CN115666738A - Fire extinguishing system, server, fire-fighting robot and fire extinguishing method - Google Patents
Fire extinguishing system, server, fire-fighting robot and fire extinguishing method Download PDFInfo
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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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- 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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Abstract
A fire extinguishing system (10), a server (30), a fire fighting robot (40) and a fire extinguishing method (400). A fire source detecting device (20) disposed at a fixed position of the monitoring area for detecting a fire source in the monitoring area; the server (30) is used for determining the fire source position based on the detection parameters provided by the fire source detection device (20), determining the fire extinguishing position of the fire-fighting robot (40) based on the fire source position, and sending a first robot control command containing the fire extinguishing position; the fire-fighting robot (40) is used for moving to a fire-fighting position based on a first robot control command, carrying out fire-fighting operation aiming at a fire source, and avoiding adopting a fire monitor in fixed arrangement, so that the cost is reduced, the fire-fighting efficiency is improved, the power loss of the fire-fighting robot is saved, and the safety of the fire-fighting robot is improved.
Description
The invention relates to the technical field of robots, in particular to a fire extinguishing system, a server, a fire fighting robot and a fire extinguishing method.
When a fire occurs, the earlier the fire is found and suppressed, the safer it is. In order to find and extinguish fires in unattended operating environments such as garages, factory buildings, and the like, automatic fire suppression systems may be deployed. Automatic fire extinguishing systems typically have a fire source detection function, a fire source locating function, and a fire extinguishing function. A fire source detection function for detecting occurrence of a fire condition; the fire source positioning function is used for calculating the specific position of the fire source; the fire extinguishing function is used for extinguishing fire.
Fire fighting robots are increasingly used in the field of fire fighting. How to use the fire fighting robot in the automatic fire extinguishing system is a research focus. Currently, there are two main methods to build automatic fire extinguishing systems. The first method uses a fire monitor having an infrared laser fire detection function, which is fixed to a high point (e.g., a high wall or a pillar) and can automatically detect and extinguish a fire. The second method is to place the fire monitor on an inspection robot, which continuously inspects the entire workplace in a prescribed path. If a fire breaks out, the fire monitor on the inspection robot will extinguish the fire.
The disadvantages of the first method are: fire monitor range is usually limited (e.g. only 30 to 50 meters), and a single fire monitor covers only a small area, so that in a large environment more fire monitors need to be deployed, which results in a huge cost. The disadvantages of the second method are: the inspection robot needs to continuously move, and the electric power is often insufficient. Moreover, when the inspection robot is charged, a time window which cannot execute fire-fighting work exists, so that potential safety hazards are brought.
Disclosure of Invention
The embodiment of the invention provides a fire extinguishing system, a server, a fire fighting robot and a fire extinguishing method.
The technical scheme of the embodiment of the invention is as follows:
a fire suppression system, comprising:
a fire source detecting device arranged at a fixed position of the monitoring area for detecting a fire source in the monitoring area;
the server is used for determining the fire source position based on the detection parameters provided by the fire source detection device, determining the fire extinguishing position of the fire-fighting robot based on the fire source position, and sending a first robot control command containing the fire extinguishing position;
and the fire-fighting robot is used for moving to the fire-fighting position based on the first robot control command and executing fire-fighting operation aiming at the fire source.
Therefore, the embodiment of the invention does not adopt a fixedly arranged fire monitor, thereby reducing the cost and improving the fire extinguishing efficiency. In addition, the fire-fighting robot in the embodiment of the invention does not need to move continuously, so that the power loss of the fire-fighting robot is saved, a time window that the fire-fighting work cannot be executed is avoided, and the fire-fighting safety is improved.
In one embodiment, the fire source detection device includes:
the holder can be adjusted;
the camera is arranged on the adjustable holder and used for detecting a fire source;
the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source;
a communication module, configured to send the detection parameter, where the detection parameter includes at least one of:
the distance; the pitch angle of the camera (pitch angle), the yaw angle of the camera (yaw angle), and the scene of a fire.
Therefore, the embodiment of the invention also provides a specific structure of the fire source detection device, which is convenient to implement. Moreover, the detection parameters facilitate the determination of the location of the fire source and the fire field range.
In one embodiment, the server is used for receiving a two-dimensional navigation map of a monitoring area from the fire-fighting robot, and determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera and the yaw angle of the camera; wherein:
x＝X–D*sin(α)*cos(β)；
y＝Y–D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
Therefore, the embodiment of the invention can conveniently determine the position of the fire source based on the distance, the pitch angle of the camera and the yaw angle of the camera, has simple and convenient calculation process and can quickly position the fire source.
In one embodiment, the server is used for determining a fire scene range in the two-dimensional navigation map based on a fire scene picture, and determining the fire extinguishing position based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot.
Therefore, the fire scene range in the two-dimensional navigation map can be determined based on the fire scene picture, and the safe and effective fire extinguishing distance can be determined based on the fire scene range and the maximum fire extinguishing distance of the fire-fighting robot, so that the fire extinguishing effect is ensured, and the safety of the fire-fighting robot is improved.
A server, comprising:
the communication module is used for receiving detection parameters from the fire source detection device;
the fire source position determining module is used for determining the position of the fire source based on the detection parameters;
the fire extinguishing position determining module is used for determining a fire extinguishing position of the fire fighting robot based on the fire source position;
a sending module for sending a first robot control command including the fire extinguishing location to a fire-fighting robot, so that the fire-fighting robot moves to the fire extinguishing location based on the first robot control command and extinguishes a fire with respect to the fire source;
wherein the fire detection device is arranged at a fixed position of the surveillance area for detecting a fire in the surveillance area.
