CN117138291B - Fire-fighting robot fire-extinguishing method and fire-extinguishing system - Google Patents

Abstract

The invention provides a fire-fighting robot fire-extinguishing method and a fire-fighting robot fire-extinguishing system, which relate to the technical field of fire protection, wherein the fire-fighting robot fire-extinguishing method comprises the following steps: controlling the fire-fighting robot to form a team according to a preset formation; controlling a pilot fire robot to move in a fire-fighting area; when the ignition point is detected, detecting the temperature of the ignition point and the ignition area; determining the total consumption of the fire extinguishing agent according to the temperature and the ignition area; determining a fire extinguishing formation according to the firing area and a preset formation; controlling the fire-fighting robots to form a team according to the fire-fighting formation; controlling the fire-fighting robot to extinguish fire according to the total consumption of the fire extinguishing agent; when the extinguishing of the fire point is detected, the fire-fighting robot is controlled to recover the preset formation. According to the invention, the plurality of following fire-fighting robots can be automatically controlled to form a team and extinguish fire through controlling the pilot fire-fighting robots, so that the control difficulty of the plurality of fire-fighting robots is reduced, the fire extinguishing efficiency is improved, and the fire loss is reduced.

Description

Fire-fighting robot fire-extinguishing method and fire-extinguishing system

Technical Field

The invention relates to the technical field of fire control, in particular to a fire extinguishing method and system for a fire-fighting robot.

Background

In the related art, in order to protect the safety of firefighters, a firefighter robot may be used to extinguish a fire, for example, an operator may be outside a fire area (an area where a fire exists, for example, an area where a fire exists, such as a room or a warehouse) and the inside of the fire area may be known by a camera provided on the firefighter robot and the firefighter robot may be controlled to reach the location of the fire to extinguish the fire. However, the fire extinguishing agent quantity carried by the fire-fighting robot is limited, if the fire-extinguishing agent quantity is more, or the fire situation is larger, then the single fire-fighting robot is difficult to successfully extinguish the fire, so that more fire-fighting robots are needed to participate in fire extinguishment, but the difficulty of simultaneously controlling a plurality of fire-fighting robots by a single operator is larger, so that a plurality of operators are needed to simultaneously operate a plurality of fire-fighting robots, the cooperation of a plurality of operators is difficult to ensure, the situation that the cooperation degree of the operators is not high, and the fire extinguishing efficiency is lower is likely to occur, so that the fire loss is difficult to reduce.

Disclosure of Invention

The invention provides a fire-fighting robot fire-extinguishing method and a fire-extinguishing system, which can solve the technical problem of lower fire-extinguishing efficiency caused by low coordination degree of operators.

According to a first aspect of the present invention, there is provided a fire extinguishing method of a fire robot, comprising:

controlling a plurality of fire-fighting robots to form teams according to a preset formation, wherein the plurality of fire-fighting robots comprise a piloting fire-fighting robot and a plurality of following fire-fighting robots, the piloting fire-fighting robot comprises a traveling component, a fire-fighting component and a detection component, the following fire-fighting robots comprise a traveling component and a fire-fighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the fire-fighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

controlling the pilot fire-fighting robot to move in a fire-fighting area according to a first preset speed;

detecting the temperature and the ignition area of the ignition point when the ignition point is detected by the detection component of the piloting fire-fighting robot;

determining the total consumption of the fire extinguishing agent required by fire extinguishment according to the temperature of the ignition point and the ignition area;

determining a fire extinguishing formation according to the firing area and the preset formation;

controlling the plurality of fire robots to form a team according to the fire extinguishing formation;

Controlling the plurality of fire robots in the fire extinguishing formation to extinguish the fire in the fire area according to the total consumption of the fire extinguishing agent;

and when the detecting component of the piloting fire-fighting robot detects that the ignition point is extinguished, controlling the plurality of fire-fighting robots to recover the preset formation.

According to a second aspect of the present invention, there is provided a fire robot fire extinguishing system comprising:

the system comprises a preset formation module, a control module and a control module, wherein the preset formation module is used for controlling a plurality of firefighting robots to form a team according to preset formation, the firefighting robots comprise a piloting firefighting robot and a plurality of following firefighting robots, the piloting firefighting robots comprise a traveling component, a firefighting component and a detection component, the following firefighting robots comprise a traveling component and a firefighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the firefighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

the advancing module is used for controlling the piloting fire-fighting robot to advance in the fire-fighting area according to a first preset speed;

the detection module is used for detecting the temperature and the ignition area of the ignition point when the ignition point is detected by the detection component of the piloting fire-fighting robot;

The consumption module is used for determining the total consumption of the fire extinguishing agent required by fire extinguishment according to the temperature of the ignition point and the ignition area;

the fire extinguishing formation module is used for determining a fire extinguishing formation according to the firing area and the preset formation;

the formation module is used for controlling the plurality of fire robots to form a formation according to the fire extinguishing formation;

the fire extinguishing module is used for controlling the plurality of fire-fighting robots in the fire extinguishing formation to extinguish the fire in the fire area according to the total consumption of the fire extinguishing agent;

and the recovery module is used for controlling the plurality of fire-fighting robots to recover the preset formation when the detection assembly of the piloting fire-fighting robot detects that the ignition point is extinguished.

