WO2020062624A1

WO2020062624A1 - Cooperative working method and system of fire-fighting robot

Info

Publication number: WO2020062624A1
Application number: PCT/CN2018/121929
Authority: WO
Inventors: 唐飞; 徐延泷; 陈进; 王昊森
Original assignee: 北京力升高科科技有限公司
Priority date: 2018-09-29
Filing date: 2018-12-19
Publication date: 2020-04-02
Also published as: CN109173125A

Abstract

Disclosed are a cooperative working method and system of a fire-fighting robot. The method comprises the following steps: 1) after being docked and locked to a reconnaissance robot (201) by means of a docking and locking mechanism (203), a carrying robot (202) carrying the reconnaissance robot (201) to a designated position; and 2) the reconnaissance robot (201) driving away after being unlocked from the carrying robot (202), and entering a high-temperature environment for operation. A cooperative working system of a fire-fighting robot enables a reconnaissance robot (201) to quickly reach and go deep into a high-temperature fire scene, and to work stably and efficiently at the fire scene, thereby realizing rapid deployment of the fire-fighting robot.

Description

Cooperative work method and system of fire robot

Technical field

The present invention relates to the field of robotics, and in particular, to a collaborative working method and system for a fire-fighting robot.

Background technique

As a tool to assist firefighters in performing dangerous tasks, firefighting robots need to rush to the fire scene with the firefighters after the fire, and assist or replace the firefighters in the fire scene for information collection, auxiliary fire fighting and personnel search and rescue operations.

Due to the uncertainty of the time and place of the fire and the rapid spread of the fire, the robot needs to be quickly deployed to the incident area with the firefighters. Therefore, the flexibility of the robot in environments where the large transportation vehicles such as narrow lanes and stairs cannot be penetrated is proposed. At the same time, the collection of fire scene information, the suppression of fire sources on the scene and the search and rescue of personnel require that the robot can work in a high-temperature fire scene, which has high requirements for the protective performance of the robot. Due to the complex environment of the fire scene, the robot must Moving slowly, the requirements for mobility are relatively low. It can be seen that firefighting robots need to work in two environments with very different operating conditions. One is fast transportation outside the fire field, which requires high mobility and low protection requirements. One is to perform tasks in the fire field. At this time, the requirements for protection are high, and the requirements for mobility are low.

Many existing fire-fighting robots are mainly aimed at the first working condition to achieve rapid transportation, and perform auxiliary work such as remote fire suppression or hauling of water hoses around the fire scene. Since it is impossible to achieve deep fire protection functions on existing products, it is difficult to provide substantive assistance to firefighters in gathering field information, extinguishing fire sources, and searching and rescuing personnel.

For the protection of high temperature environment, although there are currently industrial applications of related technologies, it is necessary to cover the entire machine with a thermal protection layer. Therefore, it is difficult to provide reliable protection for auxiliary transmission mechanisms such as the crawler chassis used by high-mobility fire robots. .

Due to the above reasons, there is currently no fire-fighting robot on the market that can penetrate into the high-temperature fire scene while maintaining high mobility at the fire scene to achieve rapid deployment.

Summary of the Invention

In order to solve the shortcomings of the prior art, the object of the present invention is to provide a cooperative working method and system for a fire fighting robot, a reconnaissance robot and a carrying robot working together, instead of special operators, entering a high-temperature dangerous environment, performing a fire scene, a metallurgical furnace Scouts such as image acquisition, gas detection, and hazard source identification in scenes such as kiln.

To achieve the above object, the method for collaborative work of a fire robot provided by the present invention includes the following steps:

1) After the carrying robot docks and locks with the reconnaissance robot through the docking locking mechanism, it carries the reconnaissance robot to a designated position;

2) The reconnaissance robot is driven away from the carrier robot after unlocking, and enters a high-temperature environment for operation.

Further, the step 1) further comprises:

After the carrying robot and the reconnaissance robot perform position correction, lower the tail flap;

The reconnaissance robot climbs to the carrying robot along the tail flap guide track;

The docking lock mechanism locks the reconnaissance robot;

The carrying robot carries the reconnaissance robot to a designated position.

Further, the step 2) further comprises:

The docking lock mechanism unlocks the reconnaissance robot;

The reconnaissance robot drives away from the carrying robot;

The reconnaissance robot enters a high-temperature environment to perform operations;

The reconnaissance robot completes its operation and drives away from the high temperature environment;

After the carrying robot docks with the reconnaissance robot through the docking locking mechanism, the reconnaissance robot is transported back.

In order to achieve the above object, the cooperative working system of a fire robot provided by the present invention adopts the above-mentioned cooperative working method of a fire robot, including a reconnaissance robot, a carrying robot, and a docking and locking mechanism.

The carrying robot adopts a crawler robot to carry the reconnaissance robot under a normal temperature environment;

The reconnaissance robot adopts a wheeled robot to perform operations in a high temperature environment;

The docking locking mechanism is installed on the carrying robot to lock or unlock the reconnaissance robot.

Further, the reconnaissance robot performs image acquisition, gas detection, and identification of a dangerous source in a high-temperature environment.

Furthermore, the reconnaissance robot is provided with a heat insulation layer on both sides of the elastic hub piece of the wheel.

According to the collaborative working method and system of the fire robot of the present invention, through the cooperation of multiple machines, the entire system can maintain high maneuverability, solve the problem that the existing fire robot cannot enter a high-temperature fire field, and ensure that it has better maneuverability.