Therefore, the embodiment of the invention provides a server for fire extinguishing operation, which reduces the cost and improves the fire extinguishing efficiency. In addition, the embodiment of the invention saves the power loss of the fire-fighting robot, also avoids the time window that the fire-fighting work cannot be executed, and improves the fire-fighting safety.
In one embodiment, the fire source detecting device includes: the holder can be adjusted; the camera is arranged on the adjustable holder and used for detecting a fire source; the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source; a communication module, configured to send the detection parameters, wherein the detection parameters include at least one of: the distance; a pitch angle of the camera; a yaw angle of the camera; a fire scene picture;
the fire source position determining module is used for receiving a two-dimensional navigation map of a monitoring area from the fire-fighting robot, and determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera and the yaw angle of the camera; wherein:
x＝X–D*sin(α)*cos(β)；
y＝Y–D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
Therefore, the server provided by the embodiment of the invention can conveniently determine the position of the fire source based on the distance, the pitch angle of the camera and the yaw angle of the camera, is simple and convenient in calculation process, and can quickly position the fire source.
In one embodiment, the fire extinguishing location determining module is configured to determine a fire scene range in a two-dimensional navigation map based on a fire scene picture, and determine the fire extinguishing location based on the fire scene range, a maximum fire extinguishing distance of a fire-fighting robot, and a fire source location, wherein the fire extinguishing location is not located in the fire scene range, and a distance between the fire extinguishing location and the fire source location is not greater than the maximum fire extinguishing distance of the fire-fighting robot.
Therefore, the server provided by the embodiment of the invention can also determine the fire scene range in the two-dimensional navigation map based on the fire scene picture, and determine the safe and effective fire extinguishing distance based on the fire scene range and the maximum fire extinguishing distance of the fire-fighting robot, so that the fire extinguishing effect is ensured, and the safety of the fire-fighting robot is improved.
A fire fighting robot comprising:
a communication module for receiving a first robot control command including a fire extinguishing location of the fire fighting robot from the server;
a movement module to move to the fire suppression location based on the first robotic control command;
a fire extinguishing module for performing fire extinguishing with respect to the fire source;
wherein the server determines a location of the fire source based on detection parameters provided by fire source detection means arranged at fixed locations of the surveillance area for detecting the fire source in the surveillance area, the location of the fire being determined based on the location of the fire source.
Therefore, the embodiment of the invention provides the fire-fighting robot, which reduces the cost and improves the fire-fighting efficiency. In addition, the embodiment of the invention saves the power loss of the fire-fighting robot, also avoids the time window that the fire-fighting work cannot be executed, and improves the fire-fighting safety.
In one embodiment of the method of the present invention,
the fire source detection device includes: the holder can be adjusted; the camera is arranged on the adjustable holder and used for detecting a fire source; the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source; a communication module, configured to send the detection parameter, where the detection parameter includes at least one of: the distance; a pitch angle of the camera; a yaw angle of the camera; a fire scene picture;
the communication module is further used for sending a two-dimensional navigation map of the monitored area determined based on an automatic navigation mode to the server, so that the server determines coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera and the yaw angle of the camera; wherein:
x＝X–D*sin(α)*cos(β)；
y＝Y–D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
Therefore, the fire-fighting robot provided by the embodiment of the invention can provide a two-dimensional navigation map of a monitoring area for the server, so that the server can conveniently determine the position of a fire source. Moreover, the fire-fighting robot provided by the embodiment of the invention does not need to move continuously, so that the power loss of the fire-fighting robot is also saved, and the safety of the fire-fighting robot is improved.
A method of extinguishing a fire comprising:
enabling a fire source detection device disposed at a fixed location of the surveillance area to detect a fire source in the surveillance area;
determining the position of the fire source based on the detection parameters provided by the fire source detection device;
determining a fire extinguishing position of the fire-fighting robot based on the fire source position;
sending a first robot control command including the fire suppression location, thereby moving to the fire suppression location by a fire fighting robot based on the first robot control command and performing a fire suppression operation for the fire source.
Therefore, the embodiment of the invention does not adopt a fixedly arranged fire monitor, thereby reducing the cost and improving the fire extinguishing efficiency. In addition, the fire-fighting robot in the embodiment of the invention does not need to move continuously, so that the power loss of the fire-fighting robot is saved, a time window that the fire-fighting work cannot be executed is avoided, and the fire-fighting safety is improved.
In one embodiment, the fire source detection device includes: the holder can be adjusted; the camera is arranged on the adjustable holder and is used for detecting a fire source; the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source; a communication module, configured to send the detection parameter, where the detection parameter includes at least one of: the distance; a pitch angle of the camera; a yaw angle of the camera; a fire scene picture;
the determining the location of the fire source based on the detection parameters provided by the fire source detection device comprises:
receiving a two-dimensional navigation map of a surveillance area from a fire fighting robot;
determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, a pitch angle of the camera and a yaw angle of the camera; wherein:
x＝X–D*sin(α)*cos(β)；
y＝Y–D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
Therefore, the embodiment of the invention can conveniently determine the position of the fire source based on the distance, the pitch angle of the camera and the yaw angle of the camera, has simple and convenient calculation process and can quickly position the fire source.
In one embodiment, the determining the fire extinguishing location of the fire fighting robot based on the location of the fire source comprises:
determining a fire scene range in the two-dimensional navigation map based on the fire scene picture;
the fire extinguishing position is determined based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot.
