Cooperative reconnaissance fire extinguishing operation method for unmanned aerial vehicle and fire-fighting robot

Abstract

The invention relates to a cooperative reconnaissance fire extinguishing operation method for an unmanned aerial vehicle and a fire-fighting robot. The method comprises the step of unmanned reconnaissance aerial vehicle release, the spatial positioning step of an unmanned reconnaissance aerial vehicle, a robot control table and an unmanned aerial vehicle control table for a fire extinguishing reconnaissance robot, and the cooperative reconnaissance fire extinguishing step of the fire extinguishing reconnaissance robot, the unmanned reconnaissance aerial vehicle, the robot control table, and the unmanned aerial vehicle control table. A spatial geometric positioning method is adopted to realize the real-time three-dimensional spatial positioning for the fire extinguishing reconnaissance robot so as to quickly obtain the relative position of the unmanned reconnaissance aerial vehicle, the robot control table, the unmanned aerial vehicle control table and the fire extinguishing reconnaissance robot in space, the application range of a system is enlarged, meanwhile, the on-line compensation of the jetting angle of a fire-fighting water cannon is realized, the precision of the injectionof the target point is greatly improved, the reconnaissance and fire extinguishing efficiency can be improved, the emergency time is saved, the field disaster treatment speed is increased, the classification fixed point treatment efficiency and precision of a dangerous source are improved, and the personnel and property loss is reduced.

Description

technical field [0001] The invention belongs to the technical field of fire-fighting robots, and in particular relates to a cooperative reconnaissance and fire-fighting operation method of an unmanned aerial vehicle and a fire-fighting robot. Background technique [0002] Fire brings huge losses and casualties to human beings, and it is one of the main disasters that most often and generally threaten public safety and social development. Especially for hazardous chemical fires, different igniting materials need to be extinguished with corresponding fire extinguishing agents, otherwise difficult, more complicated and dangerous accidents will occur, so it is necessary to accurately extinguish the fire source at a fixed point. [0003] With the continuous development of science and technology, more and more fire-fighting robots replace firefighters and enter the fire scene to fight fires. As a kind of special robots, fire-fighting robots play an increasingly important role in f...

AI Technical Summary

Problems solved by technology

[0010] However, this solution has the following disadvantages: first, the UAV needs to fly above the flames, which is extremely harmful to the equipment in practice; The high price of differential GPS leads to high system cost; in addition, when the indoor fire occurs, the GPS positioning system cannot work, and this method cannot work normally

[0011] Moreover, when the ground environment such as fire is complex and fluctuating, the attitude and height of the robot will change significantly, which not only affects the accuracy of the location parameters of the robot's observation target point of interest, but also has a serious impact on the firing angle of the water cannon on the fire-fighting robot. Spot fire

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