CN210020926U - Cluster type fire-fighting robot cooperative reconnaissance fire extinguishing system - Google Patents
Cluster type fire-fighting robot cooperative reconnaissance fire extinguishing system Download PDFInfo
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- CN210020926U CN210020926U CN201920845385.XU CN201920845385U CN210020926U CN 210020926 U CN210020926 U CN 210020926U CN 201920845385 U CN201920845385 U CN 201920845385U CN 210020926 U CN210020926 U CN 210020926U
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Abstract
The utility model relates to a cluster type fire-fighting robot cooperative reconnaissance fire-extinguishing system, which comprises at least one fire-extinguishing robot and at least one reconnaissance robot, wherein each fire-extinguishing robot is cascaded with at least one reconnaissance robot, and the fire-extinguishing robot is connected with the reconnaissance robot through a hook-disengaging component; when the number of the reconnaissance robots cascaded with the fire-extinguishing robot is two or more, the adjacent reconnaissance robots are also connected through the unhooking component. The automatic quick butt joint and the separation of robot and reconnaissance robot have been realized to couple mechanism and back guide cover mechanism before adopting, and the robot cascades and concatenates, realizes the multi-stage connection of many robot groups, has improved the robot and has taken load capacity, solves the robot that puts out a fire that brings because of the scene of fire ground is wet and slippery drags the hosepipe and skids and then the mistake rescue opportunity problem that leads to.
Description
Technical Field
The utility model belongs to the fire-fighting robot field, concretely relates to cluster type fire-fighting robot cooperation reconnaissance fire extinguishing system.
Background
The frequent occurrence of fire seriously harms the life and property safety of people. The fire-fighting robot is used as a tool for assisting a fireman to execute dangerous tasks, and needs to rush to a fire scene along with the fireman after a fire occurs, and assist or replace the fireman to perform operations such as information collection, auxiliary fire extinguishing, personnel search and rescue and the like on the fire scene. The fire-fighting robot is mainly divided into a reconnaissance robot and a fire-fighting robot, wherein the reconnaissance robot is mainly used for reconnaissance of a field environment and transmitting environmental parameters or a field image video back to a console for analysis and decision-making of fire fighters; the fire-fighting robot can be connected with a water belt of a rear fire truck through a fire monitor on the machine body to spray and extinguish fire.
At present, a reconnaissance robot generally has flexible actions and can directly enter a disaster site for reconnaissance, and a fire extinguishing robot drags a water belt to extinguish fire at the periphery of the site. Even adopted the mechanism on crawler-type removal chassis, because the complicated and fire gun of on-the-spot topography sprays the ground surface and wet and slippery, the track becomes littleer with wet slippery ground contact back friction, and the problem of skidding very easily takes place for the robot, makes the robot load capacity slide down rapidly, can't drag the hosepipe that the rear was full of water to influence on-the-spot deployment, delay rescue opportunity.
To improve the load of fire-fighting robot and anti skid problem, the mainstream scheme at present mainly has crawler-type removal chassis, for example the intelligent fire-fighting robot that patent number 201820562957.9 published, the intelligent fire-fighting robot that patent number 201810644499.8 published etc..
In addition, to the technological aspect of fire source reconnaissance and accurate putting out a fire and rescuing, the robot that carries the fire water monitor at present mostly need to rely on the rear fire fighter to adopt the operation control platform to carry out manual adjustment to the water monitor three-dimensional angle of robot, wastes time and energy and relies on the trial and error and delay the rescue. However, the method of directly placing the visual equipment on the fire-extinguishing robot is difficult to obtain enough visual field, and the fire source and the jet flow drop point can not be accurately positioned for fire extinguishing. The scheme of adopting the scheme of the unmanned aerial vehicle to reconnoiter the fire source has great disadvantages, such as great harm of flame to the unmanned aerial vehicle above the ground; secondly, the positioning accuracy of the unmanned aerial vehicle depends on the positioning accuracy of the GPS, and the cost of the system is too high due to the high price of the differential GPS; in addition, when indoor catching fire, GPS positioning system can't work, and unmanned aerial vehicle assists the unable normal work of fire extinguishing systems.