Other features and advantages of the present invention will be explained in the following description, and partly become apparent from the description, or be understood by implementing the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description. Together with the embodiments of the present invention, the accompanying drawings are used to explain the present invention, but not to limit the present invention. In the drawings:

1 is a flowchart of a collaborative working method of a fire robot according to the present invention;

FIG. 2 is a schematic diagram of the composition of a fire robot system according to the present invention.

In the figure, 201 is a reconnaissance robot, 202 is a carrying robot, and 203 is a docking and locking mechanism.

detailed description

The following describes preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

FIG. 1 is a flowchart of a cooperative working method of a fire robot according to the present invention. The cooperative working method of a fire robot according to the present invention will be described in detail below with reference to FIG. 1.

The reconnaissance robot of the present invention works in a high-temperature environment (in the scene of a fire, a metallurgical furnace, etc.); the carrying robot works in a normal-temperature environment.

First, in step 101, the reconnaissance robot and the carrying robot are docked and locked. The process of docking and locking is as follows:

First, the docking lock mechanism is unlocked, and after the position of the reconnaissance robot and the carrying robot are aligned, the tail flap of the carrying robot is lowered;

In the second step, the reconnaissance robot climbs up along the tail flap of the carrying robot. During the climbing process, the position of the carrying robot is corrected by the guide track of the tail flap;

In the third step, the reconnaissance robot fully climbs onto the carrying robot, and the docking lock mechanism is locked to achieve mutual locking between the reconnaissance robot and the carrying robot;

The fourth step is to flip the rear flap of the carrier robot, and the docking lock is completed.

In step 102, the carrying robot is equipped with a reconnaissance robot in a normal temperature environment and in a non-harsh working condition, and quickly transports the robot to a designated position.

In step 103, after the carrying robot carries the reconnaissance robot to the designated position, the docking lock mechanism is unlocked, and the reconnaissance robot drives away from the carrying robot.

In step 104, the reconnaissance robot enters the high-temperature environment to perform information acquisition such as image acquisition, gas detection, and identification of dangerous sources. At this time, the carrying robot for normal temperature environment stays outside the high-temperature environment;

In step 105, the operation of the reconnaissance robot in a high-temperature environment is ended, and it returns to the position of the carrying robot.

The reconnaissance robot for a high-temperature environment of the present invention can perform reconnaissance tasks in a high-temperature environment. The carrying robot for normal temperature environment and the reconnaissance robot for high temperature environment perform docking locking and unlocking by a docking locking mechanism.

FIG. 2 is a schematic diagram of the composition of a fire-fighting robot system according to the present invention. As shown in FIG. 2, the fire-fighting robot system of the present invention includes a reconnaissance robot 201 for working in a high-temperature environment, a carrying robot 202 for working in a normal-temperature environment, and docking. Locking mechanism 203, wherein:

The reconnaissance robot 201 adopts a wheel-type robot and is used to perform operations in a high-temperature environment, such as image acquisition, gas detection, and other information collection, and identification of a dangerous source in a high-temperature environment. The motion of the reconnaissance robot 201 is jointly driven by four high-temperature-resistant wheels.

The carrying robot 202 is a crawler robot, which facilitates rapid movement. Under normal temperature environment and non-harmful working conditions, the carrying robot 202 carries a reconnaissance robot 201 to transport it to a designated location.

The docking locking mechanism 203 is mounted on the carrying robot 202 and is used to lock the reconnaissance robot 201.

When working, when the carrying robot 202 is carrying a reconnaissance robot 201 to transport it near the scene in a high-temperature environment, the docking locking mechanism 203 is unlocked. The reconnaissance robot 201 drives away from the carrying robot 202 and enters the high-temperature environment for work alone. At this time, the carrying robot 202 Stay outside the high temperature environment.

A person of ordinary skill in the art may understand that the foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, It can still modify the technical solutions described in the foregoing embodiments, or replace some of the technical features equivalently. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

A cooperative working method of a fire robot is characterized in that it includes the following steps:

1) After the carrying robot docks and locks with the reconnaissance robot through the docking locking mechanism, it carries the reconnaissance robot to a designated position;

2) The reconnaissance robot is driven away from the carrier robot after unlocking, and enters a high-temperature environment for operation.
The method for cooperative work of a fire-fighting robot according to claim 1, wherein the step 1) further comprises:

After the carrying robot and the reconnaissance robot perform position correction, lower the tail flap;

The reconnaissance robot climbs to the carrying robot along the tail flap guide track;

The docking lock mechanism locks the reconnaissance robot;

The carrying robot carries the reconnaissance robot to a designated position.
The method for cooperative work of a fire-fighting robot according to claim 1, wherein the step 2) further comprises:

The docking lock mechanism unlocks the reconnaissance robot;

The reconnaissance robot drives away from the carrying robot;

The reconnaissance robot enters a high-temperature environment to perform operations;

The reconnaissance robot completes its operation and drives away from the high-temperature environment.
A fire-fighting robot cooperative work system adopting the fire-fighting robot cooperative work method according to any one of claims 1 to 3, comprising a reconnaissance robot, a carrying robot, and a docking and locking mechanism, characterized in that:

The carrying robot adopts a crawler robot to carry the reconnaissance robot under a normal temperature environment;

The reconnaissance robot adopts a wheeled robot to perform operations in a high temperature environment;

The docking locking mechanism is installed on the carrying robot to lock or unlock the reconnaissance robot.