CN101884830A - A fire extinguishing robot system - Google Patents

Abstract

A robot system that changes the application thinking of fire-fighting robots is characterized in that: on the basis of maximizing the use of mature robot technology, through reasonable transformation of the robot's working environment, the robot's maximum efficiency is realized. Adding guidance lines and position marks in the working environment can simplify the two-dimensional working map, and establishing a robot working navigation map can realize the efficient movement and positioning of the robot; and establishing the connection between the robot and the fire alarm system and the image monitoring system can realize Automatic fire extinguishing and manual remote control improve the flexibility of robot applications. These innovative robot working methods in the present invention promote the application range of functional fire-fighting robots, reduce robot application costs, and realize systematic robot applications. If the robot work navigation map mode and the manual linkage mode in this paper are approved by national standards, it is very likely that the future fire protection mode will be changed through the large-area application of the robot of the present invention.

Description

A fire extinguishing robot system

technical field

The invention relates to the realization of automatic fire extinguishing in daily environment by using robot technology.

Background technique

Robotics is considered to be one of the greatest human inventions of the 20th century. After nearly 40 years of development, robot technology has become increasingly mature, among which industrial robots have been widely used in automobile manufacturing industry, mechanical processing industry, electrical and electronic industry, rubber and plastic industry, food industry, wood and furniture manufacturing and other fields. Special robots for various purposes have also entered a rapid development mode, and special robots have begun to play an important role in several fields such as military, urban explosion-proof, and housekeeping.

The growth of robots can be roughly divided into three stages: the first stage is simple individual robots, the second stage is group labor robots, and the third stage is intelligent robots similar to humans. Its future development direction is sentient, thinking, and capable Talk to people. The rapid development of computer technology and artificial intelligence technology has brought huge room for expansion to robot technology. Modern intelligent robots already have the ability to store knowledge, perceive the outside world and make decisions by themselves. Modern intelligent robots are generally composed of three parts: the motor part, the intelligent part and the sensory part. The moving part mainly relies on mechanical mechanisms such as walking mechanism, manipulator, and claws; the intelligent part mainly realizes cognitive ability, learning ability, thinking ability and decision-making ability through the processing of stored information and external signals by the computer; the sensory part mainly relies on cameras and microphones , infrared sensors and other devices to realize the collection of external signals.

Because robots have the advantage of working under dangerous conditions, they have great application prospects in fire and explosion protection. Now the fire extinguishing robot can realize the functions of removing explosives, transferring them, and going deep into the fire scene to extinguish the fire source at close range. However, the application of fire-fighting robots is not popular enough. Personally, I think this is mainly due to the following two problems in the design of fire-fighting robots: (1) Overemphasis on improving the intelligence of robots and ignoring the cooperation between robots and the surrounding environment. The development of science and technology is gradual, and the intelligence of robots must also be advanced gradually. It is also difficult for robots to quickly improve their intelligence to the point where they can handle various complex environments. However, the function of the robot is not only related to the intelligence level of the robot, but also related to the working environment. Scientifically and rationally transforming the working environment of the robot can maximize the working ability of the robot under the existing robot technology. (2) Pay too much attention to the development of a single super-capable robot while ignoring the promotion of functional and practical robots. From a practical point of view, there is not only a lack of highly intelligent robots that can handle extreme conditions, but also a need for ordinary functional robots that can play a role in everyday environments. By changing the design idea and reasonably balancing robot intelligence and use environment, it is completely possible to design a robot system that undertakes fire-fighting tasks in daily environments by using the current robot technology.

Contents of the invention

The invention provides a robot system for realizing the fire extinguishing function in the daily environment by using an environment modification method of adding ground guide lines and position marks and remote monitoring technology. The main contents include:

(1) Reasonably set ground guide lines and position marks on the ground surface. The two-dimensional environment map can be simplified to one-dimensional position coordinates through the guide lines and position marks on the ground, which not only reduces the requirements for the intelligence level of the robot in the working environment, but also reduces the chance of the robot making wrong routes, while relying on the guide lines and positions Marking can also greatly improve the moving speed and position judgment of the robot. Like traffic signs, if a unified guidance line and location identification standard are established, the versatility of the fire fighting robot will be greatly increased. When the robot changes its working environment, it only needs to change the environment map in the control computer.