Aiming at improving the problems of reconnaissance to on-site fire sources and accurate fire extinguishing, a fire extinguishing robot is mainly adopted to install binocular vision equipment or an unmanned aerial vehicle auxiliary method is adopted, for example, an intelligent fire fighting robot disclosed by a patent with the patent number of 201520997745.X, an accurate fire extinguishing system based on an unmanned aerial vehicle and an intelligent fire fighting robot disclosed by an invention patent of 201721688135.7 and the like.
Disclosure of Invention
An object of the utility model is to provide a cluster formula fire-fighting robot cooperation reconnaissance fire extinguishing systems solves the robot load decline problem of putting out a fire under the abominable calamity scene, solves the robot of putting out a fire simultaneously and discerns and accurate injection difficult problem to the burning things which may cause a fire disaster.
The utility model provides a technical scheme that its technical problem adopted is: a cluster type fire-fighting robot cooperative reconnaissance fire-extinguishing system comprises at least one fire-extinguishing robot and at least one reconnaissance robot, wherein each fire-extinguishing robot is in cascade connection with at least one reconnaissance robot, and the fire-extinguishing robots are connected with the reconnaissance robots through unhooking hook assemblies; when the number of the reconnaissance robots cascaded with the fire-extinguishing robot is two or more, the adjacent reconnaissance robots are also connected through the unhooking component.
Specifically, the unhooking component comprises a front hooking mechanism and a rear guiding cover mechanism which are connected with each other, the front hooking mechanism is arranged at the front end of each fire-extinguishing robot and each scouting robot, and the rear guiding cover mechanism is arranged at the rear end of each scouting robot.
Specifically, the foremost end of preceding couple mechanism is equipped with a plurality of proximity switches, and the middle part of preceding couple mechanism is equipped with the recess of guide cover mechanism behind the joint, and the recess has two, and the symmetry sets up, is provided with the electro-magnet that guide cover mechanism joint and break away from behind the control between two recesses.
Specifically, a telescopic stop block is arranged in the groove, the telescopic stop block is connected with the inner wall of the groove through a spring-D, and the telescopic stop block is also connected with an armature of an electromagnet.
Specifically, back guide cover mechanism includes buckle, lower buckle, pivot, extension spring, goes up the buckle and buckle down is the metal sheet, sets up relatively, goes up the buckle and connects through the pivot with the one end of buckle down, and goes up the buckle and be fixed in the rear end of reconnaissance robot through the pivot with lower buckle, and the other end of going up the buckle and buckle down all is provided with can lock joint in preceding couple mechanism recess the riser, goes up the buckle and is connected with the extension spring down between the buckle.
The reconnaissance robot comprises a first crawler moving chassis, a first control module, a visual module, a cradle head mechanism, a first communication module and a reconnaissance sensing mechanism, wherein the first crawler moving chassis can drive the reconnaissance robot to move forward, backward and turn, the first control module can perform communication control, drive control and decision making on the reconnaissance robot, the visual module can perform spatial three-dimensional positioning on target interest points in front of or around the reconnaissance robot, the cradle head mechanism can perform three-dimensional posture adjustment on the visual module, the first communication module can communicate with other reconnaissance robots, fire extinguishing robots and control consoles, and the reconnaissance sensing mechanism can perform reconnaissance and real-time return on; the first control module and the first communication module are installed inside the first track moving chassis, the holder mechanism and the reconnaissance sensing mechanism are installed on the first track moving chassis, the vision module is arranged on the holder mechanism, the first track moving chassis, the vision module, the holder mechanism, the first communication module and the reconnaissance sensing mechanism are all connected with the first control module, and the first control module is further connected with an electromagnet and a proximity switch in a front hook mechanism at the front end of the reconnaissance robot.
