越
张金金
姜秀丽
李艳鸣
袁丽
荆立伟
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Beijing Lead Electric Equipment Co Ltd
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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
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/005—Delivery of fire-extinguishing material using nozzles
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions

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  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Abstract

The application relates to a sound source positioning automatic tracking fire extinguishing system applied to a robot, which relates to the technical field of robots and comprises a sound acquisition module, a sound processing module, a control module, a fire detection module, an infrared vision module and a fire extinguishing device; the number of the sound collection modules is multiple; the sound processing module is connected with the plurality of sound acquisition modules; the control module is connected with the sound processing module, the fire detection module and the infrared vision module; the fire extinguishing device is connected with the control module. The abnormal sound that the sound collection module can gather the sound source and send, sound processing module can calculate the position of sound source according to the abnormal sound, make control module can control the robot and remove to the sound source, and detect whether conflagration takes place in sound source department through the fire detection module, and confirm the concrete position of conflagration through infrared vision module, make control module can control extinguishing device and carry out accurate fire extinguishing to the conflagration region, in order to realize in time discovering the abnormal conditions and make the processing in dangerous place.

Description

Sound source positioning automatic tracking fire extinguishing system applied to robot
Technical Field
The application relates to the field of robots, in particular to a sound source positioning automatic tracking fire extinguishing system applied to a robot.
Background
The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
In the prior art, in dangerous places such as a power distribution room and the like which are inconvenient for workers to frequently come in and go out, since the workers cannot freely enter the places, various monitoring devices are required to be installed in advance to monitor parameters such as current, dust concentration, various gas concentrations or pressure and the like, and further, the occurrence of dangerous situations such as fire, explosion and the like in the places is predicted according to the parameters. When dangerous condition takes place, the staff just can go the on-the-spot rescue after receiving alarm information.
In this process, it takes a while for the worker to arrive at the site. During this time, the fire may increase rapidly, tending to cause greater economic loss.
Disclosure of Invention
In order to timely find abnormal conditions and process the abnormal conditions in dangerous places, the application provides a sound source positioning automatic tracking fire extinguishing system applied to a robot.
The application provides a sound localization automatic tracking fire extinguishing systems for robot adopts following technical scheme: a sound source positioning automatic tracking fire extinguishing system applied to a robot comprises a sound acquisition module, a sound processing module, a control module, a fire detection module, an infrared vision module and a fire extinguishing device;
the sound collection modules are provided with a plurality of sound collection modules, and each sound collection module is used for collecting abnormal sounds emitted by a sound source and outputting sound information;
the sound processing module is connected with the sound acquisition module and used for calculating the position of a sound source according to the sound information and outputting a first position signal;
the fire detection module is used for detecting whether a fire disaster occurs or not, and if so, outputting an alarm signal;
the infrared vision module is used for determining the position of a fire and outputting a second position signal;
the control module is connected with the sound processing module, the fire detection module and the infrared vision module, and is used for controlling the robot to move to a sound source according to the first position signal and outputting a fire extinguishing signal when receiving an alarm signal and receiving a second position signal;
the fire extinguishing device is connected with the control module and used for extinguishing fire when receiving the fire extinguishing signal.
Through adopting above-mentioned technical scheme, the abnormal sound that the sound source sent can be gathered to sound collection module, sound processing module can calculate the position of sound source according to a plurality of abnormal sounds, make control module can control the robot and remove to the sound source, and whether the conflagration takes place through conflagration detection module detection sound source department, and confirm the concrete position of conflagration through infrared vision module, make control module can control extinguishing device and carry out accurate putting out a fire to the conflagration region, in order to realize in time discovering the abnormal conditions and make the processing in dangerous place.
Optionally, the number of the sound collection modules is three, the three sound collection modules are respectively arranged at different positions of the robot, and the sound information includes time information of receiving abnormal sounds;
the sound processing module is used for calculating the position of the sound source according to the TODA technology and each time information and outputting a first position signal.
By adopting the technical scheme, the sound source position can be determined by the least number of the sound collection modules, and the cost is further reduced.
Optionally, the fire detection module at least comprises an ultraviolet sensor;
the ultraviolet sensor is used for detecting whether a fire disaster occurs or not and outputting an alarm signal when the fire disaster occurs.
Through adopting above-mentioned technical scheme, can detect flame based on the ultraviolet ray in the flame.
