CN115025417A

CN115025417A - Early warning fire-fighting robot and control method thereof

Info

Publication number: CN115025417A
Application number: CN202210633630.7A
Authority: CN
Inventors: 胡子墨; 程露瑶; 况暄; 汪敏轩; 束文强
Original assignee: Anhui Institute of Information Engineering
Current assignee: Anhui Institute of Information Engineering
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-09-09

Abstract

The invention discloses an early warning fire-fighting robot, which is applied to the fire-fighting safety of a warehouse building, wherein a track is arranged in the warehouse building; the early warning fire-fighting robot is provided with a chassis and a holder, and the chassis can move along a track under the drive of a chassis driving mechanism; the cloud platform is installed on the chassis. The invention also discloses a control method of the robot. By adopting the technical scheme, the omnibearing fire prevention and extinguishing function is realized, and the requirement of real-time detection is met; the method has the advantages of early detection of the fire hazard, high detection precision, flexible system installation, capability of effectively detecting the fire in large space and complex building structures and the like; processing the image data from the camera by an algorithm to determine whether a fire or fire risk exists in the image; the precise striking function is realized by matching with the track motion, and the function of dynamic point-to-point fire extinguishing is realized; the dry powder pellets are adopted for fire extinguishing, so that the fire extinguishing range and the fire extinguishing effect are greatly improved.

Description

Early warning fire-fighting robot and control method thereof

Technical Field

The invention belongs to the technical field of fire safety engineering. More particularly, the present invention relates to an early warning fire fighting robot. The invention also relates to a control method of the early warning fire-fighting robot.

Background

The traditional security system is realized by ' people's air defense + things ' defense. However, with the problems of increased population aging, violent increase of labor cost, high loss rate of security personnel and the like, the modern security needs are difficult to adapt.

In recent years, the accidents of fire spreading are frequently seen because the fire source is not found in time and the fire is quickly extinguished in goods transfer stations and warehouses. Therefore, when there is a fire, more time is strived for to find and eliminate the small flame in time, and the existence of the fire-fighting monitoring robot is particularly important because unnecessary loss is reduced.

But most of the existing warehouses adopt fixed-point small-range fire extinguishing, and fire hidden danger, fire and fire head are difficult to discover in early stage; and for the space with larger area, the automatic fixed point and tour extinguishment is difficult to realize.

Disclosure of Invention

The invention provides an early warning fire-fighting robot, aiming at realizing fire safety inspection and early warning, reducing fire risk and improving fire-fighting effect.

In order to achieve the purpose, the invention adopts the technical scheme that:

the early warning fire-fighting robot is applied to the fire-fighting safety of a warehouse building, and a track is arranged in the warehouse building; the early warning fire-fighting robot is provided with a chassis and a holder, and the chassis can move along the track under the driving of a chassis driving mechanism; the cradle head is installed on the chassis.

The track is a square tube with a rectangular cross section, and the length dimension of the cross section in the horizontal direction is larger than the height dimension of the cross section in the vertical direction.

The chassis driving mechanism comprises a motor and a driving wheel arranged on a main shaft of the motor; the driving wheel is rotationally driven on the upper surface of the track; the chassis is also provided with a plurality of supporting wheels and a plurality of auxiliary guide wheels, and the supporting wheels are distributed on the upper surface of the track for rolling support; the auxiliary guide wheels are arranged on two side surfaces of the track for auxiliary guide.

A chassis storage structure is arranged on the chassis; the chassis storage structure is arranged on the chassis through a storage structure fixing frame; fire extinguishing bombs are stored in the chassis storage structure.

The chassis is provided with a fire extinguishing bullet poking mechanism; the fire extinguishing bomb poking mechanism is provided with a poking bomb disk and a poking claw, and sends the fire extinguishing bomb to the holder through a poking bomb connecting structure.

The cradle head is provided with a rotating shaft and drives the horizontal plane of the cradle head to rotate through a cradle head rotation driving mechanism.