The fire-fighting robot comprises a second crawler belt moving chassis capable of driving the fire-fighting robot to move forward, backward and turn, an automatic fire water monitor capable of adjusting horizontal and vertical angles and changing water spraying and mist spraying modes, a second control module capable of performing communication control, driving control and decision-making on the fire-fighting robot, and a second communication module capable of communicating with other reconnaissance robots, the fire-fighting robot and a control console; the automatic fire-fighting water monitor is arranged on the second crawler moving chassis, the second control module and the second communication module are arranged inside the second crawler moving chassis, the automatic fire-fighting water monitor and the second communication module are all connected with the second control module, and the second control module is further connected with an electromagnet and a proximity switch in a front hook mechanism at the front end of the fire-fighting robot.
Specifically, the first crawler moving chassis and the second crawler moving chassis are both one of a crawler moving platform, a wheel type moving platform and a wheel-track composite moving platform.
The utility model discloses following beneficial effect has:
1) the utility model discloses a preceding couple mechanism and back guide cover mechanism have realized that the fire-fighting robot docks and separates with reconnaissance robot is automatic fast, realize that many robot groups body multistage cascade concatenations, have improved the robot area load capacity, solve the robot that puts out a fire that brings because of the scene of fire ground wet and slippery drags the hosepipe and skid and then the mistake rescue opportunity problem that leads to.
2) The utility model discloses realize in adverse circumstances such as high-risk conflagration, a plurality of scouting and fire-fighting robot constitute cluster system, operation in coordination: the reconnaissance robot and the fire-fighting robot are in collaborative cascading operation, the fire-fighting robot and the fire hose are dragged to the appointed position to be deployed, then the reconnaissance robot is separated from the fire-fighting robot to achieve field reconnaissance, the fire source position is accurately identified, a space position basis is provided for accurate fire source spraying of the fire-fighting robot, fire extinguishing accuracy and efficiency are improved, rescue time is saved, and casualties and property loss are greatly reduced.
Drawings
Fig. 1 is a schematic diagram of the cascading three-dimensional structure of the fire extinguishing robot and the reconnaissance robot of the cluster fire fighting robot cooperative reconnaissance fire extinguishing system.
FIG. 2 is a schematic view of the cascade main view structure of the fire extinguishing robots and the reconnaissance robots of the cluster fire fighting robot cooperative reconnaissance fire extinguishing system
Fig. 3 is the utility model discloses the cluster type fire-fighting robot cooperation reconnaissance fire extinguishing systems fire extinguishing robot and reconnaissance robot cascade left side view structure schematic diagram.
Fig. 4 is the main view structure schematic diagram of the reconnaissance robot of the coordinated reconnaissance fire-extinguishing system of the cluster fire-fighting robot.
Fig. 5 is the right view structure schematic diagram of the reconnaissance robot of the cluster fire-fighting robot cooperative reconnaissance fire-extinguishing system.
Fig. 6 is a schematic view of the overlooking structure of the first caterpillar band moving chassis of the cluster fire-fighting robot cooperating reconnaissance fire-extinguishing system reconnaissance robot.
Fig. 7 is the main view structure schematic diagram of the fire extinguishing robot of the cluster fire-fighting robot cooperative reconnaissance fire extinguishing system.
Fig. 8 is a schematic view of the second caterpillar band moving chassis of the cluster fire-fighting robot cooperating reconnaissance fire-extinguishing system fire-extinguishing robot in overlooking structure.
Fig. 9 is an enlarged structure schematic diagram of the front hook mechanism of the cluster fire-fighting robot cooperative reconnaissance fire-extinguishing system.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a cluster fire-fighting robot cooperative reconnaissance fire-extinguishing system comprises at least one fire-fighting robot 2 and at least one reconnaissance robot 1, wherein each fire-fighting robot 2 is cascaded with at least one reconnaissance robot 1, and the fire-fighting robot 2 is connected with the reconnaissance robot 1 through a unhooking assembly 3; when the number of the reconnaissance robots 1 cascaded with the fire-extinguishing robot 2 is two or more, the adjacent reconnaissance robots 1 are also connected through the unhooking component 3.
