Cooperative scouting and fire-extinguishing method for cluster type fire-fighting robots

Abstract

The invention relates to a cooperative scouting and fire-extinguishing method for cluster type fire-fighting robots. A plurality of scout robots and fire-extinguishing robots are in cascade serial connection through back guide cover mechanisms and front hook mechanisms, so that the robots can be docked and separated automatically and quickly. The robot groups are connected in multistage by employing the robot cascade serial connection method, so that the loading capacities of the robots are improved, and the problems that the performance of dragging a water hose is declined and the like as friction between the robots and the ground is reduced and the like are solved. By means of cooperative work of the scouting robots and the fire-extinguishing robots, the abilities of extinguishing a firesource precisely at a fixed point and space observation abilities of the fire-extinguishing robots are enhanced indirectly by determining a relative space relationship of the fire source and the fire-extinguishing robots by the scouting robots and backstepping and calculating the space relationship between the fire source and the fire-extinguishing robots. The water flow jet angles of the fire-extinguishing robots are corrected and adjusted in real time by detecting the fire-extinguishing effect of the scouting robots, so that the fire-extinguishing precision and efficiency are improved, therescue time is saved and the casualties and property loss are reduced greatly.

Description

technical field [0001] The invention belongs to the field of fire-fighting robots, and in particular relates to a method for collaborative reconnaissance and fire-extinguishing of cluster-type fire-fighting robots. Background technique [0002] Fires occur frequently, seriously endangering people's lives and property safety. As a tool to assist firefighters to perform dangerous tasks, firefighting robots need to go to the fire scene with firefighters after a fire breaks out, and assist or replace firefighters in information collection, assisted firefighting and personnel search and rescue operations at the fire scene. Fire fighting robots are mainly divided into reconnaissance robots and fire fighting robots. The cannon is connected to the hose of the rear fire truck to spray fire. [0003] At present, the reconnaissance robot is generally flexible and can directly enter the disaster scene for reconnaissance, and the fire-fighting robot drags a hose to put out the fire out...

AI Technical Summary

Problems solved by technology

[0005] In addition, in terms of fire source detection and precise rescue technology, most of the robots carrying fire water cannons currently rely on the rear firefighters to use the operation console to manually adjust the three-dimensional angle of the robot's water cannons, which is time-consuming and labor-intensive and relies on trial and error. rescue

However, it is difficult to obtain a sufficient field of view by directly placing the visual equipment on the fire-fighting robot, and it is impossible to accurately locate the fire source and the jet drop point to extinguish the fire

There are major disadvantages in using drones for fire source reconnaissance, for example, flames are extremely harmful to drones in the sky; secondly, the positioning accuracy of drones depends on GPS positioning accuracy, and differential GPS is more expensive, resulting in system costs It is too high; in addition, when there is a fire indoors, the GPS positioning system cannot work, and the drone-assisted fire extinguishing system cannot work normally

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