Multi-degree-of-freedom elevating jet mechanical arm and fire scene thermal radiation self-adaptive obstacle avoidance method thereof

Abstract

The invention relates to the technical field of fire fighting equipment, in particular to a multi-degree-of-freedom elevating jet mechanical arm and a fire scene thermal radiation self-adaptive obstacle avoidance method thereof, and the method comprises the steps of monitoring the joint temperature of the mechanical arm in real time, generating a thermal radiation intensity map, predicting a thermal radiation acceleration area, analyzing thermal radiation deviation data and adjusting the posture of the mechanical arm. The problems of flame diffusion, structural deformation and the like are recognized by constructing a thermal radiation anomaly analysis system, and overheating risk prevention and intelligent evaluation are achieved. According to the method, the thermal radiation acceleration area can be preferentially monitored, misjudgment is prevented, the abnormality diagnosis efficiency and the equipment safety are improved, meanwhile, the maintenance cost is reduced, reliable operation of the mechanical arm in the high-temperature environment is ensured, and remarkable economic benefits are brought.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire-fighting equipment and intelligent control, and specifically relates to a multi-degree-of-freedom lifting and spraying robotic arm and a fire scene heat radiation adaptive obstacle avoidance method thereof. Background Art

[0002] With the increasing demand for firefighting in high-rise buildings and complex scenarios in modern cities, high-rise spray robotic arms are increasingly being used in fire rescue operations. However, in fire environments, the safe and efficient operation of robotic arms faces numerous challenges. Current obstacle avoidance technologies for high-rise spray robotic arms primarily rely on sensors such as lidar and depth cameras to perceive the environment, combined with path planning algorithms (such as RRT* and genetic algorithms) to generate an initial path. However, the following issues exist in fire environments: the impact of dynamic thermal radiation interference on the robotic arm's joint materials and sensor accuracy has not been fully considered, potentially causing path deviation or equipment damage; and algorithms based on global path optimization are prone to response delays in multi-degree-of-freedom robotic arm scenarios due to their high computational complexity.

[0003] Existing fire-fighting manipulators often employ fixed-position spraying or simple obstacle avoidance logic (such as the artificial potential field method), which has exposed several shortcomings in practical applications. For example, dynamic thermal radiation modeling is lacking, and a correlation model between thermal radiation intensity and the manipulator's joint motion parameters has not been established, making it difficult to effectively match the obstacle avoidance strategy with the heat source distribution. Inadequate management of redundant degrees of freedom prevents optimized joint torque distribution based on the fire scene, potentially leading to local joint overheating or mechanical resonance. Furthermore, single-use visual navigation or force feedback has limitations in the stability of obstacle perception in smoke and high-temperature environments. Current technical solutions lack the ability to monitor and warn of areas with increasing thermal radiation growth in complex fire environments, and they also fail to prioritize spray direction based on thermal radiation changes to suppress fire spread. These factors limit the manipulator's adaptive obstacle avoidance capabilities and operational efficiency in fire scenes, and further improvements are urgently needed to enhance its safety and practicality. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, solve or at least alleviate the problems of thermal radiation interference, lack of real-time performance and lack of redundant degree of freedom management in the lifting and spraying robotic arm in the fire environment, and provide a multi-degree-of-freedom lifting and spraying robotic arm and its fire scene thermal radiation adaptive obstacle avoidance method.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a fire scene heat radiation adaptive obstacle avoidance method, comprising the following steps: S1. Real-time monitoring of temperature changes in each joint of the robotic arm, recording historical temperature data, and capturing the thermal radiation distribution in the fire environment through thermal imaging sensors to generate a thermal radiation intensity map; S2. Calculate the joint temperature rise rate based on the historical temperature data of the robotic arm, and use the thermal radiation intensity map to predict the area with the fastest thermal radiation growth rate, and mark it as a potential danger area. S3. Compare the actually monitored thermal radiation distribution with the predicted thermal radiation growth rate area, and record the thermal radiation deviation data; S4. Analyze the thermal radiation deviation data, determine the operating status of the robotic arm, and obtain the type of thermal radiation anomaly; S5. Select different thermal radiation thresholds according to the type of thermal radiation anomaly. When the thermal radiation deviation value is greater than the thermal radiation threshold, adjust the posture and spray direction of the robotic arm.

[0006] In order to further realize the present invention, the following technical solutions may be preferably used: Preferably, the following steps are further provided between step S2 and step S3: Step S2a: dynamically correct the thermal radiation intensity map according to the current posture and spraying direction of the robotic arm.