The reconnaissance robot 1 and the fire-extinguishing robot 2 can be in wireless connection with the control console, and the reconnaissance robot 1 and the fire-extinguishing robot 2 transmit data information to the control console and control the reconnaissance robot 1 and the fire-extinguishing robot 2 to act through the control console. The structure and control method of the console adopt the prior art, and reference can be made to the structure and control method in other related patents applied by the applicant.
As shown in fig. 2, 3 and 7, the reconnaissance robot 1 includes a first crawler movement chassis 11, a first control module 12, a vision module 13, a pan-tilt mechanism 14, a first communication module 15, and a reconnaissance sensing mechanism 16. The first crawler moving chassis 11 is one of a crawler moving platform, a wheel moving platform and a wheel-track composite moving platform, and drives the reconnaissance robot 1 to move forward, backward, turn and the like.
The first control module 12 is disposed inside the first crawler moving chassis 11, and mainly implements functions of communication control, driving control, decision making, and the like for the robot. The first crawler moving chassis 11, the vision module 13, the pan-tilt mechanism 14, the first communication module 15 and the reconnaissance sensing mechanism 16 are all connected with the first control module 12. The first control module 12 is also connected to an electromagnet 314 and a proximity switch 315 in the front hook mechanism 31 at the front end of the reconnaissance robot 1.
The vision module 13 is disposed above the pan-tilt mechanism 14, and can realize spatial three-dimensional stereo positioning of target interest points in front of or around the first crawler moving chassis 11, and is controlled by the first control module 12.
The pan-tilt mechanism 14 is installed above the first crawler moving chassis 11 and is controlled by the first control module 12, so that the three-dimensional posture of the vision module 13 can be adjusted, and the vision module 13 can obtain a larger visual field range.
The first communication module 15 is arranged inside the first crawler moving chassis 11, and can realize the communication function between the second control module 23 in the connected fire-fighting robot 2 and other reconnaissance and fire-fighting robots and control consoles.
The reconnaissance sensing mechanism 16 is arranged above the first crawler moving chassis 11 and is used for reconnaissance and real-time return of disaster site parameters.
The overall functions of the reconnaissance robot 1 are as follows: the first crawler moving chassis 11 realizes the motion change of the space position of the robot, the first control module 12 is the control core of the robot, the controllable pan-tilt mechanism 14 drives the vision module 13 to realize the video acquisition and processing of the space three-dimensional image, the first communication module 15 is controlled to communicate with the external communication module, and the reconnaissance sensing mechanism 16 is controlled to acquire and transmit back the relevant environment parameters for the control console and the fire commander to make decisions.
As shown in fig. 2 and 8, the fire-fighting robot 2 includes a second crawler travel chassis 21, an automatic fire monitor 22, a second control module 23, and a second communication module 24. The second crawler moving chassis 21, the automatic fire water monitor 22 and the second communication module 24 are all connected with the second control module 23, and the second control module 23 is further connected with an electromagnet 314 and a proximity switch 315 in the front hook mechanism 31 at the front end of the fire-fighting robot 2.
The second crawler moving chassis 21 is one of a crawler moving platform, a wheel moving platform and a wheel-track composite moving platform, and drives the fire extinguishing robot 2 to move forward, backward, turn and the like.
The automatic fire water monitor 22 is arranged on the upper portion of the second crawler mobile chassis 21 platform, fire is extinguished through connection with a rear fire pipeline, the automatic fire water monitor 22 can be adjusted horizontally and vertically, transformation of spraying forms such as water spraying and spraying can be carried out, and a spraying heading angle and a pitching angle which are required to be adjusted by the automatic fire water monitor 22 and calculated according to the second control module 23 can be used for accurate fixed-point fire extinguishing. The detailed structure of the automatic fire monitor 22 can be seen in the structure of the fire monitor system 200 of the all-terrain fire-fighting robot and the working method thereof, which are disclosed in application No. 201811138551.9.
The second control module 23 is disposed inside the second crawler mobile chassis 21, and mainly implements functions of communication control, drive control, decision making, and the like of the fire-fighting robot 2.
The second communication module 24 is arranged inside the second crawler moving chassis 21, and can realize the communication function with the first communication module 15 in the reconnaissance robot 1 and other reconnaissance and fire-extinguishing robots and control consoles.