The technical effects are as follows: according to the invention, the pilot fire-fighting robot can be controlled to travel in the fire-fighting area, the following fire-fighting robots can automatically follow the pilot fire-fighting robot according to the preset formation, and when the pilot fire-fighting robot detects a fire point, the formation can be automatically carried out according to the fire-fighting formation and fire can be extinguished by a plurality of fire-fighting robots, so that the fire-extinguishing effect and efficiency are improved, further, the preset formation can be automatically recovered after the fire is extinguished, and therefore, the plurality of following fire-fighting robots can be automatically controlled to form and extinguish the fire through controlling the pilot fire-fighting robot, the control difficulty of the plurality of fire-fighting robots is reduced, the plurality of fire-fighting robots can be automatically cooperated, the cooperation degree of the fire-extinguishing robots is improved, the fire-extinguishing efficiency is improved, and the fire loss is reduced. When the preset formation is determined, the origin of the coordinate system can be set to be the position of the piloting fire-fighting robot, the y-axis direction is consistent with the orientation of the piloting fire-fighting robot, and then the initial position of each following fire-fighting robot in the coordinate system is determined, so that when the piloting fire-fighting robot moves, the coordinate system moves along with the movement, each following fire-fighting robot is kept at the initial position in the coordinate system, the purpose that the following fire-fighting robot keeps the preset formation to follow the piloting fire-fighting robot is achieved, the preset formation is enabled to be in the shape of a triangle, the number of the fire-fighting robots in the (i+1) th row is 2 times that of the number of the fire-fighting robots in the (i.e. the number of the fire-fighting robots in each row is even, the triangle formation can be conveniently and rapidly unfolded towards two symmetrical sides by taking the piloting fire-fighting robot as the center when encountering a fire point, fire extinguishing efficiency is rapidly achieved, and fire loss is reduced. When the fire extinguishing formation is determined, the coordinate system of the piloting fire-fighting robots when the fire points are detected can be maintained, and the fan-shaped formation positions of the fire-fighting robots are determined based on the coordinate system, so that the situation that the piloting robots move to the vicinity of the fire areas is not required to be waited, the fan-shaped formation positions of the following fire-fighting robots are determined after the coordinate system is changed, the following fire-fighting robots can be respectively moved to the fan-shaped formation positions, the formation efficiency of the fire extinguishing formation is improved, and the recovery efficiency of the fire-fighting robots can be recovered to the preset formation after the fire is extinguished by the coordinate system is maintained. Further, the fan-shaped formation position of each fire-fighting robot in the fan-shaped formation is determined, the preset formation can be rapidly unfolded into the fan-shaped formation, formation disorder is avoided, formation efficiency is improved, fire extinguishing efficiency is further improved, fire loss is reduced, the fire-extinguishing robot can be conveniently recovered to the preset formation from the fan-shaped formation after fire extinguishing, follow-up advancing to the next firing area is facilitated to extinguish fire, and overall fire extinguishing efficiency is improved.

Drawings

Fig. 1 exemplarily shows a flow diagram of a fire extinguishing method of a fire fighting robot according to an embodiment of the present invention;

FIG. 2 schematically illustrates a schematic diagram of a preset formation according to an embodiment of the present invention;

FIG. 3 schematically illustrates a schematic view of a fire fighting formation according to an embodiment of the present invention;

fig. 4 schematically shows a block diagram of a fire suppression system for a fire-fighting robot according to an embodiment of the invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

Fig. 1 exemplarily shows a flow diagram of a fire extinguishing method of a fire fighting robot according to an embodiment of the present invention, the method including:

step S101, controlling a plurality of fire-fighting robots to form teams according to a preset formation, wherein the plurality of fire-fighting robots comprise a piloting fire-fighting robot and a plurality of following fire-fighting robots, the piloting fire-fighting robot comprises a traveling component, a fire-fighting component and a detection component, the following fire-fighting robots comprise a traveling component and a fire-fighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the fire-fighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

step S102, controlling the piloting fire-fighting robot to move in a fire-fighting area according to a first preset speed;

step S103, when the detecting component of the piloting fire robot detects a fire point, detecting the temperature and the fire area of the fire point;

step S104, determining the total amount of fire extinguishing agent required for extinguishing fire according to the temperature of the ignition point and the ignition area;

step S105, determining a fire extinguishing formation according to the firing area and the preset formation;

Step S106, controlling the plurality of fire robots to form a team according to the fire extinguishing formation;

step S107, controlling the plurality of fire-fighting robots in the fire-extinguishing formation to extinguish the fire in the fire-extinguishing area according to the total consumption of the fire extinguishing agent;

and S108, when the detection component of the piloting fire-fighting robot detects that the fire point is extinguished, controlling the plurality of fire-fighting robots to recover the preset formation.

According to the fire-fighting robot fire-extinguishing method provided by the embodiment of the invention, the pilot fire-fighting robot can be controlled to travel in the fire-extinguishing area, the following fire-fighting robots can automatically follow the pilot fire-fighting robot according to the preset formation, and when the pilot fire-fighting robot detects a fire point, the formation can be automatically carried out according to the fire-extinguishing formation and fire is extinguished by a plurality of fire-fighting robots, so that the fire-extinguishing effect and efficiency are improved, and further, the preset formation can be automatically recovered after the fire is extinguished, so that the plurality of following fire-fighting robots can be automatically controlled to form and extinguish the fire through controlling the pilot fire-fighting robot, the control difficulty of the plurality of fire-fighting robots is reduced, the plurality of fire-fighting robots can be automatically cooperated, the cooperation degree of the fire-extinguishing robots is improved, the fire-extinguishing efficiency is further improved, and the fire loss is reduced.

According to one embodiment of the present invention, the fire extinguishing method of the fire fighting robot may be performed by a central controller communicatively connected to the plurality of fire fighting robots, so as to control actions of the plurality of fire fighting robots, and the central controller may receive an operation input of an operator, so as to control actions of the pilot fire fighting robot, for example, control actions of the pilot fire fighting robot to travel, change a viewing angle, etc., and the central controller may automatically control the following fire fighting robots to travel along with the pilot fire fighting robot according to a preset formation, and automatically control the fire fighting robots to form fire extinguishing formations when the pilot fire fighting robots detect fire points. In another example, the pilot fire robot may also be automatically operated by the central controller, thereby controlling the pilot fire robot to automatically travel in the fire area, switch viewing angles, detect fires, and the like. The invention is not limited in this regard.

According to one embodiment of the present invention, in step S101, the piloted fire robot includes a travel assembly for traveling, such as a motor for providing traction, wheels or tracks for traveling, a steering gear for steering, and the like. The pilot fire robot includes a fire-fighting component for extinguishing a fire, for example, a storage tank for storing a fire extinguishing agent, a nozzle for spraying the fire extinguishing agent, and the like. The piloting fire robot includes detection components, for example, a camera for detecting the environment inside the fire area, a distance sensor for detecting obstacles, and an infrared camera and/or a temperature sensor for determining the ignition point by temperature, etc. Further, the piloting fire robot may further include a controller and a communication unit for communicating with the central controller and transmitting the photographed video or image, the position information of the fire point, the position of the obstacle on the travel route, etc. to the central controller, and may receive the instruction of the central controller and control the travel unit, the fire control unit, and the detection unit to execute the instruction, for example, the travel instruction is executed by the travel unit, the fire control unit executes the instruction of spraying the fire extinguishing agent, the detection unit executes the video of photographing a certain angle in the fire control area, the instruction of detecting the fire point, etc., the invention is not limited in the type of the instruction. The following fire-fighting robot can comprise a traveling component, a fire-fighting component, a communication component and a controller, and can automatically follow the pilot fire-fighting robot to travel according to a preset formation, and independent control is not needed by manpower, so that the control difficulty is reduced.