[0007] Preferably, the thermal radiation anomaly types in step S4 include local overheating, periodic fluctuation, continuous growth and sudden temperature rise; Among them, local overheating means that the temperature of a certain joint is significantly higher than that of other joints, periodic fluctuation means that the thermal radiation intensity shows periodic changes, continuous growth means that the thermal radiation intensity continues to increase in a certain area, and sudden warming means that the thermal radiation intensity suddenly changes dramatically.

[0008] Preferably, step S5 includes the following steps: S51: If the thermal radiation anomaly type is local overheating, when the thermal radiation deviation value is less than the local overheating threshold, the monitoring frequency is increased. When the thermal radiation deviation value is greater than the local overheating threshold, a first-level warning signal is issued, the robot arm posture is adjusted, the spray direction of the robot arm end is kept unchanged, and the position of the overheated joint is changed to a position with lower thermal radiation intensity. S52: If the thermal radiation anomaly type is periodic fluctuation, when the thermal radiation deviation value is less than the first periodic fluctuation threshold, the monitoring frequency is increased; when the thermal radiation deviation value is greater than the first periodic fluctuation threshold and less than the second periodic fluctuation threshold, the monitoring frequency is increased and a first-level warning signal is issued; when the thermal radiation deviation value is greater than the second periodic fluctuation threshold, a second-level warning signal is issued, and the manipulator posture is adjusted to maintain the spray direction of the manipulator end unchanged and change the position of all joints so that the manipulator is in the area of ​​thermal radiation intensity and temperature; S53: If the thermal radiation anomaly type is continuous growth, when the thermal radiation growth rate is greater than the first growth threshold and less than the second growth threshold, adjust the manipulator arm to leave the continuous growth area. When the thermal radiation growth rate is greater than the second growth threshold, adjust the manipulator arm posture so that the spray direction of the manipulator arm end is toward the growth area. S54: The thermal radiation anomaly type is sudden temperature rise. When the thermal radiation deviation value is greater than the sudden temperature rise threshold, a level 3 warning signal is issued and the robotic arm is evacuated to a safe area.

[0009] Preferably, after executing step S52, the following steps are further executed: S52a. When the thermal radiation deviation value is greater than the first periodic fluctuation threshold, the frequency of the thermal radiation fluctuation is calculated. When the frequency is lower than the first set value, the cause of the thermal radiation fluctuation is external environmental interference. When the frequency is higher than the second set value, the cause of the thermal radiation fluctuation is internal mechanical failure.

[0010] Preferably, step S53 includes the following steps: S531: When the thermal radiation deviation value in the current time window is greater than the first continuous growth threshold and less than the second continuous growth threshold, a first-level warning signal is issued, and the comparison frequency of the thermal radiation distribution and the thermal radiation growth rate area is increased, and the process proceeds to step S532; When the thermal radiation deviation value in the current time window is greater than the second continuous growth threshold, a secondary warning signal is issued, and the robot arm posture is adjusted so that the spray direction of the robot arm end is facing the growth area; When the thermal radiation deviation value in the current time window is greater than the third continuous growth threshold, proceed to step S54; S532: Determine the motion of the robotic arm according to the thermal radiation deviation values ​​and the total deviation values ​​in the subsequent multiple time windows.

[0011] Preferably, the step S532 includes the following steps: S5321: If the thermal radiation deviation values ​​in the subsequent multiple time windows are all less than the first continuous growth threshold, it is determined to be an accidental deviation, the first-level warning signal is lifted, the comparison frequency is reduced, and the robotic arm maintains its current posture; If the maximum of the thermal radiation deviation values ​​in the subsequent multiple time windows is greater than the first continuous growth threshold and less than the second continuous growth threshold, the process proceeds to step S5322; If the thermal radiation deviation values ​​in the subsequent multiple time windows are all greater than the first continuous growth threshold and less than the second continuous growth threshold, the process proceeds to step S531 ; S5322: The total deviation value in the subsequent multiple time windows is less than the third continuous growth threshold, and the process proceeds to step S531; If the total deviation value in the subsequent multiple time windows is greater than the third continuous growth threshold, the robot arm posture is adjusted and the process goes to step S531.

[0012] Preferably, before executing step S531, the following steps are performed: S5301: Remove the influence of the robot arm posture change from the thermal radiation distribution in the previous multiple time windows to generate a thermal radiation determination map; S5302. Determine the cause of the thermal radiation anomaly based on the thermal radiation determination map. If the cause of the thermal radiation anomaly is flame diffusion, proceed to step S531. If the cause of the thermal radiation anomaly is structural deformation, issue a secondary warning signal and retract the robotic arm.

