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A kind of fire-fighting robot and reaction force control method

A fire-fighting robot and control box technology, applied in the direction of instruments, signal transmission systems, fire rescue, etc., can solve the problems of large body reaction force and backward movement of the body, and achieve the effect of strengthening safety guarantee and enhancing fire extinguishing efficiency

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] Aiming at the problem that the water flow of the fire-fighting robot has too much reaction force on the body during the fire-fighting process, which causes the body to move backward

Method used

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  • A kind of fire-fighting robot and reaction force control method
  • A kind of fire-fighting robot and reaction force control method
  • A kind of fire-fighting robot and reaction force control method

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Experimental program
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Effect test

Embodiment 2

[0080] In order to achieve the above purpose, this embodiment provides a reaction force control method applied to a fire fighting robot, including three stages.

[0081] The first stage: the ground stage based on the hydraulic system and intelligent algorithm, including the following steps:

[0082] ① When the fire-fighting robot reaches the best fire-fighting position, the control box sends a hydraulic column extension signal to the hydraulic motor to make the four hydraulic columns extend out of the shell synchronously and start to touch the ground.

[0083] ②When the four hydraulic columns start to touch the ground, since the ground where the four hydraulic columns are located may not be on the same plane (for example, the first two are on the horizontal plane, and the last two are on the slope, that is, they are at the top of the slope as a whole), that is, when the four hydraulic columns are at the top of the slope. When the ground where the columns are located is not on ...

Embodiment 3

[0095] This embodiment also provides a reaction force control method of a fire fighting robot, including:

[0096] When the fire-fighting robot reaches the best position for extinguishing the fire, the fire-fighting robot stops, and the embedded controller controls the operation of the hydraulic motor and then controls the four hydraulic columns to stretch out. When the hydraulic column does not touch the ground, the hydraulic column extends at the same rate, and the distance is measured by the ultrasonic rangefinder at the top of the four hydraulic columns. When it is judged that one or more hydraulic columns have reached the ground, the embedded control The controller sends a signal to the hydraulic motor according to the control algorithm to change the elongation speed of the hydraulic column to make it tend to stop, so that the fire fighting robot still keeps the original angle unchanged.

[0097] When the hydraulic column starts to touch the ground, since the ground where...

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Abstract

The invention discloses a fire fighting robot and a counter-acting force control method, and relates to the technical field of fire fighting and fire extinguishing. When the fire fighting robot reaches the best position for fire extinguishing, four hydraulic columns carried by the fire fighting robot simultaneously start to extend out from a shell and support the ground, the hydraulic columns arecontinuously extended to support the entire fire fighting robot, movable rough discs at the bottoms of the hydraulic columns are closely attached to the ground, the friction force is increased, the counter-acting force acting on the fire fighting robot can be effectively weakened, the problem that the fire fighting robot retreats due to the too large counter-acting force in the fire-fighting process of the fire fighting robot is solved, the fire fighting efficiency of the fire fighting robot is further enhanced, and the safety guarantee is enhanced.

Description

technical field [0001] The invention relates to the technical field of fire fighting, in particular to a fire fighting robot and a reaction force control method. Background technique [0002] During the fire-fighting process of the fire-fighting robot, due to the strong reaction force of the water flow at the spray pipe to the body, the fire-fighting robot retreats uncontrollably, and the movement of the fire-fighting robot will affect the spraying accuracy of the water cannon, so it takes time to readjust The spray angle of the water cannon reduces the fire extinguishing efficiency. Contents of the invention [0003] Aiming at the problem that the water flow of the fire-fighting robot has too much reaction force on the body during the fire-fighting process, which causes the body to move backward. The invention provides a fire fighting robot and a reaction force control method. [0004] To achieve the above object, the present invention provides the following scheme: ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A62C27/00A62C31/00A62C37/00G08C17/02
CPCA62C27/00A62C31/00A62C37/00G08C17/02
Inventor 邹娟邹颖杰王小齐张英贵肖谢荃威孙梦园王求真
Owner XIANGTAN UNIV
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