According to one embodiment of the invention, the preset formation is a triangle formation, in the triangle formation, the number of the fire-fighting robots in the (i+1) th row is 2 times that of the fire-fighting robots in the (i) th row, i is a positive integer, and the direction of the central line of the triangle queue is consistent with the direction of the piloting fire-fighting robots. The step S101 includes: acquiring a formation included angle of the preset formation and a first interval distance between each row; setting an initial position of the piloting fire-fighting robot, wherein the initial position of the piloting fire-fighting robot is positioned on the 1 st row of the preset formation; determining the initial position of the 2 nd row of following fire-fighting robots according to the initial position of the piloting fire-fighting robot, the formation included angle and the first interval distance; determining the initial position of the following fire-fighting robot in the (i+1) th row according to the initial position of the piloting fire-fighting robot, the initial position of the following fire-fighting robot in the (i) th row, the formation included angle and the first interval distance; and controlling a plurality of fire robots to form a team according to the initial positions of the fire robots.

Fig. 2 exemplarily shows a schematic diagram of a preset formation in which a first row includes one firefighting robot, i.e., a pilot firefighting robot, a second row includes 2 following firefighting robots, a third row includes 4 following firefighting robots, and a fourth row includes 8 following firefighting robots according to an embodiment of the present invention. Of course, more rows may be included in the preset formation, and more following fire robots, and the present invention does not limit the total number of fire robots and the number of rows of the preset formation.

According to one embodiment of the invention, in the preset formation queue, a coordinate system can be established, wherein the coordinate system takes an initial position of the piloting fire-fighting robot as a coordinate origin, a direction of the piloting fire-fighting robot as a y-axis direction, a direction perpendicular to the y-axis as an x-axis direction, the following fire-fighting robots are symmetrically distributed on two sides of the y-axis, an included angle of a formation of the preset formation is an included angle of a connecting line between positions of two following fire-fighting robots of a 2 nd row and positions of the piloting fire-fighting robot, and a line spacing between rows in the formation of the preset formation is fixed and is a first interval distance.

According to one embodiment of the invention, the initial position of the piloting fire robot is located on line 1 of the preset formation, and the initial position of the piloting fire robot is the origin of the coordinate system. In addition, in the process of moving the subsequent piloting fire-fighting robot, the coordinate system moves along with the piloting fire-fighting robot, namely, the origin of the coordinate system is always the position of the piloting fire-fighting robot, and if the orientation of the piloting fire-fighting robot is changed, the x-axis direction and the y-axis direction of the coordinate system are also randomly changed, and the y-axis direction is always consistent with the orientation direction of the piloting fire-fighting robot. After the initial position of the following fire-fighting robot in the coordinate system is determined, the following fire-fighting robot always keeps the initial position in the coordinate system, namely, if the pilot fire-fighting robot moves or changes the orientation, the position of the following fire-fighting robot in the coordinate system changes, the following fire-fighting robot automatically adjusts to the initial position in the moved or rotated coordinate system, so that the purpose of automatically following the pilot fire-fighting robot is achieved, for example, the position of the second following fire-fighting robot in the coordinate system in the second row is (1, -1), and after the pilot fire-fighting robot moves, the coordinate system also moves, so that the position of the following fire-fighting robot in the coordinate system changes to (1, -3), the following fire-fighting robot can automatically adjust the position, namely, adjust to the position of (1, -1) in the coordinate system, so that the position in the preset formation is kept, so that the purpose of following the pilot fire-fighting robot in the preset formation is achieved.

According to one embodiment of the present invention, an initial position of the following fire robot of line 2 in a coordinate system may be determined. The initial position of the 2 nd row following fire-fighting robot is a coordinate position in a coordinate system taking the initial position of the piloting fire-fighting robot as a coordinate origin, the direction of the piloting fire-fighting robot as a y-axis direction and the direction perpendicular to the y-axis as an x-axis direction; wherein, according to the initial position of the piloting fire-fighting robot, the formation angle and the first interval distance, determining the initial position of the 2 nd row following fire-fighting robot comprises: determining the initial position of the 2 nd row 1 st following fire-fighting robot according to formulas (1) and (2)，

（1）

（2）

Wherein,for piloting the initial position of the fire robot,for the formation of an included angle,is the first separation distance;

determining the initial position of the 2 nd row and 2 nd following fire-fighting robot according to formulas (3) and (4)。

（3）

（4）

According to one embodiment of the invention, the 1 st following fire-fighting robot on the 2 nd row is located on the left side of the axis, and since the two following fire-fighting robots on the 2 nd row are symmetrically distributed on both sides of the y-axis, the included angle between the line of the initial position of the 1 st following fire-fighting robot on the 2 nd row and the origin and the y-axis is half of the formation included angle, and therefore the x-axis coordinate of the 1 st following fire-fighting robot on the 2 nd row is the x-axis coordinate of the piloting fire-fighting robot (for example, the x-axis coordinate of the piloting fire-fighting robot is 0) minus As well asIt is reasonable to obtain that the x-axis coordinate of the 2 nd row and 2 nd following fire-fighting robot is the x-axis coordinate of the piloting fire-fighting robot plus. The y-axis coordinates of the two following fire robots in the 2 nd row are the y-axis coordinates of the piloting fire robot plus and minus the first interval distance.

According to one embodiment of the present invention, the following fire robots of the subsequent rows may have a distance in the x-axis direction equal to the distance in the x-axis direction of the two following fire robots of row 2. The initial position of the following fire-fighting robot in the (i+1) th row is a coordinate position in a coordinate system taking the initial position of the piloting fire-fighting robot as a coordinate origin, the direction of the piloting fire-fighting robot as a y-axis direction and the direction perpendicular to the y-axis as an x-axis direction; wherein, according to the initial position of the piloting fire-fighting robot, the initial position of the following fire-fighting robot of the ith row, the formation angle and the first interval distance, determining the initial position of the following fire-fighting robot of the (i+1) th row comprises: determining the initial position of the (i+1) th row j following fire-fighting robot according to formulas (5) and (6)，

（5）

（6）

Wherein,for piloting the initial position of the fire robot,for the formation of an included angle, For the first distance of separation,j is a positive integer.