The overall function of the fire-fighting robot 2 is as follows: the second crawler belt moving chassis 21 drives the fire-extinguishing robot 2 to move, the automatic fire monitor 22 is controlled by the second control module 23 to adjust the angle to realize fixed-point fire extinguishing, and meanwhile, the self state information and the like can be interacted with other fire-extinguishing robots, reconnaissance robots and control consoles through the second communication module 24.
As shown in fig. 4 to 9, the unhooking assembly 3 includes a front hooking mechanism 31 and a rear guide cover mechanism 32 connected to each other, the front hooking mechanism 31 being provided at the front end of each fire fighting robot 2 and each reconnaissance robot 1, and the rear guide cover mechanism 32 being provided at the rear end of each reconnaissance robot 1.
The front hooking mechanism 31 comprises a conical hammer 311, a telescopic stop 312, a hooking base 313, an electromagnet 314 and a proximity switch 315, wherein the conical hammer 311, the telescopic stop 312 and the hooking base 313 form a main body of the front hooking mechanism 31.
Hook base 313 is fixed in reconnaissance robot 1 and fire-fighting robot 2's front end, and toper hammer 311 is the trapezoidal rectangular structure in cross-section, sets up at hook base 313 front end, and hook base 313 cross-section is trapezoidal, and flexible dog 312 includes: the upper guide stop 312-A and the lower guide stop 312-B are symmetrically arranged up and down, have the same structure, have trapezoidal long sections and are respectively arranged in two trapezoidal grooves 312-C at the connection part of the conical hammer 311 and the hook base 313. The trapezoidal groove 312-C is formed by connecting the conical hammer 311 and the hook base 313, is arranged symmetrically up and down, and has a trapezoidal cross section.
A spring 312-D is also arranged between the telescopic stop 312 and the inner wall of the trapezoidal groove 312-C and is used for tensioning the telescopic stop 312 into the trapezoidal groove 312-C, so that the telescopic stop 312, the conical hammer 311 and the hook base 313 form a gap, the insertion of the rear guide cover mechanism 32 is facilitated, and the conical hammer 311 is locked into the upper buckle plate 321 and the lower buckle plate 322. When the tapered hammer 311 is inserted into the upper buckle plate 321 and the lower buckle plate 322, the telescopic stopper 312 is pressed down to the trapezoidal groove 312-C due to the action of the tension spring 324 in the upper buckle plate 321 and the lower buckle plate 322, and the tapered hammer 311 can be locked by the upper buckle plate 321 and the lower buckle plate 322.
The inside of the telescopic stopper 312 is connected to an armature of the electromagnet 314, and when the electromagnet 314 is energized, the armature ejects the upper guide stopper 312-a and the lower guide stopper 312-B of the telescopic stopper 312 out of the trapezoidal groove 312-C, so that the telescopic stopper 312, the tapered hammer 311 and the hook base 313 form a spindle structure, thereby detaching the tapered hammer 311 from the rear guide cover mechanism 32. The electromagnet 314 is also connected to and controlled by the first control module 12 in the reconnaissance robot 1 or the second control module 23 in the fire-fighting robot 2.
The foremost end of the conical hammer 311 is provided with a plurality of proximity switches 315, the number of the proximity switches 315 in each front hooking mechanism 31 is 3, the proximity switches are respectively arranged on the two sides and the middle of the front end of the conical hammer 311, and when the front hooking mechanism 31 is successfully butted with the rear guide cover mechanism 32, the proximity switches 315 can detect metal signals of the upper buckle plate 321 and the lower buckle plate 322 in the rear guide cover mechanism 32, so that the robot can know that the butting is successful. The proximity switch 315 is also connected to and controlled by the first control module 12 in the reconnaissance robot 1 or the second control module 23 in the fire-fighting robot 2.