Therefore, the fire scene range in the two-dimensional navigation map can be determined based on the fire scene picture, and the safe and effective fire extinguishing distance can be determined based on the fire scene range and the maximum fire extinguishing distance of the fire-fighting robot, so that the fire extinguishing effect is ensured, and the safety of the fire-fighting robot is improved.
In one embodiment, the movement of the fire fighting robot to the fire fighting location based on the first robot control command comprises: the fire fighting robot in charging mode moves from a charging position to the fire extinguishing position based on the first robot control command; the method further comprises the following steps:
after the fire fighting robot performs a fire extinguishing operation, a second robot control command instructing the fire fighting robot to move to the charging position is sent, thereby being moved to the charging position by the fire fighting robot based on the second robot control command and entering a charging mode.
Therefore, the fire-fighting robot in the embodiment of the invention is not required to move continuously and is in the charging position for a long time, so that the power loss of the fire-fighting robot is saved, a time window that fire-fighting work cannot be executed is avoided, and the fire-fighting safety is improved.
A server comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a fire fighting method as defined in any one of the above.
Therefore, the embodiment of the invention also provides a server with a memory-processor architecture, which comprises a computer program for implementing the fire extinguishing method.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of extinguishing a fire as defined in any one of the above.
It can be seen that in an embodiment of the present invention, there is also provided a computer-readable storage medium containing a computer program for implementing the above fire extinguishing method.
Fig. 1 is a block diagram showing the construction of a fire extinguishing system according to an embodiment of the present invention.
Fig. 2 is a block diagram illustrating an exemplary structure of a fire extinguishing system according to an embodiment of the present invention.
Fig. 3 is a schematic view of calculating the location of a fire source and the location of a fire extinguishing in accordance with an embodiment of the present invention.
Fig. 4 is a flow chart of a fire extinguishing method according to an embodiment of the present invention.
Fig. 5 is an exemplary flow diagram of a fire suppression method according to an embodiment of the invention.
FIG. 6 is a block diagram of an exemplary architecture of a server having a memory-processor architecture according to an embodiment of the present invention.
Wherein the reference numbers are as follows:
| 10 | |
| 20 | Fire |
| 30 | |
| 40 | Fire-fighting |
| 21 | |
| 22 | |
| 23 | |
| 24 | |
| 31 | |
| 32 | Fire source |
| 33 | Fire suppression |
| 34 | |
| 41 | |
| 42 | |
| 43 | |
| 44 | |
| 45 | |
| 400 | |
| 401～404 | Step (ii) of |
| 500～511 | Step (ii) of |
| 600 | |
| 601 | Processor with a memory having a plurality of |
| 602 | Memory device |
In order to make the technical scheme and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
For simplicity and clarity of description, the invention will be described below by describing several representative embodiments. Numerous details of the embodiments are set forth to provide an understanding of the principles of the invention. It will be apparent, however, that the invention may be practiced without these specific details. Some embodiments are not described in detail, but rather are merely provided as frameworks, in order to avoid unnecessarily obscuring aspects of the invention. Hereinafter, "comprising" means "including but not limited to", "according to '8230;' 8230;" means "according to at least '8230;' 8230;, but not limited to only according to '8230;' 8230;". In view of the language convention of chinese, the following description, when it does not specifically state the number of a component, means that the component may be one or more, or may be understood as at least one.
A Robot (Robot) is a machine device capable of automatically performing work. The intelligent robot can accept human command, run pre-programmed program and perform actions according to the principle set by artificial intelligence technology. The fire-fighting robot is one kind of robot and plays an important role in fire extinguishing and emergency rescue. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like to carry out fire-fighting work.
The embodiment of the invention provides a fire extinguishing system for controlling a fire-fighting robot to perform fire extinguishing work.
Fig. 1 is a block diagram showing the construction of a fire extinguishing system according to an embodiment of the present invention.
As shown in fig. 1, a fire suppression system 10 includes:
a fire source detecting device 20 disposed at a fixed position of the monitoring area for detecting a fire source in the monitoring area;
the server 30 is used for determining the fire source position based on the detection parameters provided by the fire source detection device 20, determining the fire extinguishing position of the fire-fighting robot 40 based on the fire source position, and sending a first robot control command containing the fire extinguishing position;
and a fire fighting robot 40 for moving to a fire extinguishing location based on the first robot control command and performing a fire extinguishing operation with respect to the fire source.
In one embodiment, the fire fighting robot 40 has an automatic navigation module (not shown in fig. 1). In the parameter setting stage of the fire extinguishing system 10, the automatic navigation module of the fire fighting robot 40 enables automatic navigation of the fire fighting robot 40 in a monitored area (e.g., a garage, a factory building, a warehouse, etc.) and draws a two-dimensional navigation map of the monitored area. The fire fighting robot 40 transmits the two-dimensional navigation map to the server 30 based on a wired interface or a wireless interface with the server 30. Alternatively, the server 30 may obtain a two-dimensional navigation map of the monitored area from another source (e.g., a dedicated navigation map server).
For example, the auto-navigation module may be implemented as a Visual SLAM module. Visual SLAM is a computer vision-based technology, and the principle is that a Visual camera is used for shooting surrounding images, then the position and the direction of the surrounding environment are calculated, namely, the unknown environment is subjected to map construction, and therefore automatic navigation of the fire-fighting robot can be achieved.
The above exemplary description describes a typical example of an automatic navigation module, and those skilled in the art will appreciate that this description is merely exemplary and is not intended to limit the scope of embodiments of the present invention.
A fire source detection device 20, disposed at a fixed location in the surveillance area, such as on a high wall or column, continuously detects a fire source in the surveillance area.