According to one embodiment of the invention, the initial positions of the following fire robots of the other rows may follow the rules determined by formulas (5) and (6), in the example, in the case that the abscissa of the piloting fire robot is 0, the abscissa of the 1 st following fire robot of the 3 rd row isThe abscissa of the 3 rd row and the 2 nd following fire-fighting robot isThe abscissa of the 3 rd row and 3 rd following fire-fighting robot isThe abscissa of the 3 rd row and the 4 th following fire-fighting robot isThe abscissa of the 4 th row and the 1 st following fire-fighting robot isThe abscissa of the 4 th row and the 2 nd following fire-fighting robot isThe abscissa of the 4 th row and the 3 rd following fire-fighting robot isThe abscissa of the 4 th row and 4 th following fire-fighting robot isThe abscissa of the 4 th row and 5 th following fire-fighting robot isThe abscissa of the 4 th row and 6 th following fire-fighting robot isThe abscissa of the 4 th row and 7 th following fire-fighting robot isThe abscissa of the 4 th row and 8 th following fire-fighting robot is. And the ordinate of the following fire fighter robot of each row is the ordinate of the following fire fighter robot of the previous row minus the first separation distance.

According to an embodiment of the present invention, the initial positions of the following fire robots of the respective rows in the coordinate system may be determined based on the above manner, and the respective following fire robots may be controlled to move to the respective initial positions. Further, if the piloting fire-fighting robot moves, the coordinate system moves, and then the following fire-fighting robots deviate from the initial positions, the following fire-fighting robots can be quickly adjusted to the initial positions in the coordinate system, and therefore the purpose that the following fire-fighting robots keep the preset formation to follow the piloting fire-fighting robots is achieved.

By the method, the origin of the coordinate system can be set to be the position of the piloting fire-fighting robot, the direction of the y axis is consistent with the direction of the piloting fire-fighting robot, the initial position of each following fire-fighting robot in the coordinate system is further determined, when the piloting fire-fighting robot moves, the coordinate system moves along with the movement, each following fire-fighting robot is kept at the initial position in the coordinate system, the purpose that the following fire-fighting robot keeps a preset formation to follow the piloting fire-fighting robot is achieved, the preset formation is enabled to present a triangular formation, the number of the fire-fighting robots in the (i+1) th row is 2 times that of the number of the fire-fighting robots in the (i.e. the number of the following fire-fighting robots in each row is even, the triangular formation can be conveniently unfolded towards two symmetrical sides by the piloting fire-fighting robot when encountering a fire point, fire extinguishing efficiency is improved, and fire loss is reduced.

According to one embodiment of the present invention, the central controller may control the piloting fire robot to travel in the fire area at a first preset speed in step S102, and the following fire robots automatically form the preset formation and follow the piloting fire robot during the travel of the piloting fire robot.

According to an embodiment of the present invention, in step S103, the piloting fire robot may detect the fire in the fire extinguishing area through the detection assembly in real time during the traveling, in which example, the detection assembly may include a camera, the position of the fire may be identified through a photographed video, or the detection assembly may include an infrared camera, the temperature of each position in the fire extinguishing area may be determined based on the photographed infrared image, and thus the position of the fire is determined, and the present invention does not limit the type of the detection assembly.

According to an embodiment of the present invention, in addition to detecting the location of the ignition point, the temperature of the ignition point may be detected, and if the distance between two or more ignition points is close (e.g., the distance is less than a distance threshold), the two or more ignition points may be divided into the same ignition region, and further, the ignition region may further include a region around the ignition point where the temperature is higher than or equal to a preset temperature threshold.

According to one embodiment of the present invention, the total amount of fire extinguishing agent required for extinguishing a fire may be determined based on the temperature of the fire and the area of the fire in step S104. In an example, the higher the temperature of the fire point, the greater the total amount of fire suppressant required, and the greater the area of the fire area, the greater the total amount of fire suppressant required. The specific total consumption can be obtained based on historical data training, and can also be obtained through empirical summary.

According to one embodiment of the present invention, in step S105, a fire extinguishing formation may be determined according to the firing area and a preset formation. The fire extinguishing formation comprises a fan-shaped formation, a plurality of fire-fighting robots can be distributed on a fan-shaped circular arc to surround or semi-surround a fire extinguishing area, so that fire extinguishing agents can be sprayed to fire points from a plurality of angles around, the fire extinguishing efficiency is improved, and the consumption of the fire extinguishing agents is reduced. Step S105 may include: determining the circle center position of a sector of the sector formation according to the centroid of the firing area; determining the sector radius and central angle of the sector formation according to the range of the ignition area; determining a fan formation position of the pilot fire-fighting robot in a fan formation according to the circle center position, the fan radius and the current position of the pilot fire-fighting robot in the preset formation; determining the fan-shaped formation position of the 2 nd row of following fire robots in the preset formation in the fan-shaped formation according to the circle center position, the fan-shaped radius and the number of the fire robots; determining a fan-shaped formation position of a fire-fighting robot following the ith row in a preset formation in the fan-shaped formation according to the circle center position, the fan-shaped radius and the number of the fire-fighting robots; and determining the fire extinguishing formation according to the fan formation position of each fire-fighting robot in the fan formation.

According to one embodiment of the present invention, the centroid of the ignition region may or may not be the location of the ignition point, for example, the centroid of the ignition region may not be any location of the ignition points if the ignition region includes a plurality of ignition points, and the centroid of the ignition region may be the sector center position.

According to an embodiment of the present invention, a fan radius and a central angle may be determined based on a range of the fire area, wherein the fan radius is less than or equal to a maximum spraying distance of the fire extinguishing agent sprayed by the fire fighting assembly of the respective fire fighting robot. Further, it is also possible to determine a central angle, for example, if the area of the fire area is small, the plurality of fire robots may enclose the fire area, i.e., the central angle is 360 °, the sector is circular, and for example, the fire area is at the wall side, the plurality of fire robots may enclose the fire area halfway, i.e., the central angle is 180 ° or slightly less than 180 °, and for example, the fire area is at the wall corner, the plurality of fire robots may enclose the fire area halfway, i.e., the central angle is 90 ° or slightly less than 90 °. In another example, if the area of the fire area is large, a plurality of fire robots cannot surround the fire area (i.e., even if the fire robots surround the fire area, the radius of the circle formed by the surrounding is larger than the maximum spraying distance of the fire extinguishing agent sprayed from the fire extinguishing assembly, and the fire extinguishing agent cannot cover the entire fire area), in this case, a plurality of portions of the fire area may be semi-surrounded a plurality of times, and each time of the semi-surrounded, a central angle may be set, for example, to 90 ° and the fire extinguishing agent sprayed extinguishes a flame in a portion of the fire area, and then another portion of the fire area may be semi-surrounded again, and the above-described process may be performed a plurality of times until the flame in the fire area is all extinguished. The invention does not limit the specific setting mode of the sector radius and the central angle.