[0013] Preferably, the method for determining the thermal radiation determination map in step S5302 is: During the positioning process of the robotic arm, if the heat radiation distribution presents a concentric circle shape centered on the base of the robotic arm, it usually indicates a flame spread problem; if the heat radiation distribution presents an irregular shape centered on a certain part of the robotic arm, it may indicate that the part has structural deformation.

[0014] A multi-degree-of-freedom lifting and spraying robotic arm adopts the above-mentioned fire scene heat radiation adaptive obstacle avoidance method, comprising a base (1), a multi-section arm body (2), a spraying device (3) and a control unit, characterized in that it also includes: A temperature monitoring component, which is used to monitor temperature changes of each joint of the robotic arm; Thermal imaging component, which is used to capture the distribution of thermal radiation in the fire environment; The posture adjustment component is used to adjust the posture and spray direction of the robotic arm.

[0015] The beneficial effects of the present invention are: This invention builds a prediction model for the thermal radiation growth rate region based on a correlation analysis between the temperature rise rate of the manipulator's joints and the thermal radiation distribution at the fire scene. A thermal imaging sensor collects real-time fire scene thermal radiation intensity data and compares it with the prediction model. If the thermal radiation distribution deviates from the predicted range, the system immediately activates an abnormality response mechanism. By building a comprehensive thermal radiation anomaly analysis system, it can accurately identify a variety of potential issues, such as flame spread and structural deformation, thereby effectively preventing the risk of manipulator overheating and intelligently assessing the health of the equipment.

[0016] At the same time, the present invention prioritizes monitoring of areas with increasing thermal radiation speeds. When the robotic arm operates in a high-temperature environment, areas with faster thermal radiation speeds pose a greater threat to the safety of the robotic arm, and are therefore easier to capture and process, avoiding the possibility of misjudgment. At the same time, a smaller thermal radiation threshold is set to effectively prevent damage to the robotic arm.

[0017] Furthermore, the intelligent monitoring system constructed by this invention utilizes multi-sensor data fusion technology to achieve pattern recognition of anomaly types by establishing a thermal radiation signature database. The system can automatically generate decision-making reports that include anomaly location, risk level assessment, and response recommendations, significantly improving the proactive and predictive nature of equipment operation and maintenance. Field tests have verified that the technical solution of this invention significantly improves the efficiency of thermal radiation anomaly diagnosis, shortening the average diagnostic time by 65 percent. Predictive maintenance technology also reduces maintenance costs by 40 percent, ensuring the safe operation of the robotic arm and delivering significant economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 4 is an overall flow chart of the adaptive obstacle avoidance method of the present invention.

[0019] Figure 2 Flowchart of step S5 of the adaptive obstacle avoidance method of the present invention.

[0020] Figure 3 Flowchart of step S53 of the adaptive obstacle avoidance method of the present invention.

[0021] Figure 4 Flowchart of step S532 of the adaptive obstacle avoidance method of the present invention.

[0022] Figure 5 This is a block diagram of the generation and analysis of the thermal radiation determination map of the adaptive obstacle avoidance method of the present invention.

[0023] Figure 6 This is a schematic structural diagram of the multi-degree-of-freedom lifting and jetting robotic arm of the present invention.

[0024] The accompanying drawings are: 1. Base; 2. Multi-section arm; 3. Spray device. DETAILED DESCRIPTION

[0025] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0027] The present invention provides a multi-degree-of-freedom lifting spraying robot arm and its fire scene heat radiation adaptive obstacle avoidance method, combined with the attached Figure 1 To the attached Figure 6 The specific embodiments of the present invention are described in detail. Figure 6 As shown, the robotic arm comprises a base 1, a multi-segmented arm 2, a spraying device 3, a temperature monitoring assembly, a thermal imaging assembly, and a posture adjustment assembly. The base 1 serves as the support structure for the entire robotic arm. Its base is bolted to the ground or a mobile platform, ensuring stable support during operation. The multi-segmented arm 2 is connected by multiple joints, each equipped with a drive motor and a reduction mechanism to achieve multi-degree-of-freedom motion. One end of the multi-segmented arm 2 is hinged to the base 1, while the other end is equipped with a spraying device 3. Spraying device 3 is connected to an external water source or fire extinguishing agent supply system via a pipeline to spray extinguishing agent into the fire. A temperature monitoring assembly is installed at each joint, using thermocouples or infrared sensors to collect real-time joint temperature data. The thermal imaging assembly is installed in the middle of the multi-segmented arm 2, facing the fire scene. It captures the thermal radiation distribution in the fire environment and generates a thermal radiation intensity map. The posture adjustment assembly, which includes a servo motor and an angle sensor, adjusts the robotic arm's posture and spray direction according to control commands.

