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A method for intelligently connecting water pipes based on a fire-fighting robot and a method for removing them

A technology for water pipes and water pipe joints, which is applied in the field of intelligent docking of water pipes

Active Publication Date: 2021-01-12
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an intelligent docking method and release method based on a fire extinguishing robot, which can promptly solve the problem of docking and contacting the fire hydrant with the fire extinguishing robot's own water pipe, and at the same time solve the problem of opening and closing the fire hydrant by the fire extinguishing robot valve problem

Method used

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  • A method for intelligently connecting water pipes based on a fire-fighting robot and a method for removing them
  • A method for intelligently connecting water pipes based on a fire-fighting robot and a method for removing them
  • A method for intelligently connecting water pipes based on a fire-fighting robot and a method for removing them

Examples

Experimental program
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Effect test

specific Embodiment 1

[0091] ① When the fire extinguishing robot arrives directly in front of the fire hydrant and the fire hydrant door is opened, the video acquisition module collects images inside the fire hydrant in real time, and sends the collected image information to the digital signal processor 4d for analysis and processing;

[0092] ②The digital signal processor 4d obtains the picture information in the fire hydrant and uses the feature point matching algorithm to find the three-dimensional world position coordinates of the water pipe joint in the fire hydrant, and the digital signal processor 4d sends the position coordinates of the water pipe joint to the embedded controller 4e;

[0093] ③ After the embedded controller 4e receives the position coordinates of the water pipe joint, according to the known three-dimensional world position coordinates of the fire hydrant hard water pipe 7g on the robot, the embedded controller 4e controls the right mechanical arm through the mechanical claw a...

specific Embodiment 2

[0102] ① The fire hydrant valve controller 7a sets the power supply port of the brushless DC motor at the center of the rotating blade 7b of the fire hydrant valve to the TRUE state, and the brushless DC motor starts to work.

[0103] ②The DC brushless motor drives the rotating fan blade 7b of the fire hydrant valve to rotate counterclockwise.

[0104] ③The rotary fan blade 7b of the fire hydrant valve rotates to drive the fire hydrant spoke force column 7c which is closely connected with the fire hydrant water flow rotary switch to rotate, thereby performing the closing operation of the fire hydrant rotary switch.

[0105] ④The fire hydrant valve controller 7a monitors the current of the power supply port of the DC brushless motor at the center point of the fire hydrant valve rotating fan blade 7b in real time. When the current changes sharply and is greater than or equal to 200% of the current current, the fire hydrant water flow rotary switch is closed The operation is in p...

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Abstract

The invention discloses an intelligent water pipe butt joint method and removing method based on a fire extinguishing robot. The intelligent water pipe butt joint method comprises the steps that an image inside a fire hydrant when a fire hydrant door is opened is collected; the image is analyzed and processed, and a processed image is obtained; the position of a water pipe connector inside the fire hydrant is determined through a feature point matching method according to the processed image; a hard water pipe moves to the position of the water pipe connector and is inserted into the water pipe connector inside the fire hydrant; and a steering engine of the water pipe connector of the fire hydrant is rotated by 90 degrees. By the adoption of the two methods, the problem of butt joint and contact of a water pipe of the fire extinguishing robot and the fire hydrant is solved in time.

Description

technical field [0001] The invention relates to the field of fire extinguishing, in particular to an intelligent method for connecting water pipes based on a fire extinguishing robot and a releasing method. Background technique [0002] During the fire extinguishing process of the fire extinguishing robot, the connection of the water pipe and the opening of the valve are the key steps to obtain the water source. Although there are some methods about valve opening, these methods are only suitable for opening the valve at close range, that is, opening beside the valve. Because the fire extinguishing robot does not open the valve near the fire hydrant immediately after the water pipe and the fire hydrant are connected, but needs to go to the vicinity of the fire source, that is, leave the fire hydrant valve for a certain distance before opening the valve. In addition, after the fire extinguishing is completed, the valve should be closed in time and remotely to stop water intak...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A62C27/00A62C35/20A62C35/68
CPCA62C27/00A62C35/20A62C35/68
Inventor 邹娟苏长青赵浩武阳梦园邹颖杰吴省红朱琦王求真
Owner XIANGTAN UNIV
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