Self-extinguishing method of fire-fighting robot in unknown environment
A fire-fighting robot and unknown environment technology, applied in the field of fire-fighting robot autonomous fire extinguishing, can solve problems that cannot be solved and cannot accurately identify the fire source
Inactive Publication Date: 2021-12-03
南阳中天防爆电气股份有限公司
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However, on the one hand, this invention also performs autonomous aiming when the fire source point is known; The above technical issues
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[0046] In order to better understand the present invention, the content of the present invention is further clearly described below in conjunction with the examples, but the protection content of the present invention is not limited to the following examples. In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details.
[0047] like figure 1 As shown, a fire-fighting robot autonomous fire extinguishing method in an unknown environment, the fire-fighting robot autonomous fire extinguishing is based on dynamic navigation, combined with autonomous obstacle avoidance, fire source identification and orientation technology to carry out, including the following steps:
[0048] Step 1: Publish a target fire-fighting location to the fire-fighting robot;
[0049] Step 2...
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The invention discloses a self- extinguishing method of a fire-fighting robot in an unknown environment, and belongs to the technical field of fire-fighting robots. A target point location is issued, the robot carries out autonomous simultaneous localization and mapping (SLAM) exploration and fire source identification and orientation, after a fire source is found, the position and course of the robot at the moment are recorded, fire source early warning, fire source temperature, and the area size and center coordinate information of the fire source in an image are obtained, and early warning information is sent to a remote control terminal; after the robot continuously walks for a set distance, fire source identification and orientation are carried out, the position and course information of the robot at a new position is recorded, and fire source early warning, fire source temperature, and the area size and center coordinate information of the fire source in the image are obtained; and the position coordinates of a fire source center are calculated through a triangulation positioning method, and the position coordinates of the point where the fire source center is located are sent to the remote control terminal. According to the method, the fire-fighting robot can autonomously walk and cross obstacles in the unknown environment, can autonomously find the fire source and extinguish the fire, and has good application prospects.
Description
technical field [0001] The invention relates to the technical field of fire-fighting robots, in particular to an autonomous fire-extinguishing method for a fire-fighting robot in an unknown environment. Background technique [0002] In some scenes of fire extinguishing, it is dangerous to dispatch firefighters to extinguish the fire. Once the fire is complicated, it is easy to bring some unexpected casualties. Especially in some chemical industry parks and coal production sites, due to the possible risk of leakage or explosion of dangerous gases or chemicals, the contact or exposure of firefighters to this environment will threaten their health and personal safety. The development of fire-fighting robots that can assist or partially replace firefighters in fire-fighting work can effectively reduce the casualties of firefighters and assist firefighters in fire-fighting and fire rescue. [0003] At present, some fire-fighting robot products have been developed at home and abr...
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IPC IPC(8): A62C31/03A62C31/28A62C37/40A62C37/50
CPCA62C31/03A62C31/28A62C37/40A62C37/50
Inventor 李瑞刘琦顾保虎戴慎超袁文正张克富潘强辉
Owner 南阳中天防爆电气股份有限公司