Full-automatic cooperative reconnaissance and fire extinguishment working method of fire-fighting robot

Abstract

The invention relates to a full-automatic cooperative reconnaissance and fire extinguishment working method of a fire extinguishment robot. By adopting a plane positioning method, a reconnaissance robot and a fire extinguishment robot are positioned in real time, so that the relative positions of each robot relative to a master control station and an auxiliary base station are quickly acquired, and a robot reverse-thrusting space is conveniently positioned, controlled and managed. By adopting an encoder compensation and calculation mechanism, the front and back positions of the robots are approximately estimated, and the deflection angles of the robots are calculated. The reconnaissance robot and the fire extinguishment robot are adopted to work cooperatively, the spatial locations of interest points such as a fire source can be acquired forwardly through the reconnaissance robot, and then space coordinate transformation is carried out so as to realize accurate fixed-point fire extinguishment of the fire extinguishment robot. According to the full-automatic cooperative reconnaissance and fire extinguishment working method of the fire extinguishment robot provided by the invention,the functions on full-automatically identifying and positioning dangerous sources such as the disaster site fire source and an automatic aiming function of the fire extinguishment robot can be realized, so that the site disposal speed is improved, the dangerous source disposal efficiency is improved, and the personnel injury and the property loss are reduced.

Description

technical field [0001] The invention belongs to the field of fire-fighting robots, and in particular relates to a fully automatic cooperative reconnaissance and fire-extinguishing operation method of a fire-fighting robot. Background technique [0002] As a kind of special robot, fire-fighting robot plays an increasingly important role in fire fighting and emergency rescue. At present, most of the robots carrying fire water cannons need to rely on the remote operation of firefighters in the background to realize the adjustment of the three-dimensional angle of the water cannon, so as to control the parabola of the water cannon to fall on the fire point. However, the site environment is harsh and densely covered with dense smoke. Due to their own vision or the influence of the environment, the firefighters may be unable to aim. Even if the firefighters find and locate the fire point, they need to remotely control the fire water cannon to draw water and locate it, which takes ...

AI Technical Summary

Problems solved by technology

[0010] 1) For the UAV high-altitude assisted detection method, there are the following main problems: ①The UAV needs to fly above the flame, which is extremely harmful to the equipment in practice; ②The positioning accuracy of the UAV depends on the GPS positioning accuracy. The accuracy of GPS cannot meet the demand, and the high price of differential GPS leads to high system cost; ③When the indoor fire occurs, the GPS positioning system cannot work, and this method fails

[0011] 2) For the solution of installing binocular vision equipment on the robot body, due to the low height of the fire-fighting robot body, when the water column is launched, the front line of sight is blocked and the binocular vision positioning is likely to fail

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