Optionally, the fire detection module further comprises a sound comparison unit;
the sound comparison unit is connected with the plurality of sound acquisition modules and is used for comparing the received sound information with the abnormal sound in the pre-stored abnormal sound database, and if the similarity between the sound information and the abnormal sound in the abnormal sound database exceeds the preset similarity, an alarm signal is output;
the control module is respectively connected with the ultraviolet sensor and the sound comparison unit and used for outputting a fire extinguishing signal when receiving any one alarm signal and receiving the second position signal.
By adopting the technical scheme, the sound comparison unit can compare the abnormal sound collected by the sound collection module with the preset abnormal sound database, and can judge the reason for the abnormal sound according to the comparison result so as to determine whether a fire disaster occurs.
Optionally, the sound comparing unit is connected to a sound storage unit, and the sound storage unit is configured to store the abnormal sound database.
By adopting the technical scheme, the sound storage unit can store the abnormal sound database, and convenience is provided for comparing the abnormal sound with the abnormal sound database.
Optionally, the infrared vision module includes a processing unit and two thermal infrared imagers;
the thermal infrared imager is used for collecting a fire source image and outputting the fire source image;
and the processing unit is respectively connected with the two thermal infrared imagers, and is used for determining the position of a fire according to the triangulation principle and the parallax error of the flame characteristic points in the two thermal infrared imagers and outputting a second position signal.
Optionally, the fire extinguishing apparatus comprises a driving assembly, a rotating assembly and a fire extinguishing assembly for spraying a fire extinguishing agent;
the driving assembly is connected with the infrared vision module and used for adjusting the height of the fire extinguishing assembly according to the second position signal;
the rotating assembly is connected with the infrared vision module and used for adjusting the direction of the spray head of the fire extinguishing assembly according to the second position signal.
Through adopting above-mentioned technical scheme, control module calculates the conflagration position that obtains according to infrared vision module, can control drive assembly adjustment fire extinguishing assembly's height for fire extinguishing assembly adjusts the height at conflagration place, can control the orientation of the shower nozzle of rotating assembly adjustment fire extinguishing assembly simultaneously, makes fire extinguishing assembly's shower nozzle towards conflagration emergence point, and then carries out accurate putting out a fire.
Optionally, the fire extinguishing apparatus is fixedly arranged on the robot.
In summary, the present application includes at least one of the following beneficial technical effects:
the abnormal sound that the sound collection module can gather the sound source and send, sound processing module can calculate the position of sound source according to a plurality of abnormal sounds, make control module can control the robot and remove to the sound source, and whether the conflagration takes place through fire detection module detection sound source department, and confirm the concrete position of conflagration through infrared vision module, make control module can control extinguishing device and carry out accurate putting out a fire to the conflagration region, in order to realize in time discovering the abnormal conditions and make the processing in dangerous place.
Drawings
Fig. 1 is a schematic diagram of a system of a sound source localization automatic tracking fire extinguishing system applied to a robot according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a sound source localization technique of an embodiment of the present application.
Description of the reference numerals: 1. a sound collection module; 2. a sound processing module; 3. a control module; 4. a fire detection module; 5. an infrared vision module; 6. a fire extinguishing device; 61. a drive assembly; 62. a rotating assembly; 63. a fire extinguishing assembly; 7. a sound comparing unit; 8. a sound storage unit; 9. an ultraviolet sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-2 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses a sound source location automatic tracking fire extinguishing system for robot.
Referring to fig. 1 and 2, the sound source localization automatic tracking fire extinguishing system applied to the robot comprises a sound collection module 1, a sound processing module 2, a control module 3, a fire detection module 4, an infrared vision module 5 and a fire extinguishing device 6, and can conveniently find abnormal conditions in a dangerous place and process the abnormal conditions in time.
Specifically, the sound collection modules 1 are provided in plurality, and each sound collection module 1 is used for collecting abnormal sounds emitted by a sound source and outputting sound information. Preferably, the sound collection module 1 is a microphone. In the application, three microphones are arranged and are respectively arranged at different positions on the robot body, so that the position of the sound source can be determined at low cost. It will be appreciated that the microphone may also be located in a hazardous location. In contrast, however, the provision on the robot can simplify the amount of calculation for calculating the sound source position.