The holder is provided with a pitch angle rotating shaft, and the pitch angle rotating shaft is provided with a fire extinguishing bomb launching mechanism; the pitch angle rotating shaft is driven by the pitch angle driving mechanism to change the angle in the vertical direction of the fire extinguishing bomb launching mechanism.

And the fire extinguishing bomb launching mechanism is provided with a single-shot limiting mechanism.

The early warning fire-fighting robot is in signal connection with a fire-fighting control center; the fire control center sets up infrared temperature detector on many positions in the warehouse building and early warning fire control robot.

The fire control center sets up smoke detector and gas concentration detector on many positions in the warehouse building and early warning fire control robot.

The fire control center sets up visual sensor on many positions in the warehouse building and early warning fire control robot.

The fire control center is provided with a fire sound alarm and a light flashing alarm.

In order to achieve the same purpose as the technical scheme, the invention also provides a control method of the early warning fire-fighting robot, which has the technical scheme that:

the holder control technology is divided into two modes, namely gyroscope control and encoder control;

the gyroscope control is realized in a manner of adopting a gyroscope control mode under the normal running state of a common vehicle, so that the stability of the vehicle visual angle is ensured; when the vehicle enters a static state, the gyroscope is switched to be controlled by the encoder in a mode, so that the gyroscope is effectively prevented from drifting, and the stability of the vehicle is ensured;

the encoder controls: for a particular control mode, complementary to the mode of the gyroscope control; this mode is often used in applications where accuracy is required and the time is long, including vehicle stationary and overhead modes.

The control method adopts PID control technology; in the motor control of the whole machine, the control logic is as follows: the inner ring is a speed ring, and the outer ring is an angle ring;

the feedback numerical value of the inner ring is the current speed, the PID calculation of the speed ring is carried out by acquiring the current angular speed and the acquired expected angular speed to obtain the current value required currently, and then the electric regulation control motor moves;

the data fed back by the outer ring of the PID is the current motor encoder value, and the expected angle obtained from the outside is obtained according to the current pan-tilt control mode:

if the current mode is the control of the encoder, the acquired expected angle is the data of the current encoder;

and if the current mode is the gyroscope control, the acquired expected angle is the internal angle of the current gyroscope.

In the control technology of the chassis, Mecanum wheels are used as main driving wheels of the chassis, and the omnidirectional movement of the whole vehicle is realized by matching with the omnidirectional algorithm of the Mecanum wheels.

The visual recognition is used for preprocessing the image, and channel subtraction is selected for visual extraction for detecting the flame; and performing a dilation operation for image noise reduction;

and (3) flame detection: firstly, finding a profile of a preprocessed binary image, then fitting an ellipse to the profile after the area is primarily screened, using the obtained rotating rectangle to construct a light bar example, and sorting the light bar example from left to right according to the center of the flame after the flame with an overlarge offset angle is screened out;

flame area matching: analyzing characteristics of the flame region; matching the detected flames, and judging the position information between two piles of flames: the size of the angle difference, the size of the dislocation angle and the X, Y direction projection difference ratio are used for distinguishing whether the flame area is suitable or not, and then all the flame areas judged to be suitable are placed into a preselected flame area array vector;

image distance calculation: calculating the distance by using a pnp algorithm, and calculating a method for moving a point pair from 3D to 2D; estimating the pose of the camera and measuring the size and distance of the flame area.

By adopting the technical scheme, the all-dimensional fire prevention and extinguishing function is realized, and the requirement of real-time detection is met; the method has the advantages of early detection of the fire hazard, high detection precision, flexible system installation, capability of effectively detecting the fire in large space and complex building structures and the like; algorithmically processing image data from the camera to determine whether a fire or fire risk exists in the image; and the precise striking function is realized by matching with the track motion, and the function of dynamic point-to-point fire extinguishing is realized; breaks through the traditional spraying type fire extinguishing mode, adopts the dry powder pellets to carry out fire extinguishing, greatly improves the fire extinguishing range and improves the fire extinguishing effect.