The rear guide cover mechanism 32 is arranged at the central level of the rear end cover of the first crawler moving chassis 11 in each reconnaissance robot 1, and comprises an upper buckle plate 321, a lower buckle plate 322, a rotating shaft 323, a tension spring 324, the upper buckle plate 321, the lower buckle plate 322 is identical in structure size, the two mechanisms are arranged oppositely, the cross section is in a shape of a long strip of a cutting knife, the upper buckle plate 321 and the lower buckle plate 322 are arranged oppositely, one end of the upper buckle plate 321 and one end of the lower buckle plate 322 are connected through the rotating shaft 323, the upper buckle plate 321 and the lower buckle plate 322 are fixed at the rear end of the reconnaissance robot 1 through the rotating shaft 323, the other ends of the upper buckle plate 321 and the lower buckle plate 322 are provided with vertical plates capable of being buckled in grooves of the front hook mechanisms 31, the tension spring 324 is connected between the upper buckle.
1. The docking and separating method of the reconnaissance robot 1 and the fire-extinguishing robot 2 is as follows:
the butt joint working method of the front hook mechanism 31 and the rear guide cover mechanism 32 comprises the following steps:
the fire-fighting robot 2 travels with the front hook mechanism 31, approaching the reconnaissance robot 1 mounted with the rear guide cover mechanism 32. When the fire-fighting robot 2 is positioned right behind the reconnaissance robot 1, the fire fighter continues to operate the fire-fighting robot 2 to move forward or operate the reconnaissance robot 1 to move backward, at the moment, a spindle structure consisting of the conical hammer 311, the telescopic stop block 312 and the hook base 313 is inserted into the upper buckle plate 321 and the lower buckle plate 322, the proximity switch 315 detects the distance between the conical hammer 311 and the upper buckle plate 321 and the distance between the conical hammer 311 and the lower buckle plate 322 in real time in the process, when the conical hammer 311 enters the upper buckle plate 321 and the lower buckle plate 322 and the conical hammer 311 is clamped, the proximity switch 315 gives a distance signal and a ready signal, so that the controller gives a prompt after detecting the signals, and reminds the fire fighter to finish the butt joint operation of the front hook mechanism 31 and.
The separation operation method of the front hook mechanism 31 and the rear guide cover mechanism 32 is as follows:
the firemen send a separation instruction to the second communication module 24, the second control module 23 receives the instruction and then controls the electromagnet 314 to be electrified, and the armature ejects the upper guide stop 312-A and the lower guide stop 312-B in the telescopic stop 312 out of the trapezoidal groove 312-C, so that the telescopic stop 312, the conical hammer 311 and the hook base 313 form a spindle structure, and the conical hammer 311 is separated from the upper buckle plate 321 and the lower buckle plate 322 in the rear guide cover mechanism 32. In the process, the proximity switch 315 detects the distance between the conical hammer 311 and the upper buckle plate 321 and the lower buckle plate 322 in real time, and when the conical hammer 311 is separated from the upper buckle plate 321 and the lower buckle plate 322, the proximity switch 315 sends a distance signal and a separation completion signal, so that firefighters are reminded.
The docking and separating method between two adjacent scout robots 1 is the same as above.
2. The cascade operation method of the reconnaissance robot and the fire-extinguishing robot comprises the following steps:
1) firstly, the reconnaissance robot 1 and the fire-extinguishing robot 2 are in butt joint, the reconnaissance robot 1 and the fire-extinguishing robot 2 are in cascade connection, and after the proximity switch 315 detects that the cascade connection is successful, a control instruction is sent to the second communication module 24 through the first communication module 15;
2) the second control module 23 responds after receiving the control command, and the reconnaissance robot 1 and the fire-extinguishing robot 2 wait for a further command;
3) after the fire fighter sends out a control instruction, the first control module 12 and the second control module 23 simultaneously drive the robot to work, thereby realizing the cascade operation and driving a larger load to advance;
4) after the robot reaches a proper deployment position and a fire fighter sends a separation instruction, the front hook mechanism 31 and the rear guide cover mechanism 32 are matched with the reconnaissance robot 1 and the fire-fighting robot 2 to perform a separation operation flow.