(2) Establish robot remote communication and manual control system. Now the monitoring system and fire alarm system have become the necessary safety equipment for large shopping malls and offices. Only by combining the monitoring system, fire alarm system with the robot wireless camera and wireless communication system can the automatic fire extinguishing and manual remote control of the fire extinguishing robot be realized. . Automatic fire extinguishing means that the fire alarm system will inform the robot of the location of the fire through wireless communication, and the robot can automatically reach the accident location and extinguish the fire. Switching the monitoring system to the robot wireless camera can monitor the fire extinguishing situation in real time, and the robot control mode can be switched to the manual control mode in case of complicated situations. This undoubtedly increases the flexibility of the robot control, and is also conducive to the joint work of the fire rescue team and the fire-fighting robot after the arrival of the fire rescue team. This combination of internal and external and manual mode can greatly improve the flexibility of fire fighting, ensure the safety of firefighters and control the fire in advance. At the same time, the daily monitoring personnel can also undertake the early fire extinguishing work after a certain amount of man-machine training, which will have great development prospects and great significance from the perspective of fire fighting.

(3) Fire-fighting function robot. In order to cooperate with the ground guide line, marking system and remote control system, the robot in this design includes a ground marking sensing probe array, a temperature sensing system, a power control system, a fire extinguishing agent storage tank and a switching system, a wireless camera and a wireless communication module, Main control system, fire extinguishing agent nozzle and its control system.

Compared with the existing fire-fighting robot system, this robot system has the following characteristics:

(1) For the popularization and application of robots, the present invention converts design ideas, and rational design reduces the complexity of the environment, thereby reducing the intelligence requirements for robots, and the simplification of the navigation system can also reduce the probability of failure. This has important implications for the popularity of robots.

(2) The establishment of the ground navigation system greatly improves the running speed of the robot, and the setting of the environment map can improve the versatility of the robot.

(3) The flexible switching mode between the automatic control mode and the remote manual control mode not only ensures the independence of the robot but also can cope with complex environments and emergencies. The flexible control mode and navigation system can ensure a wider application range of the robot system, and can be used in most daily environments such as large shopping malls, offices and warehouses.

(4) The fire extinguishing system of this robot can realize the switching of various types of fire extinguishing agents and can adapt to the fire extinguishing of various fires.

(5) The combination of the robot system and the fire alarm system can efficiently complete the task of extinguishing the fire under unattended conditions, and according to the situation, it can reduce the water spray system or the foam system to extinguish the fire, only need to install the smoke or temperature fire alarm system , can reduce the cost of fire protection.

Description of drawings

Fig. 1 is a schematic diagram of building guiding lines and location markings in the present invention, wherein 1 is a robot standby area, 2 is a guiding line, 3 is an ordinary dangerous object, 4 is a serious dangerous object, and 5 is an important dangerous object.

Fig. 2 is a structural schematic diagram of the fire prevention robot of the present invention, wherein 1 is a wireless camera, 2 is a fire extinguishing agent nozzle, 3 is a main control circuit system, 4 is a fire extinguishing agent storage tank, 5 is a photoelectric probe array position, 6 is a temperature sensor, 7 is a Distance sensor, 8 is a photoelectric probe array, and 9 is a guiding line.

Fig. 3 is the working flowchart of the robot system of the present invention

Detailed ways

This robot is not an obstacle-crossing robot, so it has certain requirements on the ground and needs the cooperation of the remote control system. Therefore, the ground of the working environment is firstly required to be as flat as possible without a slope of more than 30 degrees; secondly, the working site must have a monitoring system and a fire alarm system. From the daily working environment of modern cities, these two requirements are very easy to meet, which also shows that the present invention has a very wide scope of application. The detailed embodiment of the present invention is further described in detail as follows:

The first step: realize the transformation of the working environment. As shown in Figure 1, draw the planned guiding lines and position identifiers on the ground of the working environment. This kind of guiding line can generally use white or black lines. In the field of machine competitions, the setting and identification technology of such marking lines is quite mature. If aesthetics is considered, guide lines of other colors or forms can be used. Combining the design of environmental location identification and fire hazard assessment, different location identifiers are matched to areas with different fire hazard levels.

Step 2: Create an environmental navigation map. After the environmental transformation is realized, the robot navigation map can be obtained by combining the building map with the guide line and the location mark, and this navigation map is input into the robot storage module, and this map will be the main motion control reference in the automatic control mode of the robot. This navigation map has excellent scalability. For example, adding features such as the location information of combustible items in buildings and important equipment location information to the map can realize the automatic rating of the robot's environmental risk and realize the intelligent monitoring of the robot. Under the condition of unified environmental identification, the robot only needs to change the navigation map to change the working environment.