Preferably, the fire source detection device 20 may be implemented as a camera (e.g., an infrared camera or a thermal infrared imager) including an adjustable pan-tilt and ranging functionality (e.g., laser ranging, ultrasonic ranging, etc.). By adjusting the holder, the camera can scan the surveillance area in a full range. The camera monitors the temperature in the surveillance area to determine if a fire source is present. When a fire source is present, the fire source detecting device 20 determines the distance to the fire source based on the ranging function. Since the camera judges a fire by detecting temperature, a hidden fire in the monitored area can also be detected. In general, the maximum detection range of the camera and the ranging function exceeds 300 meters, so that a large-area monitoring area can be covered.
The server 30 may be arranged in the monitoring area, in a peripheral area of the monitoring area, or in the cloud. The server 30 communicates with the fire source detection device 20 and with the fire fighting robot 40 through a wired interface or a wireless interface.
For example, the wired interface includes at least one of: a universal serial bus interface, a controller area network interface, a serial port, etc.; the wireless interface includes at least one of: infrared interface, near field communication interface, bluetooth interface, zigbee interface, wireless broadband interface, third generation mobile communication interface, fourth generation mobile communication interface, fifth generation mobile communication interface, and so on.
While the above exemplary description describes typical examples of wired and wireless interfaces, those skilled in the art will appreciate that this description is by way of example only, and is not intended to limit the scope of embodiments of the present invention.
The server 30 controls the pan/tilt head of the fire source detection device 20 so that the camera of the fire source detection device 20 periodically scans the entire monitoring area. When the fire source detection device 20 detects a fire, the server 30 reads the pitch angle, the yaw angle and the fire source distance of the fire source detection device 20 at that time, and calculates the coordinates of the fire source in the two-dimensional navigation map. Further, the server calculates a fire extinguishing position of the fire fighting robot 40 based on the fire source coordinates in consideration of the safety and the fire extinguishing efficiency of the fire fighting robot 40, and transmits a first robot control command including the fire extinguishing position to the fire fighting robot.
Normally, the fire fighting robot 40 is charged at a charging point and stands by to wait for a control command from the server 30. When the fire robot 40 receives the first robot control command from the server 30, the fire robot moves to a fire extinguishing position and extinguishes a fire. After the fire extinguishing is completed, the fire fighting robot 40 returns to the charging point and is charged again and stands by.
By way of example, the fire fighting robot 40 includes: a movable platform; the liquid storage barrel is arranged on the movable platform and is suitable for storing fire-fighting media; a carriage mounted on the movable platform and having N degrees of freedom, wherein N is a positive integer of at least 2; and the nozzle is fixed on the bracket and is adapted to spray the fire-fighting medium in the liquid storage barrel so as to extinguish fire.
The above exemplary description describes a typical configuration of the fire fighting robot 40, and those skilled in the art will appreciate that this description is merely exemplary and is not intended to limit the scope of the embodiments of the present invention.
Based on the above description, fig. 2 is a block diagram illustrating an exemplary structure of a fire extinguishing system according to an embodiment of the present invention.
The fire source detecting device 20 is disposed at a fixed position of the monitoring area for detecting a fire source in the monitoring area.
Specifically, the fire source detection device 20 includes:
(1.1) an adjustable cradle head 23, which can move left and right/up and down;
(1.2), a camera 21 (for example, an infrared thermal imaging camera) arranged on the adjustable holder 23 for detecting a fire source;
(1.3), a distance sensor 22 (e.g., a laser ranging sensor) disposed on the adjustable pan-tilt 23 or the camera 21 for detecting a distance to the fire source;
(1.4), a communication module 24, configured to send detection parameters to the server 30 when the fire source is detected by the camera 21, where the detection parameters include at least one of the following: the distance to the fire source detected by the distance sensor 22; the pitch angle of the camera 21; yaw angle of the camera 21; pictures of the fire scene taken by the camera 21, etc.
The server 30 may be arranged in the monitoring area, in a peripheral area of the monitoring area, or in the cloud.
Specifically, the server 30 includes:
(2.1), a communication module 31 for receiving detection parameters from the communication module 24 of the fire source detection device 20;
(2.2) a fire source position determining module 32 for determining the position of the fire source based on the detection parameters;
(2.3) a fire extinguishing position determining module 33 for determining a fire extinguishing position of the fire fighting robot 40 based on the location of the fire source;
(2.4), a sending module 34 for sending a first robot control command containing a fire extinguishing location to the fire fighting robot 40, so that the fire fighting robot 40 moves to the fire extinguishing location based on the first robot control command and performs fire extinguishing with respect to the fire source.
The fire fighting robot 40 may be arranged in the monitoring area, or in a peripheral area of the monitoring area. Preferably, the fire fighting robot 40 is disposed at the charging position.
Specifically, the fire fighting robot 40 includes:
(3.1), a communication module 41 for receiving from the server 30 a first robot control command containing a fire fighting location of the fire fighting robot 40;
(3.2), a movement module 42 for moving to the fire suppression location based on a first robot control command;
(3.3) a fire extinguishing module 43 for performing fire extinguishing with respect to the fire source.
In an embodiment of the invention, the parameter setting process of the fire extinguishing system comprises: (a): the fire fighting robot 40 scans the entire monitoring area using the automatic navigation function to draw a two-dimensional navigation map of the monitoring area. (b): the coordinate points of the camera 21 are recorded into a two-dimensional navigation map. (c): the maximum fire-extinguishing distance (i.e., the maximum range) of the fire-fighting robot 40 is recorded. Then, the above parameters are input into the server 30.