FIG. 3 schematically illustrates a schematic of a fire fighting formation according to an embodiment of the present invention.

According to one embodiment of the invention, a fan formation position of a pilot fire robot in a fan formation may be determined. The fan-shaped formation position of the pilot fire robot is the position of the pilot fire robot in a coordinate system when the ignition point is detected. That is, the coordinate system of the pilot fire robot at the time of detecting the ignition point can be kept unchanged, the position of the pilot fire robot in the coordinate system can be determined, and the position of each fire robot in the fan-shaped formation can be further determined. The position of each fire-fighting robot in the fan-shaped formation can be rapidly determined by keeping the coordinate system unchanged, each fire-fighting robot can be rapidly moved to the position of each fire-fighting robot in the fan-shaped formation, and after fire extinguishing is finished, the fire-fighting robots can be rapidly restored to the positions of the fire-fighting robots in the preset formation, without waiting for the end of the movement of the pilot fire-fighting robots, the positions of the fire-fighting robots can be adjusted after the coordinate system is changed, the efficiency of forming the fire-fighting formation and the efficiency of restoring the preset formation can be improved, and the fire-extinguishing efficiency can be improved.

According to one embodiment of the invention, when a fire is detected, the piloting fire robot can adjust the orientation to the direction facing the centroid of the fire area, so that the y-axis of the coordinate system points to the centroid of the fire area, i.e. to the sector center position, and the y-axis is on the bisector of the sector center angle, and can keep the coordinate system unchanged at this time until the fire extinguishing is completed, and the respective fire robot moves back to the original position in the coordinate system. Therefore, based on the coordinate system of the piloting fire-fighting robot when the ignition point is detected, the abscissa of the sector formation position of the piloting fire-fighting robot in the sector formation is still 0, and the ordinate is the difference between the sector center position and the sector radius.

According to one embodiment of the invention, the fanning position of the row 2 following fire robots in the fanning may be determined. The fan-shaped formation position of the 2 nd row of following fire-fighting robots in the fan-shaped formation is a coordinate position in a coordinate system, namely, the coordinate position in the coordinate system, wherein the position of the piloting fire-fighting robot in the preset formation when a fire point is detected is taken as an origin, the direction of the piloting fire-fighting robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as an x-axis direction. Determining the fan formation position of the 2 nd row of following fire-fighting robots in the preset formation in the fan formation according to the fan formation position of the pilot fire-fighting robots in the fan formation, the circle center position, the fan radius and the number of the fire-fighting robots, wherein the method comprises the following steps of: determining the fan formation position of the 1 st following fire-fighting robot on the 2 nd row in the preset formation in the fan formation according to formulas (7) and (8)，

（7）

（8）

Wherein,in order to take the position of the piloting fire-fighting robot in the preset formation when the ignition point is detected as an origin, the direction of the piloting fire-fighting robot is taken as the y-axis direction, the direction perpendicular to the y-axis is taken as the fan-shaped center position in the coordinate system of the x-axis direction, Is used as a central angle of the circle,radius of sector，The number of the fire robots;

determining a fan formation position of the 2 nd row and 2 nd following fire robot in the fan formation according to formulas (9) and (10)。

（9）

（10）

According to one embodiment of the invention, in the above coordinate system. Each fire-fighting robot can be uniformly distributed on the arc line of the sector, therefore, the included angle of the connecting line between the position of the adjacent fire-fighting robot and the center position of the sector isThe abscissa of the two following fire robots in the second row isAndthat is, the two following fire robots of the second row are distributed on both sides of the pilot fire robot and are adjacent to the pilot fire robot. The abscissa and ordinate of the two following fire-fighting robots in the second row are both。

According to one embodiment of the present invention, in determining the fan formation position of the following fire fighter robots of each subsequent row, in order to enable the following fire fighter robots of each row to be rapidly deployed into a fire extinguishing formation and to be uniformly distributed on an arc, half of the y-axis left side of each row may be distributed on the left side of the leading fire fighter robot of the fan formation, and the closer the y-axis following fire fighter robot is in the preset formation, the closer the y-axis right side of each row is in the fan formation, and similarly, half of the y-axis right side of each row may be distributed on the right side of the leading fire fighter robot of the fan formation, and the closer the y-axis following fire fighter robot is in the preset formation. Further, the following fire-fighting robots with larger line numbers in the preset formation are farther away from the piloting fire-fighting robot in the fan-shaped formation, and the following fire-fighting robots with smaller line numbers in the preset formation are closer to the piloting fire-fighting robot in the fan-shaped formation. As shown in FIG. 3, each fire-fighting robot in the preset formation can move to the position in the fan-shaped formation according to the displacement vector of the dotted arrow in FIG. 3, and the determination of the position in the fan-shaped formation can conform to the above principle, so that each fire-fighting robot in the preset formation can be rapidly unfolded to form the fan-shaped formation, and further, the fire area can be enclosed or semi-enclosed, fire can be effectively extinguished, and the fire extinguishing efficiency is improved.