The sound processing module 2 is connected to the plurality of sound collecting modules 1, and is configured to calculate a position of the sound source according to the plurality of sound information, and output a first position signal. Wherein, calculating the position of the sound source from the plurality of sound information may be implemented by a TODA technique and an AOA technique.
In the embodiment of the present application, the sound information includes time information of the abnormal sound received by each microphone, and thus, the calculation is performed by the TODA technology.
Specifically, assuming that the distance between the two microphones is d, and the incident angle of the sound wave received by the microphones is θ, the distance difference from the sound source to the two microphones is dcos θ, so the arrival time difference of the sound wave at the two microphones is dcos θ/c, where c is the sound velocity. If the distance d between the two microphones and the time difference Δ t between the two microphones receiving the sound wave are known, the incident angle θ can be calculated.
Further, the arrival time difference of the two sound signals can be calculated by using a cross-correlation function, and assuming that the signal received by the microphone M0 is x (t), the signal received by the microphone M1 is y (t) ═ Ax (t-t0), and the arrival time difference between the sound waves arriving at M0 and M1 is t 0. The cross-correlation function of x (t) with y (t) is defined as:
Figure BDA0003644047520000041
where denotes the convolution operation.
Substituting the expression of y (t) to obtain:
Figure BDA0003644047520000042
when t is equal to t0,
Figure BDA0003644047520000043
the maximum value of phi is obtained.
In practical applications, the complexity of directly calculating Φ is high, and the formula F [ X (t) × Y (-t) ] ═ X (ω) × Y (ω), where X (ω) is the fourier transform of X (t) and Y (ω) is the fourier transform of Y (t). And calculating X (omega) Y (omega), and then solving the inverse Fourier transform to obtain phi.
In summary, the maximum value of the cross-correlation function is calculated to obtain the arrival time difference of the sound reaching the two microphones, so as to obtain the incident angle of the sound wave.
The sound processing module 2 is preferably a micro processing chip, and may be a single chip microcomputer, an MCU or an FPGA.
The fire detection module 4 is used for detecting whether a fire occurs at a sound source and outputting an alarm signal when a fire occurs at a remote place.
The fire detection module 4 comprises at least an ultraviolet sensor 9. The ultraviolet sensor 9 is used to detect whether a fire is occurring at the sound source. Since ultraviolet light exists in the flame, it is possible to detect whether a fire is occurring at a sound source by the ultraviolet sensor 9 and to output an alarm signal when a fire is detected.
Of course, the detection of the occurrence of a fire can be determined not only by the ultraviolet sensor 9 but also by the type of abnormal sound generated at the sound source.
In particular, the fire detection module 4 further comprises a sound comparison unit 7.
The sound comparison unit 7 is connected with the plurality of sound collection modules 1 and used for comparing the received sound information with the abnormal sound in the pre-stored abnormal sound database and outputting an alarm signal when the similarity between the sound information and the abnormal sound in the abnormal sound database reaches the preset similarity. Otherwise, when the similarity between the sound information and the abnormal sound in the abnormal sound database does not reach the preset similarity, the alarm signal is not output.
It can be understood that the abnormal sound database records a plurality of abnormal sounds, faults corresponding to each abnormal sound and accidents caused by each fault. Most of them are fires. Because the frequency and the waveform of each abnormal sound are different, the collected abnormal sound can be identified by comparing the frequency and the waveform of the abnormal sound. Certainly, under the influence of various factors, the collected abnormal sound may have a slight difference from a certain abnormal sound in the abnormal sound database, and therefore, when the received abnormal sound is compared with the abnormal sound in the abnormal sound database, if the similarity between the sound information and the abnormal sound in the abnormal sound database reaches the preset similarity, an alarm signal is output, that is, a fire disaster occurs at the sound source. The preset similarity is preferably 80%. The method for comparing the sound waveform can be realized by a sound waveform comparison analysis method. The foregoing methods are conventional in the art of those skilled in the relevant art and will not be described in detail herein.
Of course, the collected abnormal sound does not necessarily belong to the abnormal sound type recorded in the abnormal sound database. For the above situation, the sound comparison unit 7 outputs an abnormal signal and uploads the abnormal signal to the remote monitoring terminal to inform the staff to check the situation in time.
Preferably, the sound comparison unit 7 is a micro-processing chip, which may be a single chip, an MCU or an FPGA.
