A fire-fighting robot automatic cooperative reconnaissance and fire-fighting operation method

Abstract

The invention relates to a fully automatic cooperative reconnaissance and fire-fighting operation method for fire-fighting robots. The plane positioning method is used to realize the real-time positioning of the reconnaissance robot and the fire-fighting robot, so as to quickly obtain the relative position of each robot relative to the main control station and the auxiliary base station, which is convenient for the reverse push of the robot Spatial orientation, control and management. The encoder compensation and calculation mechanism are used to realize the rough estimation of the front and rear positions of the robot and the calculation of the deflection angle. The reconnaissance robot and the fire-fighting robot are used to work together. The reconnaissance robot obtains the spatial position of the fire source and other points of interest in the front, and then performs spatial coordinate transformation to realize the fire-fighting robot's precise fixed-point fire extinguishing. The invention can realize the functions of fully automatic identification and positioning of fire sources and other dangerous sources at the disaster site, and the automatic aiming function of the fire extinguishing robot, so as to improve the speed of on-site disposal, improve the efficiency of disposal of dangerous sources, and reduce personnel damage and property loss.

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

Images