According to one embodiment of the invention, the following fire robots may be arranged in a fan-shaped formation according to the principles described above, and the positions of the rows of following fire robots in the coordinate system described above may be determined. The fan-shaped formation position of the i-th row of following fire robots in the fan-shaped formation is a coordinate position in a coordinate system, wherein the position of the pilot fire robot in the preset formation is taken as an origin when a fire point is detected, the direction of the pilot fire robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as an x-axis direction; determining the fan-shaped formation position of the following fire-fighting robot of the ith row in the preset formation in the fan-shaped formation according to the circle center position, the fan-shaped radius and the number of the fire-fighting robots, wherein the fan-shaped formation position comprises the following fire-fighting robots in the fan-shaped formation: at j less than or equal toIn the case of (2), determining that the ith row and the jth following fire fighter robot in the preset formation are in the fan-shaped formation according to formulas (11) and (12)Sector formation location in a shape，

（11）

（12）

Wherein,in order to take the position of the piloting fire-fighting robot in the preset formation when the ignition point is detected as an origin, the direction of the piloting fire-fighting robot is taken as the y-axis direction, the direction perpendicular to the y-axis is taken as the fan-shaped center position in the coordinate system of the x-axis direction, Is used as a central angle of the circle,is in the shape of a sector of a radius,j is a positive integer, and k is a positive integer less than or equal to i-2;

at j is greater thanIn the case of (2), determining the fanning position of the jth following fire fighter robot in the fanning form in the ith row in the preset formation according to formulas (13) and (14)。

（13）

（14）

According to one embodiment of the invention, the ith row in the preset formation may includeA following fire-fighting robot if j is less than or equal toThe j-th following fire-fighting robot is the following fire-fighting robot on the left side of the y-axis, and is also distributed on the left side of the piloting fire-fighting robot in the sector formation, if j is larger thanThe j-th following fire-fighting robot is the following fire-fighting robot on the right side of the y-axis, and is also distributed on the right side of the piloting fire-fighting robot in the sector formation. And, the positions of the following fire robots on the left side of the y axis of the i-th row in the fan formation are distributed on the left side of the positions of the following fire robots on the left side of the y axis of the i-1 th row in the fan formation, and the positions of the following fire robots on the right side of the y axis of the i-th row in the fan formation are distributed on the right side of the positions of the following fire robots on the right side of the y axis of the i-1 th row in the fan formation.

According to one embodiment of the present invention, the following fire fighter robot fan formation position of each row can be determined by the above formulas (11) - (14) in the above distributed manner. In an example, row 3, row 1, follows the x-axis coordinates of the fan formation location of the fire robot asThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 3 rd row and the 1 st row isThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 3 rd row and the 2 nd following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 3 rd row and the 2 nd row isThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the fire-fighting robot at the 3 rd row and the 3 rd following row is as followsThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 3 rd row and the 3 rd row is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the fire-fighting robot on the 3 rd row and the 4 th following is as followsThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 3 rd row and the 4 th row is as follows。

In an example, the x-axis coordinate of the fanning position of the 4 th row, 1 st follower fire robot isThe y-axis coordinate of the fan-shaped formation position of the 4 th row and the 1 st following fire-fighting robot isThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and the 2 nd following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 2 nd row is The method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and the 3 rd following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 3 rd row is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and 4 th following fire-fighting robot is as followsThe y-axis coordinate of the fan-shaped formation position of the 4 th row and 4 th following fire-fighting robot is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and 5 th following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 5 th row is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 6 th row is as followsThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 6 th row is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and 7 th following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the fire-fighting robot followed by the 4 th row and the 7 th row is as followsThe method comprises the steps of carrying out a first treatment on the surface of the The x-axis coordinate of the fan-shaped formation position of the 4 th row and 8 th following fire-fighting robot isThe y-axis coordinate of the fan-shaped formation position of the 4 th row and 8 th following fire-fighting robot is。

According to one embodiment of the present invention, if more rows are included in the preset formation, the following fire fighter robot fan formation position of each row may also be determined according to the above formulas (11) - (14). Therefore, the triangular preset formation can be quickly unfolded into the sector formation surrounding or semi-surrounding the ignition area, and the fire extinguishing work can be quickly started.

By the method, the coordinate system of the pilot fire-fighting robots when the fire points are detected can be maintained, the fan-shaped formation positions of the fire-fighting robots are determined based on the coordinate system, so that the pilot fire-fighting robots do not need to wait for moving to the vicinity of the fire areas, the fan-shaped formation positions of the following fire-fighting robots are determined after the coordinate system is changed, the following fire-fighting robots can be respectively moved to the fan-shaped formation positions, the formation efficiency of the fire extinguishing formation is improved, and the recovery efficiency of the fire-fighting robots in the preset formation can be recovered after the fire is extinguished by the coordinate system is maintained. Further, the fan-shaped formation position of each fire-fighting robot in the fan-shaped formation is determined, the preset formation can be rapidly unfolded into the fan-shaped formation, formation disorder is avoided, formation efficiency is improved, fire extinguishing efficiency is further improved, fire loss is reduced, the fire-extinguishing robot can be conveniently recovered to the preset formation from the fan-shaped formation after fire extinguishing, follow-up advancing to the next firing area is facilitated to extinguish fire, and overall fire extinguishing efficiency is improved.

According to one embodiment of the present invention, after the fire extinguishing formation is determined, the position of each fire-fighting robot in the fire extinguishing formation may be determined so that a plurality of fire-fighting robots may be controlled to perform formation, i.e., move to a position in a fan-shaped formation according to a displacement vector of a dotted arrow in fig. 3, thereby enclosing or semi-enclosing a fire area in step S106.

According to one embodiment of the present invention, after the fire extinguishing area is surrounded or semi-surrounded by the row Cheng Miehuo formation, in step S107, a plurality of fire-fighting robots may be controlled to extinguish the fire in the fire area, that is, fire-fighting components of the fire-fighting robots are controlled to spray fire extinguishing agent, and the amount of fire extinguishing agent sprayed by each fire-fighting robot is the ratio of the total amount of fire extinguishing agent to the total amount of fire-fighting robots, so that the amount of fire extinguishing agent sprayed by each fire-fighting robot is more even, and a part of fire-fighting robots are prevented from consuming fire extinguishing agent too early to function in the subsequent fire extinguishing process.

According to an embodiment of the present invention, in step S108, when the fire is extinguished, the plurality of fire robots may be controlled to resume the preset formation, that is, to move back to the home position in the above-mentioned coordinate system, and when moving, each fire robot may record its home position in the above-mentioned coordinate system and may move back to the home position, respectively, without waiting for the pilot robot to move and changing the coordinate system, thereby improving the resume efficiency, facilitating the rapid resumption of the preset formation, and proceeding to the next fire area for extinguishing fire, improving the overall fire extinguishing efficiency.