In one embodiment, an automatic navigation module is embedded in the movement module 42 of the fire fighting robot 40. The automatic navigation module is used for realizing the automatic navigation of the fire-fighting robot 40 in the monitored area and drawing a two-dimensional navigation map of the monitored area. The communication module 41 of the fire fighting robot 40 transmits the two-dimensional navigation map to the communication module 31 of the server 30.
The server 30 can make the camera 21 of the fire source detection device 20 periodically scan the whole monitoring area by controlling the adjustable cradle head 23 of the fire source detection device 20. When the camera 21 detects a fire, the distance sensor 22 detects the distance to the fire source. The communication module 31 of the server 30 reads the pitch angle and yaw angle of the camera 21 and the distance detected by the distance sensor 22 when the camera 21 detects a fire, and the fire source position determination module 32 of the server 30 calculates the coordinates of the fire source in the two-dimensional navigation map. In addition, the fire extinguishing position determining module 33 of the server 30 calculates a fire extinguishing position of the fire fighting robot 40 in consideration of the safety and the fire extinguishing efficiency of the fire fighting robot 40, and transmits a first robot control command including the fire extinguishing position to the communication module 41 of the fire fighting robot 40.
In one embodiment, the fire source location determination module 32 is configured to receive a two-dimensional navigation map of the monitored area from the fire fighting robot 40, determine coordinates (x, y) of the fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera 21, and the yaw angle of the camera 21; wherein:
x＝X–D*sin(α)*cos(β)；
y＝Y–D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device 20 in the two-dimensional navigation map; y is the ordinate of the fire source detection device 20 in the two-dimensional navigation map; d is the distance between the camera 21 and the fire source; α is the pitch angle of the camera 21; β is the yaw angle of the camera 21.
In one embodiment, when the camera 21 of the fire source detection device 20 detects an open fire, the camera 21 takes a picture of the fire scene. Then, the communication module 24 of the fire source detection device 20 transmits the fire scene photograph to the communication module 31 of the server 30. And the fire extinguishing position determining module 33 of the server 30 is used for determining a fire scene range in the two-dimensional navigation map based on the fire scene picture, and determining a fire extinguishing position based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot 40 and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot 40.
It can be seen that when an open fire is detected, the fire extinguishing position determined by the embodiment of the present invention is not located in the fire scene range, ensuring the safety of the fire-fighting robot 40. Moreover, the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot 40, thereby also ensuring that the fire-fighting robot 40 can directly extinguish a fire to the fire source.
In one embodiment, when the camera 21 of the fire source detection device 20 does not detect an open fire, the camera 21 preferably does not take a picture. At this time, the fire extinguishing position determining module 33 of the server 30 is configured to determine a fire extinguishing position based on the maximum fire extinguishing distance of the fire-fighting robot 40 and the fire source position, where the fire extinguishing position is close enough to the fire source position (for example, the distance between the fire extinguishing position and the fire source position is less than or equal to a predetermined value, and the predetermined value is less than the maximum fire extinguishing distance).
It can be seen that when a blind fire is detected, the distance between the fire extinguishing position and the fire source position determined by the embodiment of the invention is close enough, thereby ensuring that the fire-fighting robot 40 can directly extinguish the fire with high efficiency.
Fig. 3 is a schematic view of calculating the location of a fire source and the location of a fire extinguishing in accordance with an embodiment of the present invention.
The main functions of the server 30 include:
(1): calculating the coordinates of the fire source
The main function of the server 30 is to calculate the coordinate points of the fire source from a two-dimensional navigation map automatically navigated by the fire fighting robot 40. The pan-tilt in the fire source detection device 20 provides the server 30 with the pitch angle and yaw angle of the camera 21 when the camera in the fire source detection device 20 finds a fire source, assuming α and β, respectively. The distance sensor in the fire source detection device 20 provides the server 30 with the distance between the camera and the fire source, assumed to be D meters. In the system setup phase, the server 30 knows the coordinate point (X, Y) of the camera in the two-dimensional navigation map.
The server 30 determines the coordinates (x, y) of the fire source in the two-dimensional navigation map; wherein:
x＝X–Δx＝X–d*cos(β)＝X–D*sin(α)*cos(β)；
y＝Y–Δy＝Y–d*sin(β)＝Y-D*sin(α)*sin(β)；
wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance from the camera to the fire source determined by the distance sensor; alpha is the pitch angle of the camera; beta is the yaw angle of the camera; d is the distance between the coordinate point (X, Y) and the coordinate point (X, Y) in the two-dimensional navigation map. Δ X is the difference between X and X; Δ Y is the difference between Y and Y.
(2) Safety ring for calculating fire-fighting robot 40
The server 30 may calculate the safety band 45 of the fire-fighting robot according to the maximum range of the fire-fighting robot and the scene of a fire picture acquired from the camera. The fire extinguishing location needs to be located outside the safety ring 45 in order to ensure the safety of the robot. For example, the safety band 45 may be embodied as a peripheral contour of a fire field area determined based on a fire scene picture or as a circle containing the fire field area. The fire extinguishing position is not located at the safety ring 45 to ensure the safety of the robot, and the distance from the fire extinguishing position to the fire source position is not more than the maximum fire extinguishing distance of the fire fighting robot 40, thereby ensuring the effectiveness of fire extinguishing.
The fire fighting robot 40 is normally charged at the charging location 44 and stands by to wait for a control command from the server 30. When the fire robot 40 receives the first robot control command from the server 30, the fire robot 40 moves to a fire extinguishing position and extinguishes a fire. After the fire extinguishing is completed, the fire fighting robot 40 returns to the charging position 44 and is charged again and stands by.