Drawings

The contents of the drawings and the reference numbers in the drawings are briefly described as follows:

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a side view of the structure shown in FIG. 1;

FIG. 3 is a top view of the structure shown in FIG. 1;

FIG. 4 is a block diagram of the present invention;

FIG. 5 is a schematic view of the chassis mounted on the rails;

FIG. 6 is a schematic view of a storage structure holder on a chassis;

FIG. 7 is a schematic view of a hinge mounting plate;

FIG. 8 is a schematic view of the mounting of the storage structure on the fixture;

FIG. 9 is a schematic structural diagram of a poking and ejecting connection module;

FIG. 10 is a structural view of a striking plate;

FIG. 11 is a schematic structural view of the pusher dog;

fig. 12 is a front view of the head structure of the present invention;

FIG. 13 is a side view of the structure shown in FIG. 12;

FIG. 14 is a top view of the structure shown in FIG. 12;

fig. 15 is a schematic view of the pitch drive mechanism in a depression angle state;

FIG. 16 is a schematic view of the pitch drive mechanism in a flat angle state

Fig. 17 is a schematic view of the pitch drive mechanism in an elevation state;

fig. 18 is a schematic view of a pitch drive mechanism;

FIG. 19 is a schematic view of a slotted link;

FIG. 20 is a schematic structural view of a fixed portion of the friction wheel;

FIG. 21 is a schematic view of the position of the single shot spacing mechanism on the fire extinguishing bomb launching mechanism;

FIG. 22 is a schematic view of a single shot stop mechanism;

FIG. 23 is a schematic view of the structure of the chassis transmission mechanism;

FIG. 24 is a schematic view of the cradle head transmission mechanism;

FIG. 25 is a schematic view of a bearing gear train configuration;

FIG. 26 is a block diagram of pan/tilt control modes;

FIG. 27 is a PID control logic block diagram.

Labeled as:

1. track, 2, track suspender, 3, chassis, 4, chassis driving mechanism, 5, driving wheel, 6, supporting wheel, 7, auxiliary guide wheel, 8, chassis storage structure, 9, storage structure fixing frame, 10, fire extinguishing bomb poking mechanism, 11, poking disc, 12, poking claw, 13, poking bomb connecting structure, 14, cradle head, 15, hinge mounting plate, 16, rotating shaft, 17, cradle head rotating driving mechanism, 18, pitch angle rotating shaft, 19, pitch angle driving mechanism, 20, fire extinguishing bomb launching mechanism, 21, single-shot limiting mechanism,

Detailed Description

The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.

The structure of the invention as shown in fig. 1 to 27 is an early warning fire-fighting robot applied to the fire-fighting safety of warehouse buildings.

In order to solve the problems and overcome the defects in the prior art, realize the invention aims of fire safety inspection and early warning, reducing the fire risk and improving the fire extinguishing effect, the invention adopts the technical scheme that:

as shown in fig. 1 to 3, in the early warning fire-fighting robot of the present invention, a track 1 is arranged in the warehouse building; the early warning fire-fighting robot is provided with a chassis 3 and a cloud deck 14, and the chassis 3 can move along the track 1 under the driving of a chassis driving mechanism 4; the cradle head 14 is mounted on the chassis 3.

The early warning fire-fighting robot can replace or assist human beings to carry out the work of routing inspection, early warning, security protection, fire extinguishing and the like, can accurately execute and stop to a designated place according to path planning and operation requirements, provides infrared temperature measurement, meter reading record and abnormal state warning functions for routing inspection equipment, realizes background functions of real-time uploading of routing inspection data, information display, report generation and the like, and has the characteristics of high routing inspection efficiency, stability, strong reliability and the like.

The technical scheme of the invention has the advantages of early fire detection, high detection precision, flexible system installation, capability of effectively detecting fires in large spaces and complex building structures and the like. The invention greatly improves the inspection work efficiency and the field management level. Specifically, the invention has the following characteristics:

1. algorithmically processing image data from the camera to determine whether a fire or fire risk exists in the image; various safety protection measures are integrated, so that the comprehensive monitoring of 'seeing' and 'feeling' can be realized; as a common camera, storing video data;

2. the functions of accurate striking, dynamic point-to-point fire extinguishing and omnibearing fire prevention and extinguishment in a warehouse are realized by matching with the track motion; the aerial orbit operation is adopted, so that the space is greatly saved, and the visual field is wider;

3. the traditional spraying type fire extinguishing mode is broken through, and the dry powder pellets are adopted for shooting fire extinguishing, so that the fire extinguishing range is greatly improved; when the pellet is acted by pressure in a certain range, an acting force is instantaneously generated in the pellet to burst the pellet, so that dry powder is overflowed to achieve the function of extinguishing fire.