According to the fire-fighting robot fire-extinguishing method provided by the embodiment of the invention, the pilot fire-fighting robot can be controlled to travel in the fire-extinguishing area, the following fire-fighting robots can automatically follow the pilot fire-fighting robot according to the preset formation, and when the pilot fire-fighting robot detects a fire point, the formation can be automatically carried out according to the fire-extinguishing formation and fire is extinguished by a plurality of fire-fighting robots, so that the fire-extinguishing effect and efficiency are improved, and further, the preset formation can be automatically recovered after the fire is extinguished, so that the plurality of following fire-fighting robots can be automatically controlled to form and extinguish the fire through controlling the pilot fire-fighting robot, the control difficulty of the plurality of fire-fighting robots is reduced, the plurality of fire-fighting robots can be automatically cooperated, the cooperation degree of the fire-extinguishing robots is improved, the fire-extinguishing efficiency is further improved, and the fire loss is reduced. When the preset formation is determined, the origin of the coordinate system can be set to be the position of the piloting fire-fighting robot, the y-axis direction is consistent with the orientation of the piloting fire-fighting robot, and then the initial position of each following fire-fighting robot in the coordinate system is determined, so that when the piloting fire-fighting robot moves, the coordinate system moves along with the movement, each following fire-fighting robot is kept at the initial position in the coordinate system, the purpose that the following fire-fighting robot keeps the preset formation to follow the piloting fire-fighting robot is achieved, the preset formation is enabled to be in the shape of a triangle, the number of the fire-fighting robots in the (i+1) th row is 2 times that of the number of the fire-fighting robots in the (i.e. the number of the fire-fighting robots in each row is even, the triangle formation can be conveniently and rapidly unfolded towards two symmetrical sides by taking the piloting fire-fighting robot as the center when encountering a fire point, fire extinguishing efficiency is rapidly achieved, and fire loss is reduced. When the fire extinguishing formation is determined, the coordinate system of the piloting fire-fighting robots when the fire points are detected can be maintained, and the fan-shaped formation positions of the fire-fighting robots are determined based on the coordinate system, so that the situation that the piloting robots move to the vicinity of the fire areas is not required to be waited, the fan-shaped formation positions of the following fire-fighting robots are determined after the coordinate system is changed, the following fire-fighting robots can be respectively moved to the fan-shaped formation positions, the formation efficiency of the fire extinguishing formation is improved, and the recovery efficiency of the fire-fighting robots can be recovered to the preset formation after the fire is extinguished by the coordinate system is maintained. Further, the fan-shaped formation position of each fire-fighting robot in the fan-shaped formation is determined, the preset formation can be rapidly unfolded into the fan-shaped formation, formation disorder is avoided, formation efficiency is improved, fire extinguishing efficiency is further improved, fire loss is reduced, the fire-extinguishing robot can be conveniently recovered to the preset formation from the fan-shaped formation after fire extinguishing, follow-up advancing to the next firing area is facilitated to extinguish fire, and overall fire extinguishing efficiency is improved.

Fig. 4 schematically shows a block diagram of a fire suppression system for a fire-fighting robot according to an embodiment of the invention, the system comprising:

the system comprises a preset formation module, a control module and a control module, wherein the preset formation module is used for controlling a plurality of firefighting robots to form a team according to preset formation, the firefighting robots comprise a piloting firefighting robot and a plurality of following firefighting robots, the piloting firefighting robots comprise a traveling component, a firefighting component and a detection component, the following firefighting robots comprise a traveling component and a firefighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the firefighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

the advancing module is used for controlling the piloting fire-fighting robot to advance in the fire-fighting area according to a first preset speed;

the detection module is used for detecting the temperature and the ignition area of the ignition point when the ignition point is detected by the detection component of the piloting fire-fighting robot;

the consumption module is used for determining the total consumption of the fire extinguishing agent required by fire extinguishment according to the temperature of the ignition point and the ignition area;

the fire extinguishing formation module is used for determining a fire extinguishing formation according to the firing area and the preset formation;

The formation module is used for controlling the plurality of fire robots to form a formation according to the fire extinguishing formation;

the fire extinguishing module is used for controlling the plurality of fire-fighting robots in the fire extinguishing formation to extinguish the fire in the fire area according to the total consumption of the fire extinguishing agent;

and the recovery module is used for controlling the plurality of fire-fighting robots to recover the preset formation when the detection assembly of the piloting fire-fighting robot detects that the ignition point is extinguished.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (2)

1. A fire extinguishing method for a fire fighting robot, comprising:

controlling a plurality of fire-fighting robots to form teams according to a preset formation, wherein the plurality of fire-fighting robots comprise a piloting fire-fighting robot and a plurality of following fire-fighting robots, the piloting fire-fighting robot comprises a traveling component, a fire-fighting component and a detection component, the following fire-fighting robots comprise a traveling component and a fire-fighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the fire-fighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

controlling the pilot fire-fighting robot to move in a fire-fighting area according to a first preset speed;

detecting the temperature and the ignition area of the ignition point when the ignition point is detected by the detection component of the piloting fire-fighting robot;

determining the total consumption of the fire extinguishing agent required by fire extinguishment according to the temperature of the ignition point and the ignition area;

determining a fire extinguishing formation according to the firing area and the preset formation;

controlling the plurality of fire robots to form a team according to the fire extinguishing formation;

controlling the plurality of fire robots in the fire extinguishing formation to extinguish the fire in the fire area according to the total consumption of the fire extinguishing agent;

When the detecting component of the piloting fire-fighting robot detects that the ignition point is extinguished, controlling the plurality of fire-fighting robots to recover the preset formation: the preset formation is a triangle formation, in the triangle formation, the number of the fire-fighting robots in the (i+1) th row is 2 times of that of the fire-fighting robots in the (i) th row, i is a positive integer, and the direction of the central line of the triangle queue is consistent with the direction of the piloting fire-fighting robots;

wherein, according to predetermineeing formation, control a plurality of fire control robots and carry out formation, include:

acquiring a formation included angle of the preset formation and a first interval distance between each row;

setting an initial position of the piloting fire-fighting robot, wherein the initial position of the piloting fire-fighting robot is positioned on the 1 st row of the preset formation;

determining the initial position of the 2 nd row of following fire-fighting robots according to the initial position of the piloting fire-fighting robot, the formation included angle and the first interval distance;

determining the initial position of the following fire-fighting robot in the (i+1) th row according to the initial position of the piloting fire-fighting robot, the initial position of the following fire-fighting robot in the (i) th row, the formation included angle and the first interval distance;

