Multi-mode fire extinguishing method of single-master and multi-slave fire-fighting robot
A technology of fire-fighting robots and main robots, applied in instruments, fire rescue, adaptive control, etc., to achieve the effects of saving human resources, improving intelligence, and improving fire-fighting efficiency
Active Publication Date: 2021-09-28
YANSHAN UNIV
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Problems solved by technology
However, at present, fire-fighting robots still have deficiencies in specific fire-fighting implementation plans, so it is urgent and necessary to seek a single-master, multi-slave, and multi-mode fire-extinguishing method for multiple fire-fighting robots that takes into account collaborative control and specific implementation plans
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[0053] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
[0054] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0055] figure 1 Shown is a single master multi-slave fire fighting robot multi-mode fire extinguishing method of the present invention, the method includes the following steps:
[0056] S1. Obtain the poses of the master robot and the slave robot and calculate the pose diff...
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The present invention provides a multi-mode fire extinguishing method for a single-master and multiple-slave fire-fighting robot. The parallel fire extinguishing mode in the area and the centralized fire extinguishing mode in the point-like fire area are calculated from the expected angle of the robot water cannon, considering the roll angle of the robot base due to uneven ground, and calculating the pitch angle and yaw angle of the water cannon. Compensate the angle, combine the threshold of the yaw angle and pitch angle of the fire robot water cannon, obtain the angle constraint of the water cannon control, calculate the displacement of the water cannon from the current angle to the desired angle, and then the master robot and the slave robot cooperate to put out the fire. The present invention uses a plurality of fire-fighting robots to cooperate with each other to extinguish the fire, which improves the fire extinguishing efficiency, greatly enhances the practicability, and reduces the pressure on the operator to a greater extent.
Description
technical field [0001] The invention belongs to the technical field of fire protection, and in particular relates to a multi-mode fire extinguishing method of a single-master and multiple-slave fire-fighting robot, that is, a multi-mode fire-extinguishing method of a fire-fighting robot with a single master robot and multiple slave robots. Background technique [0002] In recent years, fires and explosions have occurred in high-risk areas such as chemical plants, industrial parks, and ports in many cities, which have brought huge losses to the people; The fire-fighting equipment is put into fire-fighting operations. However, the existing fire-fighting robots cannot well meet the complex and diverse disaster relief environment needs due to their low intelligence, limited adaptability to scenarios, and low work efficiency. Therefore, the participation of robots in current fire-fighting tasks is very limited. [0003] At present, in fire rescue missions, most of the fire-fight...
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IPC IPC(8): G05B13/00A62C27/00A62C31/03A62C37/00
CPCA62C27/00A62C31/03A62C37/04
Inventor 王振华长春丁伟利骆曦穆殿瑞吴睿男王一帆刘爽赵广磊
Owner YANSHAN UNIV