The following describes a typical example of calculating the location of the fire source and the location of the fire to be extinguished by way of example in accordance with an embodiment of the present invention.
Assume that the coordinate point of the camera on the two-dimensional navigation map is (100, 200). The maximum cannon range of the fire-fighting robot is 40 meters. When the camera reports a fire alarm, the camera has a pitch angle α =30 degrees and a yaw angle β =60 degrees. The ranging sensor reports a distance D of 100 meters to the server 30.
Then, the server 30 may calculate the fire source coordinates:
x＝100–100*sin(30°)*cos(60°)＝75；
y＝200–100*sin(30°)*sin(60°)＝156.7；
the fire source coordinate is therefore (75, 156.7).
Moreover, the radius of the safety circle calculated by the server 30 is 20 meters based on the range of the fire scene, which can protect the robot and extinguish the fire as much as possible. The server gives the best position to extinguish the fire is (75, 176.7). Then, the server 30 transmits a fire extinguishing instruction including the optimal position (75, 176.7) to the fire fighting robot 40. Upon request, the fire fighting robot 40 will move to coordinates (75, 176.7) and begin fighting the fire. When the fire is eliminated, the fire fighting robot 40 sends a response to the server 30, and then the fire fighting robot 40 returns to the charging area. The server 30 enters the loop again.
Based on the above description, the embodiment of the invention also provides a fire extinguishing method.
Fig. 4 is a flow chart of a fire extinguishing method according to an embodiment of the present invention.
As shown in fig. 4, the method includes:
step 401: a fire source detection device arranged at a fixed position of the surveillance area is enabled to detect a fire source in the surveillance area.
Step 402: and determining the position of the fire source based on the detection parameters provided by the fire source detection device.
Step 403: and determining the fire extinguishing position of the fire-fighting robot based on the fire source position.
Step 404: sending a first robot control command including a fire suppression location, thereby moving to the fire suppression location by a fire fighting robot based on the first robot control command and performing a fire suppression operation for a fire source.
In one embodiment, a fire source detection device includes: the holder can be adjusted; the camera is arranged on the adjustable holder and is used for detecting a fire source; the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source; a communication module, configured to send the detection parameters, where the detection parameters include at least one of: the distance; a pitch angle of the camera; a yaw angle of the camera; a fire scene picture; determining the location of the fire source based on the detection parameters provided by the fire source detection device in step 402 includes: receiving a two-dimensional navigation map of a surveillance area from a fire fighting robot; determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, a pitch angle of the camera, and a yaw angle of the camera; wherein: x = X-D sin (α) cos (β); y = Y-D sin (α) sin (β); wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
In one embodiment, the determining the fire extinguishing location of the fire fighting robot based on the location of the fire source in step 403 comprises:
determining a fire scene range in a two-dimensional navigation map based on the fire scene picture; the fire extinguishing position is determined based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot.
Based on the system architecture shown in fig. 1 and the method flow shown in fig. 4, fig. 5 is an exemplary flow chart of a fire extinguishing method according to an embodiment of the present invention. The fire fighting robot 40 is located in the charging area by default, and waits for a request from the server 30. The server 30 controls the pan and tilt head so that the camera periodically scans the entire monitoring area. If the server 30 gets a fire alarm report from the camera: (1): moving the holder to enable the fire source to be positioned at the center of the image of the camera; 2) Reading the distance between the fire source and the laser; (3) Reading the pitch angle and the yaw angle of the camera from the holder; (4) Calculating a coordinate point of the fire source in a two-dimensional navigation map; (5) Calculating a safety ring of the fire-fighting robot 40, and determining a fire extinguishing position overlapped with the safety ring or outside the safety ring; (6) Sending a fire extinguishing request with a fire extinguishing position to the fire-fighting robot 40; (7) waiting for the response of the fire-fighting robot 40; (8) And enters the cycle again after receiving a response from the fire fighting robot 40. The fire fighting robot 40 receives a fire fighting request from the server 30, moves to a fire fighting location, and extinguishes a fire. After extinguishing the fire, the fire fighting robot 40 sends a completion response to the server 30 and returns to the charging zone again for charging.
Specifically, as shown in fig. 5, the fire extinguishing method includes:
step 500: the fire fighting robot 40 stands by at the charging position, waiting for a command issued by the server 30.
Step 501: the server 30 sends a pan/tilt control command to the fire source detection device 20, where the pan/tilt control command is used to control the pan/tilt in the fire source detection device 20 to move periodically.
Step 502: the pan-tilt in the fire detection device 20 executes the pan-tilt control command so that the cameras in the fire detection device 20, which are arranged on the pan-tilt, periodically scan the entire surveillance area.
Step 503: the camera in the fire source detection device 20 finds the fire source based on temperature detection, and sends an alarm message to the server 30.
Step 504: the server 30 sends a pan-tilt control instruction to the fire source detection device 20, the pan-tilt control instruction being used to move the pan-tilt so that the fire source is located at the center of the image taken by the camera.
Step 505: the server 30 reads the distance between the camera and the fire source, which is acquired by the ranging sensor disposed on the pan/tilt head.
Step 506: the server 30 reads the pitch angle and yaw angle of the camera from the pan/tilt head.
Step 507: the server 30 calculates the coordinates of the fire source in the two-dimensional navigation map based on the distance between the camera and the fire source, the pitch angle and the yaw angle of the camera, and the coordinates of the fire source detection device 20 in the two-dimensional navigation map.