The abnormal sound database may be pre-stored in the sound comparing unit 7, or may be stored in another storage module. In the embodiment of the present application, the sound comparing unit 7 is further connected to a sound storage unit 8. The sound storage unit 8 is used for storing an abnormal sound database. The sound storage unit 8 is preferably a device having a storage space and a storage function, such as a memory.
According to the embodiment of the application, the ultraviolet sensor 9, the sound collection module 1, the sound comparison unit 7 and the sound storage unit 8 are adopted simultaneously, so that whether a fire disaster happens in a sound source position can be detected more accurately.
In some other embodiments, for detecting fire, one of the detection modes of the ultraviolet sensor 9 or the sound collection module 1, the sound comparison unit 7 and the sound storage unit 8 is selected.
The infrared vision module 5 is used for determining the position of the fire source and outputting a second position signal.
The infrared vision module 5 comprises a processing unit and two thermal infrared imagers. The thermal infrared imager is used for collecting the fire source image and outputting the fire source image. Of course, in some embodiments, the two thermal infrared imagers may also be replaced with binocular thermal infrared imagers.
The processing unit is respectively connected with the two thermal infrared imagers, and is used for determining the position of a fire disaster according to the triangulation principle and the parallax error of the flame characteristic points in the two thermal infrared imagers and outputting a second position signal. In the application, the processing unit is a processing chip, and can be a single chip microcomputer, an MCU or an FPGA. The method for determining the location of a fire is a conventional technique for those skilled in the relevant art, and thus will not be described herein.
The control module 3 is connected with the sound processing module 2, the ultraviolet sensor 9, the sound comparison unit 7 and the infrared vision module 5, is used for controlling the robot to move towards a sound source according to the first position signal, and is further used for outputting a fire extinguishing signal when receiving any one alarm signal and receiving the second position signal.
When the control module 3 receives the first position signal, the control module 3 can control the moving mechanism in the robot, so that the robot moves towards the sound source, and further, the abnormality at the sound source is conveniently judged.
In a specific example, when the sound source is not within the range currently detectable by the robot, that is, when an obstacle is disposed on a route where the robot advances to the sound source, the robot needs to determine the position of the sound source according to the abnormal sound generated by the sound source, and then advance to and further determine whether a fire occurs at the sound source or other faults occur.
In another specific example, if it is preliminarily determined that the abnormal sound at the sound source is not the abnormal sound in the abnormal sound database according to the sound collection module 1, the sound comparison unit 7 and the sound storage unit 8, the robot also needs to go to the sound source and further determines what the abnormal sound generated at the sound source is.
When the robot moves to the sound source, as the distance between the robot and the sound source is shortened, the fire at the sound source enters the visible range of the robot. At this time, the robot detects the specific location of the fire, i.e., the location information indicated by the second location signal, through the infrared vision module 5. When control module 3 obtained the second position signal, can confirm the concrete position of conflagration, and then can spray extinguishing agent to this position to realize accurate putting out a fire.
Preferably, the controller is a processing chip, and can be a single chip microcomputer, an MCU or an FPGA. The method for determining the real-time position of the robot, the position information reflected by the first position signal, and the corresponding relationship between the position information reflected by the second position signal is a conventional technical means of those skilled in the relevant field, and therefore, the embodiment of the present application is not described in detail.
The fire extinguishing device 6 is connected with the control module 3 and is used for extinguishing fire when receiving a fire extinguishing signal.
The fire extinguishing apparatus 6 includes a driving assembly 61, a rotating assembly 62 and a fire extinguishing assembly 63 for spraying a fire extinguishing agent. Specifically, the fire extinguishing assembly 63 is disposed on the rotating assembly 62 and is connected to the rotating assembly 62. The rotating assembly 62 is used for driving the fire extinguishing assembly 63 to rotate so as to change the orientation of the spray head of the fire extinguishing assembly 63. The rotating assembly 62 is disposed on the driving assembly 61 and connected to the driving assembly 61. The driving assembly 61 is used for driving the fire extinguishing assembly 63 to move up and down in a vertical direction to change the height of the fire extinguishing assembly 63. Any structure having a 360 ° rotation function can be selected for the rotation unit 62, and any structure having a lifting function can be selected for the driving unit 61. In addition, the positional relationship of the driving assembly 61, the rotating assembly 62, and the fire extinguishing assembly 63 can be adjusted.