The third step: establish the wireless connection between the robot system and the monitoring system and fire alarm system. Add the robot wireless camera to the workplace monitoring system, and only need to switch the monitoring screen when you need to monitor the operation of the robot. In the event of a fire, the fire alarm system transmits the location coordinates of the fire to the robot, and the fire extinguishing robot can automatically reach the fire area, locate the fire source through the temperature sensor, and select the matching fire extinguishing agent to extinguish the fire.

Step 4: Build the physical entity of the fire fighting robot. As shown in Figure 2, the robot can be divided into five systems: motion system, intelligent control system, environment perception system, wireless communication system and fire extinguishing system. The robot motion system adopts a DC motor-driven wheel travel mode. This mode has the advantages of fast movement speed, stability and low cost. With the assistance of guide lines and position marks, the robot can fully meet the task requirements. If you need to improve the motion accuracy of the robot, you can also add a gyroscope and a code wheel on the basis of the motion system. The environment perception system includes guide line recognition probe array, distance sensor, temperature sensor and wireless camera. The working principle of the guiding line identification probe is to separate the guiding line and the ground through the difference in the reflectivity of the ground. This array module can choose different recognition principles according to the different guiding lines. The distance sensor and temperature sensor choose the infrared type, that is, the price is right and the stability is good. The wireless camera can act as a monitoring camera when it is connected with a remote monitoring system. If image recognition technology is added to the intelligent control system, the scope of use of the camera can be expanded and the intelligence of the robot can be increased. The wireless communication system is used to realize the communication between the robot and the remote monitoring room, and different communication modes can be selected according to the differences of the wireless communication modules. The fire extinguishing system is further divided into a fire extinguishing agent storage device and a sprinkler control module. Different fire extinguishing agents are stored in different high-pressure tanks, and the switching of different fire extinguishing agents is realized through solenoid valves. The nozzle is an adjustable angle device. When the height and distance of the fire source are different, the nozzle angle is determined according to the information sent back by the temperature sensor. The intelligent control system is the control center of the entire robot system. All kinds of external information need to be transmitted to the control system for analysis, and then action instructions are issued according to the situation to realize various actions. The intelligent control system uses a PC host or an ARM main control board to meet the needs of computing and control.

Step 5: Establish the robot system workflow. The establishment of the robot system and the transformation of the working environment are only the first step in the integrity of the system, and a reasonable workflow design can maximize the function of the fire-fighting robot system. As shown in Figure 3, when the robot system is working, it will fully mobilize the advantages of various resources and give full play to the advantages of the robot, so as to realize the task of fire extinguishing under complex conditions without human presence.

Claims (3)

1. A new type of fire-fighting robot system, characterized in that the design idea is changed, the robot working environment is transformed and the robot navigation map is established under the premise of maximizing the existing robot technology. By adding guide lines and position marks on the working ground, the positioning speed and running stability of the robot can be improved, and at the same time, it is beneficial to reduce the cost of the robot in positioning technology. Location markings can be used to distinguish items of different fire ratings. Navigation maps can form norms, which can increase the substitutability of robots, and can also establish demonstration standards for other functional robots to serve life in the future. For example, domestic service robots can also use this set of robot navigation maps in the future. The establishment of the robot navigation map mode can also greatly expand the scope of existing robot applications, and the robot fire extinguishing system of the present invention can be placed in most places of daily life. 2. A novel fire-extinguishing robot system, characterized in that: an automatic fire-extinguishing mode in which the robot is connected with the fire alarm system is established. After a fire occurs, the fire alarm system sends the fire location information to the robot. After receiving the fire location information, the robot automatically arrives at the fire point and selects the fire extinguishing agent that matches the object information in the navigation map to automatically extinguish the fire. In this way, not only can the fire extinguishing systems such as water sprinkler be appropriately reduced and replaced by robots, but also the automatic fire extinguishing of the system can be realized under unmanned conditions. 3. A new type of fire-fighting robot system, characterized in that: the remote connection between the robot and the camera monitoring system is established. Through the wireless camera and wireless communication module, the fire extinguishing robot is connected with the monitoring system in offices, warehouses, shopping malls and other places. Realize the monitoring of the working status of the robot, and when necessary, the work of the fire-fighting robot can be manually controlled, and even the joint work of the fire-fighting robot and the fire brigade can be adopted to extinguish the fire. This will greatly improve the flexibility of firefighting and ensure the safety of firefighters.

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