According to the initial positions of the fire robots, controlling the plurality of fire robots to form a team: the initial position of the 2 nd row following fire-fighting robot is a coordinate position in a coordinate system taking the initial position of the piloting fire-fighting robot as a coordinate origin, the direction of the piloting fire-fighting robot as a y-axis direction and the direction perpendicular to the y-axis as an x-axis direction;

wherein, according to the initial position of the piloting fire-fighting robot, the formation angle and the first interval distance, determining the initial position of the 2 nd row following fire-fighting robot comprises:

according to the formula

And (b)

，

Determining an initial position of a 2 nd row 1 st following fire robotWherein->For initial position of piloting fire robot, +.>For the formation angle,/a>Is the first separation distance;

according to the formula

And (b)

，

Determining an initial position of a 2 nd row 2 nd following fire robotThe method comprises the steps of carrying out a first treatment on the surface of the The initial position of the following fire-fighting robot in the (i+1) th row is a coordinate position in a coordinate system taking the initial position of the piloting fire-fighting robot as a coordinate origin, the direction of the piloting fire-fighting robot as a y-axis direction and the direction perpendicular to the y-axis as an x-axis direction;

Wherein, according to the initial position of the piloting fire-fighting robot, the initial position of the following fire-fighting robot of the ith row, the formation angle and the first interval distance, determining the initial position of the following fire-fighting robot of the (i+1) th row comprises:

according to the formula

And (b)

，

Determining the initial position of the (i+1) th row and the (j) th following fire-fighting robotWherein, the method comprises the steps of, wherein,for initial position of piloting fire robot, +.>For the formation angle,/a>J is a positive integer for the first separation distance; the fire fighting formation comprises a fan-shaped formation,

wherein determining a fire fighting formation according to the firing area and the preset formation, comprising:

determining the circle center position of a sector of the sector formation according to the centroid of the firing area;

determining the sector radius and central angle of the sector formation according to the range of the ignition area;

determining a fan formation position of the pilot fire-fighting robot in a fan formation according to the circle center position, the fan radius and the current position of the pilot fire-fighting robot in the preset formation;

determining the fan-shaped formation position of the 2 nd row of following fire robots in the preset formation in the fan-shaped formation according to the circle center position, the fan-shaped radius and the number of the fire robots;

Determining a fan-shaped formation position of a fire-fighting robot following the ith row in a preset formation in the fan-shaped formation according to the circle center position, the fan-shaped radius and the number of the fire-fighting robots;

determining fire extinguishing formations according to the fan formation positions of each fire-fighting robot in the fan formations; the fan-shaped formation position of the 2 nd row of following fire robots in the fan-shaped formation is a coordinate position in a coordinate system, wherein the position of the piloting fire robot in the preset formation is taken as an origin when a fire point is detected, the direction of the piloting fire robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as an x-axis direction;

according to the circle center position, the sector radius and the number of the fire robots, determining the sector formation position of the 2 nd row of following fire robots in the preset formation in the sector formation comprises the following steps:

according to the formula

And (b)

，

Determining a fan formation position of a 2 nd row and a 1 st following fire-fighting robot in a fan formation in a preset formationWherein->In order to take the position of the piloting fire-fighting robot in the preset formation when the ignition point is detected as an origin, the direction of the piloting fire-fighting robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as the fan-shaped center position in the coordinate system of the x-axis direction >Is the central angle>Is of sector radius>The number of the fire robots;

according to the formula

And (b)

，

Determination of line 2, line 2 following fire machineSector formation position of person in sector formationThe method comprises the steps of carrying out a first treatment on the surface of the The fan-shaped formation position of the i-th row of following fire robots in the fan-shaped formation is a coordinate position in a coordinate system, wherein the position of the pilot fire robot in the preset formation is taken as an origin when a fire point is detected, the direction of the pilot fire robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as an x-axis direction;

according to the circle center position, the sector radius and the number of the fire robots, determining the sector formation position of the fire robots following the ith row in the preset formation in the sector formation comprises the following steps:

at j less than or equal toIn the case of (2), according to the formula

And (b)

，

Determining a sector formation position of an ith row and a jth following fire-fighting robot in a sector formation in a preset formationWherein->In order to take the position of the piloting fire-fighting robot in the preset formation when the ignition point is detected as an origin, the direction of the piloting fire-fighting robot is taken as a y-axis direction, and the direction perpendicular to the y-axis is taken as the fan-shaped center position in the coordinate system of the x-axis direction >Is the central angle>Is of sector radius>J is a positive integer, and k is a positive integer less than or equal to i-2;

at j is greater thanIn the case of (2), according to the formula

And (b)

，

Determining a sector formation position of an ith row and a jth following fire-fighting robot in a sector formation in a preset formation。

2. A fire fighting robot fire extinguishing system for performing the fire fighting robot fire extinguishing method of claim 1, comprising:

the system comprises a preset formation module, a control module and a control module, wherein the preset formation module is used for controlling a plurality of firefighting robots to form a team according to preset formation, the firefighting robots comprise a piloting firefighting robot and a plurality of following firefighting robots, the piloting firefighting robots comprise a traveling component, a firefighting component and a detection component, the following firefighting robots comprise a traveling component and a firefighting component, the traveling component is used for controlling the traveling direction and the traveling speed, the firefighting component is used for storing and spraying fire extinguishing agent, and the detection component is used for detecting obstacles and fire points on a traveling route;

the advancing module is used for controlling the piloting fire-fighting robot to advance in the fire-fighting area according to a first preset speed;

The detection module is used for detecting the temperature and the ignition area of the ignition point when the ignition point is detected by the detection component of the piloting fire-fighting robot;

the consumption module is used for determining the total consumption of the fire extinguishing agent required by fire extinguishment according to the temperature of the ignition point and the ignition area;

the fire extinguishing formation module is used for determining a fire extinguishing formation according to the firing area and the preset formation;

the formation module is used for controlling the plurality of fire robots to form a formation according to the fire extinguishing formation;

the fire extinguishing module is used for controlling the plurality of fire-fighting robots in the fire extinguishing formation to extinguish the fire in the fire area according to the total consumption of the fire extinguishing agent;

and the recovery module is used for controlling the plurality of fire-fighting robots to recover the preset formation when the detection assembly of the piloting fire-fighting robot detects that the ignition point is extinguished.