Intelligent fire-fighting robot for manned spacecraft cabin
A technology for manned spacecraft and fire-fighting robots, which is applied in the field of intelligent fire-fighting robots in manned spacecraft cabins, and can solve problems such as being unable to adapt to the microgravity environment of spacecraft cabins
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Embodiment 1
[0050] This embodiment provides an intelligent fire extinguishing robot in the cabin of a manned spacecraft (such as figure 1 ), which mainly includes a robotic arm and a fuselage body. The robotic arm is installed on the fuselage body. The fuselage body includes a propeller, a supporting structure, a controller, a power supply device, a sensor, a thermal control structure, a communication device, and an electric control device ;
[0051] The propeller includes a main nozzle, 24 moving nozzles distributed on the fuselage, a gas storage structure, and a coaxial twin propeller; the main nozzle and the coaxial twin propeller are respectively located on two opposite sides of the fuselage, in order to ensure Safely, a blade protection cover is installed outside the coaxial double propeller; the gas storage structure is placed in the middle of the two gas cylinder slots, and includes a gas cylinder, an expansion chamber, a pressure reducing valve and a multi-port interface. The main no...
Embodiment 2
[0063] This embodiment provides steps for the aforementioned robot to perform the fire extinguishing mode.
[0064] ① In the fire extinguishing mode, the robot's movement and posture are controlled by the main nozzle, moving nozzles distributed on the fuselage and coaxial twin propellers. The main nozzle flow control is on-off control, and the solenoid valve controls the main nozzle flow output to open and close. Two states, namely ON-OFF motion control, at this time, the main nozzle sprays carbon dioxide gas to extinguish the fire, and together with the motion nozzle and coaxial twin propellers control the movement and attitude of the robot;
[0065] ②Under certain circumstances, a fire may cause smoke, water vapor, etc. in the cabin. The scene information collected by the vision sensor may be blurred. Therefore, before positioning and mapping, the image must be defogged to make the image The scene information is more reliable;
[0066] ③Perform semantic scene reconstruction center...
Embodiment 3
[0070] This embodiment will provide steps for the robot to perform the inspection mode
[0071] ① In the inspection mode, the movement and attitude of the robot are still controlled by the main nozzle, the movement nozzles distributed on the fuselage, and the coaxial twin propellers, which can move autonomously in each cabin. At this time, the flow of the main nozzle is stepped output, which is controlled by a solenoid valve to control the movement of the robot;
[0072] ②Combined visual and inertial positioning through the front RGB-D camera, IMU and infrared thermal imager, using real-time positioning and mapping algorithms, using ORB-SLAM, sparse mapping of the camera position for each frame of the video stream, based on Perform semantic segmentation work with prior information such as temperature, shape, color model, and distinction between dynamic and static objects, and continue to iterate to reconstruct the semantic map in the cabin, move autonomously in the cabin, record th...
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