4. The design is light, and the cruising ability is excellent; mode selection can be performed through a remote controller;

5. the data real-time transmission is supported, and the information transmission speed is effectively improved;

6. visual treatment identifies flames and smoke, and emits dry powder fire extinguishing bomb with 42mm caliber.

The following is a technical scheme of a specific implementation structure:

as shown in fig. 4, the present invention generally includes a chassis module, a pan and tilt head module, and a transmission module. The following specific analysis was performed:

firstly, a chassis module:

1. the chassis moves on the track:

the chassis module enables the robot to be suspended on the track 1, and aerial track operation can be achieved.

The track 1 is a square tube with a rectangular cross section, and the length dimension of the cross section in the horizontal direction is larger than the height dimension of the cross section in the vertical direction.

The track 1 is hung on the top beam of the storage building through a track suspension rod 2.

As shown in fig. 5 and 6:

size of chassis frame: length: 443mm, wide: 230mm, high: 215 mm. The chassis frame is sleeved on the robot track in a cuboid shape made of aluminum square tubes, and is convenient to disassemble.

The chassis driving mechanism 4 comprises a motor and a driving wheel 5 arranged on a main shaft of the motor; the driving wheel 5 is rotationally driven on the upper surface of the track 1; the chassis 3 is also provided with a plurality of supporting wheels 6 and a plurality of auxiliary guide wheels 7, and the supporting wheels 6 are distributed on the upper surface of the track 1 for rolling support; the auxiliary guide wheels 7 are arranged on two side surfaces of the track 1 for auxiliary guide.

This early warning fire-fighting robot's chassis 3 is driven action wheel 5 by a motor, and the supplementary motion is carried out to a plurality of supporting wheels of reuse 6 and four miniature supplementary leading wheels 7.

The invention properly enlarges the size of the driving wheel 5, so that the moving speed of the robot can be efficiently improved under the condition of constant power; calculating and testing the transverse and longitudinal spacing of the driven wheels, and reducing the friction force of the wheel set on the robot track when the chassis moves; the distance between the auxiliary wheel and the track is tested for many times, and the auxiliary wheel does not contact with the track when in horizontal motion; when the chassis moves reversely, the chassis acts as a guide wheel to prevent the chassis main body from contacting with the track, so that the chassis main body can move smoothly and smoothly when the chassis main body moves back and forth.

2. Hinge mounting plate 15, as shown in fig. 7:

the hinge mounting plate 15 ensures that the chassis support can be opened and closed, and adopts a flat-open hinge.

3. A power module:

as shown in fig. 5, the power module of the chassis 3 uses two-sided auxiliary wheels to assist the friction wheels to move in the middle of the track. The driving motor adopts a 3508 motor, is connected with the driving wheel 5 through a coupler, reduces virtual positions and improves the flexibility of the robot. The shaft coupling is connected

action wheel

5 and 3508 motor, and the shaft coupling mainly reduces the clearance of motor shaft and hole site to let the motor high-efficient motion.

The driving wheel 5 is a friction wheel with the advantages of super high speed, high bearing capacity, high temperature resistance, high wear resistance and the like, the diameter of the friction wheel is 80mm, and the thickness of the friction wheel is 50 mm.

The supporting wheel 6 and the auxiliary guide wheel 7 adopt small rubber coating wheels; aiming at different performances, the invention selects the Blichthan type, and the advantages of selecting the Blichthan type are as follows: high transmission efficiency and high bearing capacity. The diameter is 18mm and the thickness is 14 mm.