In the present application, the fire extinguishing device 6 is preferably fixedly arranged on the robot. In other embodiments, the fire extinguishing device 6 may be fixedly installed in a dangerous place, and may be installed in plurality.
The implementation principle of the sound source positioning automatic tracking fire extinguishing system applied to the robot is as follows: through setting up sound collection module 1, sound processing module 2, control module 3, fire detection module 4, infrared vision module 5 and extinguishing device 6, can fix a position the sound source position to at the in-process of tracking the sound wave, whether utilize sound waveform contrastive analysis method and ultraviolet sensor 9 to detect sound source department and take place the conflagration, and then utilize the position that infrared vision module 5 accurate location conflagration took place, put out a fire at last, so that the robot accomplishes the automatic tracking and puts out a fire. The method and the device can realize the functions of timely finding abnormal conditions and processing in dangerous places.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

Claims (8)

1. The utility model provides a sound localization automatic tracking fire extinguishing systems for robot which characterized in that: comprises a sound collection module (1), a sound processing module (2), a control module (3), a fire detection module (4), an infrared vision module (5) and a fire extinguishing device (6);
the sound collection modules (1) are arranged in a plurality, and each sound collection module (1) is used for collecting abnormal sound emitted by a sound source and outputting sound information;
the sound processing module (2) is connected with the sound acquisition module (1) and is used for calculating the position of a sound source according to a plurality of sound information and outputting a first position signal;
the fire detection module (4) is used for detecting whether a fire disaster occurs or not, and if yes, an alarm signal is output;
the infrared vision module (5) is used for determining the position of a fire and outputting a second position signal;
the control module (3) is connected with the sound processing module (2), the fire detection module (4) and the infrared vision module (5), is used for controlling the robot to move to a sound source according to a first position signal, and is further used for outputting a fire extinguishing signal when receiving an alarm signal and a second position signal;
and the fire extinguishing device (6) is connected with the control module (3) and is used for extinguishing fire when receiving a fire extinguishing signal.
2. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 1, wherein: the three sound collection modules (1) are respectively arranged at different positions of the robot, and the sound information comprises time information of receiving abnormal sounds;
and the sound processing module (2) is used for calculating the position of a sound source according to the TODA technology and each time information and outputting a first position signal.
3. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 2, wherein: the fire detection module (4) comprises at least an ultraviolet sensor (9);
the ultraviolet sensor (9) is used for detecting whether a fire disaster occurs or not and outputting an alarm signal when the fire disaster occurs.
4. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 3, wherein: the fire detection module (4) further comprises a sound comparison unit (7);
the sound comparison unit (7) is connected with the sound acquisition modules (1) and is used for comparing the received sound information with the abnormal sound in a pre-stored abnormal sound database, and if the similarity between the sound information and the abnormal sound in the abnormal sound database exceeds the preset similarity, an alarm signal is output;
the control module (3) is respectively connected with the ultraviolet sensor (9) and the sound comparison unit (7) and is used for outputting a fire extinguishing signal when receiving any one of the alarm signals and receiving the second position signal.
5. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 4, wherein: the sound comparison unit (7) is connected with a sound storage unit (8), and the sound storage unit (8) is used for storing the abnormal sound database.
6. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 4, wherein: the infrared vision module (5) comprises a processing unit and two thermal infrared imagers;
the thermal infrared imager is used for collecting a fire source image and outputting the fire source image;
and the processing unit is respectively connected with the two thermal infrared imagers, and is used for determining the position of a fire according to the triangulation principle and the parallax error of the flame characteristic points in the two thermal infrared imagers and outputting a second position signal.
7. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 6, wherein: the fire extinguishing device (6) comprises a driving assembly (61), a rotating assembly (62) and a fire extinguishing assembly (63) for spraying a fire extinguishing agent;
the driving assembly (61) is connected with an infrared vision module (5) and is used for adjusting the height of the fire extinguishing assembly (63) according to a second position signal;
the rotating assembly (62) is connected with the infrared vision module (5) and used for adjusting the orientation of the spray head of the fire extinguishing assembly (63) according to the second position signal.
8. The sound source localization automatic tracking fire extinguishing system applied to a robot according to claim 7, wherein: and the fire extinguishing device (6) is fixedly arranged on the robot.
CN202210523784.0A 2022-05-14 2022-05-14 Sound source positioning automatic tracking fire extinguishing system applied to robot Pending CN114939250A (en)

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