Furthermore, in the cascade method, the same method can be used to cascade and connect the plurality of reconnaissance robots 1 end to end, that is: the rear guide cover mechanism 32 of the first reconnaissance robot is connected with the front hook mechanism 31 of the second reconnaissance robot, the rear guide cover mechanism 32 of the second reconnaissance robot is connected with the front hook mechanism 31 of the third reconnaissance robot, and so on, and the rear guide cover mechanism 32 of the last reconnaissance robot is connected with the front hook mechanism 31 of the fire-extinguishing robot, so that the cascade effect of the carrying load force of multiple robots is realized, the load performance of the robots is improved, and the problems that the performance of a dragging water belt is reduced due to the fact that friction between the robots and a wet and slippery ground is reduced are solved.
3. The cooperative operation method of the reconnaissance robot and the fire-extinguishing robot comprises the following steps:
1) after the reconnaissance robot 1 and the fire-extinguishing robot 2 are separated, the reconnaissance robot 1 enters a reconnaissance operation stage, and searches and positions the position of a fire source by utilizing the vision module 13 through controlling the three-dimensional rotation of the holder mechanism 14;
2) after the fire source position is positioned, the reconnaissance robot 1 controls the holder mechanism 14 and the vision module 13 in situ to search the fire-extinguishing robot 2, calculates the space relative position of the fire-extinguishing robot 2 relative to the reconnaissance robot 1, then calculates the space three-dimensional position of the fire source relative to the fire-extinguishing robot 2 in a reverse thrust manner, finally calculates the heading angle and the pitch angle of the fire of the automatic fire water monitor 22 according to the injection experience parameters or the injection parabola modeling curve of the automatic fire water monitor 22, and sends the parameters to the fire-extinguishing robot 2;
3) after the fire-extinguishing robot 2 receives the instruction, the second control module 23 controls the automatic fire-fighting water cannon 22 to adjust to a proper spraying angle for real-time fire extinguishing, and as the heading angle of the second track moving chassis 21 in the fire-extinguishing robot 2 has a certain deviation, the water cannon floor point has a certain deviation from the fire source;
4) at the moment, the reconnaissance robot 1 also detects the water flow jet track and the landing point of the fire-extinguishing robot 2 through the vision module 13 in real time, calculates the deviation with the flame, sends a parameter correction instruction and sends the parameter correction instruction to the second communication module 24;
5) after receiving the instruction, the second control module 23 controls the automatic fire monitor 22 to correct the angle in real time, so that the water jet falls into the range of the fire source.
Furthermore, in the cooperative work of the reconnaissance robot and the fire-extinguishing robot, each reconnaissance robot 1 can cooperate with the corresponding fire-extinguishing robot 2 to perform accurate fixed-point fire-extinguishing operation.
The structure not disclosed in detail in the present invention, such as other necessary structures of the reconnaissance robot 1 and the fire-extinguishing robot 2, is the prior art, and the robot structure in the patent application proposed by the applicant before the application date of the present invention can be referred to.
The utility model discloses not be limited to above-mentioned embodiment, anybody should learn the structural change who makes under the teaching of the utility model, all with the utility model discloses have the same or close technical scheme, all fall into the utility model discloses an within the protection scope. The technology, shape and construction parts which are not described in detail in the present invention are all known technology.
Claims (9)
1. A cluster type fire-fighting robot cooperative reconnaissance fire-extinguishing system is characterized by comprising at least one fire-fighting robot and at least one reconnaissance robot, wherein each fire-fighting robot is cascaded with at least one reconnaissance robot, and the fire-fighting robots are connected with the reconnaissance robots through unhooking components; when the number of the reconnaissance robots cascaded with the fire-extinguishing robot is two or more, the adjacent reconnaissance robots are also connected through the unhooking component.
2. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system of claim 1, wherein the unhooking assembly comprises a front hooking mechanism and a rear guide hood mechanism connected to each other, the front hooking mechanism being provided at a front end of each fire-fighting robot and each reconnaissance robot, the rear guide hood mechanism being provided at a rear end of each reconnaissance robot.
3. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system as claimed in claim 2, wherein the front end of the front hook mechanism is provided with a plurality of proximity switches, the middle part of the front hook mechanism is provided with two grooves for clamping the rear guide hood mechanism, the two grooves are symmetrically arranged, and an electromagnet for controlling the clamping and the separation of the rear guide hood mechanism is arranged between the two grooves.
4. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system as claimed in claim 3, wherein a telescopic stop is provided in the groove, the telescopic stop is connected with the inner wall of the groove through a spring, and the telescopic stop is further connected with an armature of an electromagnet.
5. The cooperative reconnaissance fire extinguishing system of clustered fire-fighting robots as claimed in claim 2, wherein the rear guide hood mechanism comprises an upper pinch plate, a lower pinch plate, a rotating shaft, and a tension spring, the upper pinch plate and the lower pinch plate are oppositely arranged, one end of the upper pinch plate and one end of the lower pinch plate are connected through the rotating shaft, the upper pinch plate and the lower pinch plate are fixed at the rear end of the reconnaissance robot through the rotating shaft, the other end of the upper pinch plate and the other end of the lower pinch plate are both provided with a vertical plate which can be buckled in a groove of the front hook mechanism, and the tension spring is connected between the upper pinch.
6. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system of claim 5, wherein the upper and lower pinch plates are both metal plates.
7. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system as claimed in any one of claims 1 to 6, wherein the reconnaissance robot comprises a first crawler moving chassis capable of driving the reconnaissance robot to move forward, backward and turn, a first control module capable of performing communication control, drive control and decision-making on the reconnaissance robot, a vision module capable of performing three-dimensional positioning on a space of interest points of targets in front of or around the reconnaissance robot, a pan-tilt mechanism capable of performing three-dimensional attitude adjustment on the vision module, a first communication module capable of communicating with other reconnaissance robots, fire-fighting robots and control consoles, and a reconnaissance sensing mechanism capable of performing reconnaissance on disaster site parameters and returning in real time;
the first control module and the first communication module are installed inside the first track moving chassis, the holder mechanism and the reconnaissance sensing mechanism are installed on the first track moving chassis, the vision module is arranged on the holder mechanism, the first track moving chassis, the vision module, the holder mechanism, the first communication module and the reconnaissance sensing mechanism are all connected with the first control module, and the first control module is further connected with an electromagnet and a proximity switch in a front hook mechanism at the front end of the reconnaissance robot.
8. The clustered fire-fighting robot cooperative reconnaissance fire-extinguishing system according to any one of claims 1 to 6, wherein the fire-fighting robot comprises a second crawler moving chassis capable of driving the fire-fighting robot to advance, retreat and turn, an automatic fire-fighting water monitor capable of performing horizontal and vertical angle adjustment and changing the spray and mist spray form, a second control module capable of performing communication control, drive control and decision-making on the fire-fighting robot, and a second communication module capable of communicating with other reconnaissance robots, the fire-fighting robot and a control console;
the automatic fire-fighting water monitor is arranged on the second crawler moving chassis, the second control module and the second communication module are arranged inside the second crawler moving chassis, the automatic fire-fighting water monitor and the second communication module are all connected with the second control module, and the second control module is further connected with an electromagnet and a proximity switch in a front hook mechanism at the front end of the fire-fighting robot.
9. The clustered fire-fighting robot collaborative reconnaissance fire-extinguishing system according to claim 8, wherein the first tracked mobile chassis of the reconnaissance robot and the second tracked mobile chassis of the fire-extinguishing robot are each one of a tracked mobile platform, a wheeled mobile platform, and a wheel-track composite mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920845385.XU CN210020926U (en) | 2019-06-05 | 2019-06-05 | Cluster type fire-fighting robot cooperative reconnaissance fire extinguishing system |
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| CN115445126A (en) * | 2022-09-02 | 2022-12-09 | 山东国兴智能科技股份有限公司 | Cascade type fire-fighting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115445126A (en) * | 2022-09-02 | 2022-12-09 | 山东国兴智能科技股份有限公司 | Cascade type fire-fighting robot |
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