4. Fire extinguishing materials storage module, including chassis storage mechanism 8, chassis group bullet mechanism:

as shown in fig. 8 to 11:

a chassis storage structure 8 is arranged on the chassis 3; the chassis storage structure 8 is arranged on the chassis 3 through a storage structure fixing frame 9; fire extinguishing bombs are stored in the chassis storage structure 8.

Chassis storage mechanism 8: a rectangular frame enclosed by a glass fiber plate is used. It has a length of 200mm, a width of 158mm and a height of 104.5 mm.

5. Fire extinguishing bomb poking mechanism 10:

as shown in fig. 8 to 11:

the chassis 3 is provided with a fire extinguishing bullet poking mechanism 10; the fire extinguishing bomb poking mechanism 10 is provided with a poking bomb tray 11 and a poking claw 12, and sends a fire extinguishing bomb to a holder 14 through a poking bomb connecting structure 13.

In the chassis bullet-poking mechanism, a poking claw 12 is respectively connected with a bearing and a 3508 motor, a dry powder fire extinguishing bullet enters a bullet-poking plate 11, and the poking claw 12 pokes the dry powder fire extinguishing bullet through a bullet-poking transmission mechanism.

Wherein, the size of pusher dog 11 is: the diameter of the inner circle is 50mm, the diameter of the outer circle is 106mm, and the thickness is 3 mm; the bearing has an inner diameter of 20mm, an outer diameter of 50mm and a thickness of 12 mm.

Poking and bouncing connection structure 13: in the bullet-poking connecting structure 13, in order to fix the bullet-poking disc 11, the bullet-poking disc 11 is connected with a lower printed piece, and the lower printed piece is connected with an aluminum square tube.

Secondly, the cradle head module:

the robot has wide identification range, and a 360-degree holder can ensure that a flame area without a dead angle is monitored. The poking disc 11 conveys the dry powder fire extinguishing bomb to the holder launching mechanism through the holder transmission mechanism, and then the holder launching mechanism pokes and ejects the dry powder fire extinguishing bomb.

1. As shown in fig. 12, 13 and 14, the main structure of the pan/tilt head 14 is:

the main structure of the pan-tilt 14 is composed of a glass fiber plate and a carbon plate. The pan/tilt head 14 is an omni-directional pan/tilt head that can rotate both horizontally and vertically according to the application requirements.

The cradle head 14 has the main functions of monitoring, routing inspection, alarming, first aid and fire extinguishing.

2. The mechanism for realizing the rotation in the horizontal direction is, as shown in fig. 12, 13 and 14:

the pan/tilt head 14 is provided with a rotation shaft 16(Yaw axis) and drives the horizontal plane of the pan/tilt head 14 to rotate by a pan/tilt head rotation driving mechanism 17.

Rotation shaft 16: the synchronous belt is connected with the driving wheel and a driven wheel on a rotating shaft 16, and the driven wheel is partially fixed on a crossed roller bearing. The motor drives the belt pulley to drive, thereby enabling the whole cradle head to rotate for 360 degrees, achieving a wider fire extinguishing range and improving the fire extinguishing efficiency.

Driving wheel and driven wheel: parameters are obtained through a series of calculations such as weight estimation of a holder: the center distance of the 50-tooth circular arc gear is 100 mm.

Compared with a common bearing, the crossed roller bearing has the advantages of higher rotation precision, high load, high strength, long service life and the like, can bear the force in all directions, and has the advantages that the sizes of the inner ring and the outer ring are minimized to the maximum extent, the installation space is saved, and the cost is reduced.

The driving wheel and the driven wheel are driven by a synchronous belt, and the synchronous belt adopts HTD5M (circular arc tooth synchronous belt); it has the advantages of stability, high efficiency, low noise, high temperature resistance, wear resistance and the like. Realize self 360 rotations, realize 360 rotations through motor drive cloud platform simultaneously.