Step 508: the server 30 calculates the safety circle of the fire-fighting robot 40, determines the fire-fighting position that coincides with the safety circle or is outside the safety circle, and sends a movement command including the fire-fighting position to the fire-fighting robot 40.
Step 509: the fire fighting robot 40 moves to a fire extinguishing distance and performs a fire extinguishing work.
Step 510: the server 30 starts the next cycle and returns to step 500.
Based on the above description, the embodiment of the invention also provides a server with a memory-processor architecture.
FIG. 6 is a block diagram of an exemplary architecture of a server having a memory-processor architecture according to an embodiment of the present invention.
As shown in fig. 6, the server 600 comprises a processor 601, a memory 602 and a computer program stored on the memory 602 and being executable on the processor 601, the computer program, when executed by the processor 601, implementing the fire fighting method according to any of the above.
The memory 602 may be implemented as various storage media such as an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash memory (Flash memory), and a Programmable Read Only Memory (PROM). The processor 601 may be implemented to include one or more central processors or one or more field programmable gate arrays that integrate one or more central processor cores. In particular, the central processor or central processor core may be implemented as a CPU or MCU or DSP, etc.
In conclusion, the embodiment of the invention does not adopt a fixedly arranged fire monitor, thereby reducing the cost and improving the fire extinguishing efficiency. In addition, the embodiment of the invention saves the power loss of the fire-fighting robot and improves the safety of the fire-fighting robot. The embodiment of the invention can ensure that the fire monitoring is not interrupted, and the fire extinguishing robot has enough energy to extinguish the fire when the fire breaks out, thereby providing a safe area for the fire extinguishing robot to extinguish the fire.
It should be noted that not all steps and modules in the above flows and structures are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., a special purpose processor such as an FPGA or ASIC) for performing specific operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general-purpose processor or other programmable processor) that are temporarily configured by software to perform certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.
The invention also provides a machine-readable storage medium storing instructions for causing a machine to perform a method as described herein. Specifically, a system or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program code stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments may also be implemented by writing the program code read out from the storage medium to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code.
Embodiments of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer or the cloud by a communication network.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative. For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. Moreover, in the interest of brevity and understanding, only one of the components having the same structure or function is illustrated schematically or designated in some of the drawings. In this document, "a" does not mean that the number of the relevant portions of the present invention is limited to "only one", and "a" does not mean that the number of the relevant portions of the present invention "more than one" is excluded. In this document, "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
- A fire suppression system (10), comprising:a fire source detecting device (20) disposed at a fixed position of the monitoring area for detecting a fire source in the monitoring area;the server (30) is used for determining the fire source position based on the detection parameters provided by the fire source detection device (20), determining the fire extinguishing position of the fire fighting robot (40) based on the fire source position, and sending a first robot control command containing the fire extinguishing position;a fire fighting robot (40) for moving to the fire extinguishing location based on the first robot control command and performing a fire extinguishing operation with respect to the fire source.
- Fire suppression system (10) according to claim 1,the fire source detection device (20) comprises:an adjustable head (23);the camera (21) is arranged on the adjustable holder (23) and is used for detecting a fire source;a distance sensor (22) arranged on the adjustable head (23) or the camera (21) for detecting the distance to the fire source;a communication module (24) for transmitting the detection parameters, wherein the detection parameters include at least one of:the distance; a pitch angle of the camera (21); a yaw angle of the camera (21); and (5) fire scene pictures.
- The fire suppression system (10) of claim 2,a server (30) for receiving a two-dimensional navigation map of a monitored area from a fire fighting robot (40), determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, a pitch angle of a camera (21) and a yaw angle of the camera (21); wherein:x＝X–D*sin(α)*cos(β)；y＝Y–D*sin(α)*sin(β)；wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device (20) in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device (20) in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
- Fire extinguishing system (10) according to claim 2 or 3,the server (30) is used for determining a fire scene range in the two-dimensional navigation map based on a fire scene picture, and determining the fire extinguishing position based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot (40) and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not larger than the maximum fire extinguishing distance of the fire-fighting robot (40).
- A server (30), comprising:a communication module (31) for receiving detection parameters from the fire source detection device (20);a fire source position determination module (32) for determining a fire source position based on the detection parameters;a fire extinguishing position determining module (33) for determining a fire extinguishing position of the fire fighting robot (40) based on the fire source position;a sending module (34) for sending a first robot control command containing the fire extinguishing location to a fire fighting robot (40), so that the fire fighting robot (40) moves to the fire extinguishing location based on the first robot control command and performs fire extinguishing with respect to the fire source;wherein the fire detection device (20) is arranged at a fixed position in the surveillance area for detecting a fire source in the surveillance area.
- The server (30) of claim 5,the fire source detection device (20) comprises: an adjustable pan-tilt (23); a camera (21) arranged on the adjustable holder (23) for detecting a fire source; a distance sensor (22) arranged on the adjustable pan-tilt (23) or the camera (21) for detecting the distance to the fire source; a communication module (24) for transmitting the detection parameters, wherein the detection parameters include at least one of: the distance; a pitch angle of the camera (21); a yaw angle of the camera (21); a fire scene picture;wherein the fire source position determining module (32) is used for receiving a two-dimensional navigation map of a monitoring area from the fire-fighting robot (40), and determining coordinates (x, y) of the fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera (21) and the yaw angle of the camera (21); wherein:x＝X–D*sin(α)*cos(β)；y＝Y–D*sin(α)*sin(β)；wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device (20) in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device (20) in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
- The server (30) of claim 5 or 6,a fire extinguishing position determining module (33) for determining a fire scene range in the two-dimensional navigation map based on the fire scene picture, determining the fire extinguishing position based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot (40) and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot (40).