3. The mechanism for realizing pitch angle rotation:

as shown in fig. 12 to 19:

a Pitch angle rotating shaft 18(Pitch shaft) is arranged on the cloud deck 14, and a fire extinguishing bomb launching mechanism 20 is arranged on the Pitch angle rotating shaft 18; the pitch angle rotating shaft 18 is driven by a pitch angle driving mechanism 19 to change the angle of the fire extinguishing bomb launching mechanism 20 in the vertical direction.

The pitch angle rotating shaft 18 realizes the adjustment of the pitch angle, the pitch angle is transmitted by the connecting rod mechanism and the pitch angle rotating shaft 18, the inner shaft is connected with the motor, and the mechanical structure design of the connecting rod mechanism and the inner shaft enables the motor to control the angle deviation of the pitch angle.

Determination of the pitch angle: in order to enable the dry powder fire extinguishing bomb to carry out shooting fire extinguishing in a wider range, a connecting rod with a notch is adopted to carry out pitch angle limiting, and the specific angle of depression is 20-45 degrees.

4. Launching of fire extinguishing bomb:

as shown in fig. 20, the friction wheel fixing portion:

the power source of the launching mechanism is fixed on a 6mm carbon steel plate which is fixed on the gun barrel workpiece; four bearings are designed on the gun barrel workpiece, so that the dry powder extinguishing bomb can stably enter the friction wheel, the stability and accuracy of shooting are improved, and the cost is reduced.

The power sources of the launching mechanism are a 3508 motor and a 3508 rubber covered wheel.

When the dry powder fire extinguishing bomb is conveyed to the friction wheel, the motor drives 3508 rubber covered wheel to rotate, so that the dry powder fire extinguishing bomb is pulled out under a certain friction force. 3508 the rubber-covered wheel has an outer diameter of 60mm and a thickness of 21 mm.

5. As shown in fig. 21 and 22, the one-shot stopper mechanism 21:

the fire extinguishing bomb launching mechanism 20 is provided with a single-shot limiting mechanism 21.

The single-shot limiting mechanism 21 is fixed at an inlet for launching the fire extinguishing bomb, and the design of the rod and the pressure spring ensures that the fire extinguishing bomb cannot be launched under the condition of no stress; and through continuous tests, the service life of the device is long, and the device is always kept in a normal working state. The linked bullet poking mechanism enables the fire extinguishing poking bullets to be fired one by one, and reduces the cost.

The single shot limiting mechanism 21 can prevent the shot from clamping the friction wheel when the shot is re-emitted due to low limiting durability, so that the friction wheel cannot be restarted, and the capability of emitting the dry powder shot is lost.

Thirdly, a transmission mechanism module:

1. the chassis drive mechanism is shown in figure 23.

2. The pan-tilt transmission mechanism is shown in fig. 24:

the cradle head transmission mechanism is used for stably conveying the dry powder fire extinguishing bomb to the launching mechanism.

3. The bearing transmission mechanism is shown in figure 25:

the bearing transmission mechanism can ensure that the dry powder extinguishing bomb is not blocked in the conveying process.

4. Automatic aiming: multiple flame zones can be identified and digitally identified. The cradle head is controlled through an algorithm to identify the flame area unit, and different decisions are made aiming at flames of different degrees.

And fifthly, a signal acquisition scheme:

1. acquiring a temperature signal:

In the aspect of temperature sensing, the early warning fire-fighting robot is provided with an infrared detector for detecting the temperature of a human body and sensing the temperature of the outside air and the environment.

2. And (3) acquiring a gas signal:

For the detection of air concentration, the early warning fire-fighting robot and the building thereof are also provided with a smoke detector and a fuel gas concentration detector to accurately measure the over-standard smoke and fuel gas in the air; when the concentration data of the smoke and the fuel gas are detected to be over standard, the early warning fire-fighting robot automatically goes to a fire source place to perform primary defense and gives an alarm; meanwhile, the information is sent to the background, and the safety attendant is informed to arrive at the site in time.

3. Acquisition of visual signals:

The vision sensor is essentially an industrial camera.

The invention can adopt flame identification monitoring and realize dynamic point-to-point fire extinguishing function by matching with orbital motion and accurate striking function. The fire control center identifies the fire point by means of vision, and the average identification accuracy is up to 83.7% based on an algorithm of YOLO V5 s. In addition, the YOLO V5s has the capability of facing a complex adaptive system for detection performance, so that the detection speed reaches 60FPS (frames per second), and the requirement of real-time detection is met.

The treatment plan of the flame area identification by visual identification is divided into the following steps:

(1) preprocessing the image;

(2) detecting flame;

(3) matching flame areas.

4. An alarm device:

The sound alarm and the light flashing alarm are arranged at the position where a person is on duty.

The following technical scheme is a control method of the early warning robot:

in order to achieve the same purpose as the technical scheme, the invention also provides the control method of the early warning fire-fighting robot, and the technical scheme is as follows:

firstly, a holder control technology:

as shown in fig. 26, the pan-tilt control technique is divided into two modes, i.e., gyroscope control and encoder control;

the gyroscope control is realized by adopting a gyroscope control mode under the normal running state of a common vehicle, so that the stability of the vehicle visual angle is ensured; when the vehicle enters a static state, the gyroscope is switched to be controlled by the encoder in a mode, so that the gyroscope is effectively prevented from drifting, and the stability of the vehicle is ensured;

the encoder controls: for a particular control mode, complementary to the mode of gyroscope control; this mode is often used in applications where accuracy is required and the time is long, including vehicle stationary and overhead modes.

The advantages and disadvantages of different cradle head control technologies are as follows:

the control of the gyroscope and the control of the encoder are different in thousands of years, the advantages and the disadvantages of the control of the gyroscope and the control of the encoder are integrated, and corresponding control modes can be selected to control corresponding to different control modes, so that the aim of maximizing the control efficiency is fulfilled.

1. Controlling a gyroscope:

the gyroscope control has the advantages of stable viewing angle and no influence of geographical factors. However, even in a common control method, the gyro drift is influenced, and the gyro drift cannot be used in a few modes requiring high accuracy and long time. Therefore, under the normal running state of a common vehicle, the gyroscope control mode is adopted, the stability of the view angle of the vehicle is ensured, when the vehicle enters a static state, the gyroscope control is switched to be controlled by the encoder in the control mode, and the gyroscope is effectively prevented from drifting so as to ensure the stability of the vehicle.

2. The encoder controls:

the mode of encoder control has the advantage that control is very accurate. However, the mode is often used in a mode with high precision requirement and long time, such as a vehicle stationary state, a suspended shooting mode and the like, because the mode is frequently used in a specific control mode and is complementary with a gyroscope control mode.

II, PID control technology:

as shown in fig. 27, the control method of the early warning fire-fighting robot adopts a PID control technology:

1. PID control technique (embedded program):

the PID control mode is the most common control mode in motor control, a large number of speed single-ring control modes are adopted, and corresponding control is carried out by adjusting parameters of three parameters of PID. Wherein:

the proportion of P is corresponding to the proportion of P, so that the steady-state precision of the system can be improved, the inertia of the system is reduced, and the response speed is accelerated.

The I is corresponding to integral, so that the influence of historical errors on the current actual curve can be eliminated, and the stability of the system is improved.

D is corresponding to the differential, so that the amplitude of the vibration can be effectively reduced. Allowing the curve to converge faster.

In the motor control of the whole machine, the control logic is as follows: the inner ring is a speed ring, and the outer ring is an angle ring;

Thirdly, a chassis control technology:

Visual identification:

the visual identification preprocesses the image. Selecting a channel subtraction method for visual extraction to detect the flame; and performing a dilation operation for image noise reduction;

The research and development prospect of the invention is as follows:

1. the traditional security system is realized by people's air defense and object defense. With the problems of increased population aging, soaring labor cost, high loss rate of security personnel and the like, the security robot is difficult to adapt to the modern security requirements, and the security robot industry is in a new opportunity of development;

2. in the long term, the largest application market of artificial intelligence appears in the field of service robots in the future, and in the face of an environment which is far more complex than the current industrial production, the inspection robot has higher and more comprehensive requirements on the artificial intelligence technology and has larger market space;

3. in 2019 to 2024, the global sales of the inspection robots will go one step further, and the global sales is expected to reach $ 170 billion by 2024.