- A fire fighting robot (40), comprising:a communication module (41) for receiving from the server (30) a first robot control command containing a fire fighting location of the fire fighting robot (40);a movement module (42) for moving to the fire suppression location based on the first robot control command;a fire extinguishing module (43) for performing a fire extinguishing with respect to the fire source;wherein the server (30) determines a location of the fire source based on detection parameters provided by a fire source detection device (20) arranged at a fixed location of the surveillance area for detecting the fire source in the surveillance area, the location of the fire being determined based on the location of the fire source.
- A fire fighting robot (40) according to claim 8,the fire source detection device (20) includes: an adjustable pan-tilt (23); a camera (21) arranged on the adjustable holder (23) for detecting a fire source; a distance sensor (22) arranged on the adjustable head (23) or the camera (21) for detecting the distance to the fire source; a communication module (24) for transmitting the detection parameters, wherein the detection parameters include at least one of: the distance; a pitch angle of the camera (21); a yaw angle of the camera (21); a fire scene picture;the communication module (41) is further used for sending a two-dimensional navigation map of the monitored area determined based on the automatic navigation mode to the server (30), so that the server (30) determines coordinates (x, y) of the fire source in the two-dimensional navigation map based on the distance, the pitch angle of the camera (21) and the yaw angle of the camera (21); wherein:x＝X–D*sin(α)*cos(β)；y＝Y–D*sin(α)*sin(β)；wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device (20) in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device (20) in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
- A method of extinguishing a fire (400), comprising:enabling a fire source detection device arranged at a fixed position of the surveillance area to detect a fire source (401) in the surveillance area;determining a location of the fire source based on detection parameters provided by the fire source detection device (402);determining a fire extinguishing position of the fire-fighting robot based on the fire source position (403);sending a first robot control command including the fire suppression location, thereby moving to the fire suppression location by a fire fighting robot based on the first robot control command and performing a fire suppression operation for the fire source (404).
- The method (400) of extinguishing a fire according to claim 10,the fire source detection device includes: the holder can be adjusted; the camera is arranged on the adjustable holder and used for detecting a fire source; the distance sensor is arranged on the adjustable holder or the camera and is used for detecting the distance between the distance sensor and a fire source; a communication module, configured to send the detection parameter, where the detection parameter includes at least one of: the distance; a pitch angle of the camera; a yaw angle of the camera; a fire scene picture;the determining (402) the location of the fire source based on the detection parameters provided by the fire source detection device comprises:receiving a two-dimensional navigation map of a surveillance area from a fire fighting robot;determining coordinates (x, y) of a fire source in the two-dimensional navigation map based on the distance, a pitch angle of the camera, and a yaw angle of the camera; wherein:x＝X–D*sin(α)*cos(β)；y＝Y–D*sin(α)*sin(β)；wherein x is the abscissa of the fire source in the two-dimensional navigation map; y is the ordinate of the fire source in the two-dimensional navigation map; x is the abscissa of the fire source detection device in the two-dimensional navigation map; y is a vertical coordinate of the fire source detection device in the two-dimensional navigation map; d is the distance; α is the pitch angle; beta is the yaw angle.
- The method (400) of extinguishing a fire according to claim 11,the determining a fire fighting location (403) of a fire fighting robot based on the fire source location comprises:determining a fire scene range in a two-dimensional navigation map based on the fire scene picture;determining the fire extinguishing position based on the fire scene range, the maximum fire extinguishing distance of the fire-fighting robot and the fire source position, wherein the fire extinguishing position is not located in the fire scene range, and the distance between the fire extinguishing position and the fire source position is not greater than the maximum fire extinguishing distance of the fire-fighting robot.
- The method (400) of extinguishing a fire according to claim 10,the movement of the fire fighting robot to the fire suppression location based on the first robot control command comprises: the fire fighting robot in charging mode moves from a charging position to the fire extinguishing position based on the first robot control command; the method further comprises the following steps:after the fire fighting robot performs a fire extinguishing operation, a second robot control command instructing the fire fighting robot to move to the charging position is sent, thereby being moved to the charging position by the fire fighting robot based on the second robot control command and entering a charging mode.
- A server (600) characterized by comprising a processor (601), a memory (602) and a computer program stored on the memory (602) and executable on the processor (601), the computer program, when executed by the processor (601), implementing the fire fighting method (400) according to any of claims 10 to 13.
- A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method (400) of extinguishing a fire according to any one of the claims 10 to 13.
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| PCT/CN2020/099332 WO2022000279A1 (en) | 2020-06-30 | 2020-06-30 | Fire extinguishing system, server, fire-fighting robot, and fire extinguishing method |
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| CN114602088B (en) * | 2022-04-13 | 2023-01-13 | 山东锘博特智能科技有限公司 | Robot automatic fire extinguishing method, equipment and storage medium |
| CN117156234A (en) * | 2023-06-30 | 2023-12-01 | 陕西浩悦博纳网络科技有限公司 | Fire control surveillance camera head with smog alarming function |
| CN117138291B (en) * | 2023-10-27 | 2024-02-06 | 江苏庆亚电子科技有限公司 | Fire-fighting robot fire-extinguishing method and fire-extinguishing system |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022000279A1 (en) | 2022-01-06 |
| EP4154946A1 (en) | 2023-03-29 |
| EP4154946A4 (en) | 2024-02-28 |
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