4. Compared with foreign enterprises, the local enterprises are easier to develop by combining specific environments and cultures, and occupy good market positioning, thereby maintaining a certain competitive advantage.

The analysis of the economic benefit and the social benefit of the invention comprises the following steps:

1. the fire-fighting robot provided by the invention can monitor and early warn the conditions in the warehouse in real time, and can well solve the problems of fixed position, various quantity, lack of actuating mechanisms and the like of the existing monitoring system;

2. the system can effectively reduce the patrol pressure of patrol personnel, greatly reduce the number of workers, strengthen the monitoring of warehouse materials and accelerate the handling speed of emergency events such as fire and the like;

3. the overall market demand is huge: with the rapid development of logistics and the change of social requirements, the warehousing business volume of China is continuously increased, and indexes such as cargo throughput, average inventory, cargo turnover frequency and the like are obviously improved; as the storage business volume increases, the demand of storage fire fighting also gradually increases;

the invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims

1. An early warning fire-fighting robot is applied to the fire-fighting safety of a warehouse building, wherein a track (1) is arranged in the warehouse building; the method is characterized in that: the early warning fire-fighting robot is provided with a chassis (3) and a cloud deck (14), wherein the chassis (3) can move along the track (1) through the driving of a chassis driving mechanism (4); the cradle head (14) is arranged on the chassis (3).

2. The pre-warning fire-fighting robot of claim 1, wherein: the track (1) is a square tube with a rectangular cross section, and the length dimension of the cross section in the horizontal direction is larger than the height dimension of the cross section in the vertical direction.

3. The pre-warning fire-fighting robot of claim 2, wherein: the chassis driving mechanism (4) comprises a motor and a driving wheel (5) arranged on a main shaft of the motor; the driving wheel (5) is rotationally driven on the upper surface of the track (1); the chassis (3) is also provided with a plurality of supporting wheels (6) and a plurality of auxiliary guide wheels (7), and the supporting wheels (6) are distributed on the upper surface of the track (1) for rolling support; the auxiliary guide wheels (7) are arranged on two side surfaces of the track (1) for auxiliary guide.

4. The pre-warning fire-fighting robot of claim 1, wherein: a chassis storage structure (8) is arranged on the chassis (3); the chassis storage structure (8) is arranged on the chassis (3) through a storage structure fixing frame (9); the chassis storage structure (8) stores fire extinguishing bombs.

5. The pre-warning fire-fighting robot of claim 4, wherein: the chassis (3) is provided with a fire extinguishing bullet poking mechanism; the fire extinguishing bomb poking mechanism is provided with a poking bomb disk (11) and a poking claw (12) and sends a fire extinguishing bomb to a holder (14) through a poking bomb connecting structure (13).

6. The pre-warning fire-fighting robot of claim 1, wherein: the cradle head (14) is provided with a rotating shaft (16) and drives the horizontal plane of the cradle head (14) to rotate through a cradle head rotation driving mechanism (17).

7. The pre-warning fire-fighting robot of claim 6, wherein: a pitch angle rotating shaft (18) is arranged on the pan-tilt (14), and a fire extinguishing bomb launching mechanism (20) is arranged on the pitch angle rotating shaft (18); the pitch angle rotating shaft (18) is driven by a pitch angle driving mechanism (19) to change the angle of the fire extinguishing bomb launching mechanism (20) in the up-down direction.

8. The pre-warning fire-fighting robot of claim 7, wherein: the fire extinguishing bomb launching mechanism (20) is provided with a single-shot limiting mechanism (21).

9. The pre-warning fire-fighting robot of claim 1, wherein: the early warning fire-fighting robot is in signal connection with a fire-fighting control center; the fire control center sets up infrared temperature detector on many positions in the warehouse building and early warning fire control robot.

10. The control method of the pre-warning fire-fighting robot according to any one of claims 1 to 9, wherein: the holder control technology is divided into two modes, namely gyroscope control and encoder control;