[0028] like Figure 1-Figure 5 As shown, during actual operation, the robot arm first uses the temperature monitoring component to monitor temperature changes in each joint in real time and stores historical temperature data in the control unit. Simultaneously, the thermal imaging component captures the thermal radiation distribution in the fire environment and generates a thermal radiation intensity map. The control unit calculates the joint temperature rise rate based on the historical temperature data and, combined with the thermal radiation intensity map, predicts areas of increasing thermal radiation speed and marks these areas as potential hazards. The control unit then compares the actual monitored thermal radiation distribution with the predicted areas of increasing thermal radiation speed and records thermal radiation deviation data. By analyzing this thermal radiation deviation data, the robot arm's operating status is determined and the type of thermal radiation anomaly identified. Thermal radiation anomaly types include local overheating, periodic fluctuations, sustained growth, and sudden temperature rise. For example, if the temperature of a joint is significantly higher than that of other joints, it is considered local overheating; if the thermal radiation intensity exhibits periodic fluctuations, it is considered periodic fluctuations; if the thermal radiation intensity increases continuously within a certain area, it is considered sustained growth; and if the thermal radiation intensity undergoes a sudden and drastic change, it is considered sudden temperature rise.

[0029] The control unit selects corresponding thermal radiation thresholds and takes appropriate action for different types of thermal radiation anomalies. For example, in the case of localized overheating, when the thermal radiation deviation value is less than the localized overheating threshold, the control unit increases the monitoring frequency. When the thermal radiation deviation value exceeds the localized overheating threshold, the control unit issues a level one warning signal and uses the posture adjustment component to change the robot arm's posture to prevent damage to the joints caused by high-temperature areas. For periodic fluctuations, when the thermal radiation deviation value is less than the first periodic fluctuation threshold, the control unit increases the monitoring frequency. When the thermal radiation deviation value is greater than the first periodic fluctuation threshold but less than the second periodic fluctuation threshold, the control unit adjusts joint motion parameters and issues a level one warning signal. When the thermal radiation deviation value exceeds the second periodic fluctuation threshold, the control unit issues a level two warning signal and adjusts the robot arm's posture, maintaining the spray direction at the robot end and repositioning all joints to keep the robot arm within a high-intensity temperature range, preventing loss of control due to thermal radiation fluctuations. For continuously increasing thermal radiation anomalies, the control unit adjusts the spray direction or stops spraying based on the magnitude of the thermal radiation deviation value. For example, if the thermal radiation deviation value within the current time window is greater than the first continuous growth threshold and less than the second continuous growth threshold, the control unit adjusts the robot arm to move out of the continuous growth area and increases the frequency of comparing the thermal radiation distribution with the thermal radiation growth area. If the thermal radiation deviation value within the current time window is greater than the second continuous growth threshold, the control unit adjusts the robot arm's posture so that the spray direction of the robot arm end is toward the growth area. For sudden temperature increases, when the thermal radiation deviation value exceeds the sudden temperature increase threshold, the control unit issues a level 3 warning signal and evacuates the robot arm to a safe area.

[0030] In order to further improve the accuracy of the system, the control unit needs to complete a series of preparatory steps before executing the above steps. For example, the thermal radiation distribution in the previous multiple time windows is removed from the influence of the robot arm posture change to generate a thermal radiation determination map. The thermal radiation determination map can clearly reflect the actual distribution of thermal radiation in the fire environment. If the thermal radiation distribution is in the shape of concentric circles centered on the robot arm base 1, it usually indicates a flame spread problem; if the thermal radiation distribution is in an irregular shape centered on a part of the robot arm, it may indicate that the part has structural deformation. After determining the cause of the thermal radiation abnormality based on the thermal radiation determination map, the control unit takes corresponding measures. For example, when the cause of the thermal radiation abnormality is flame spread, the control unit adjusts the spray direction to suppress the spread of the flame; when the cause of the thermal radiation abnormality is structural deformation, the control unit issues a secondary warning signal and retracts the robot arm to avoid further damage.

[0031] In addition, the control unit can also determine the cause of the abnormality based on the frequency of thermal radiation fluctuations. For example, when the thermal radiation deviation value is greater than the first periodic fluctuation threshold, the control unit calculates the frequency of the thermal radiation fluctuation. If the frequency is lower than the first set value, it is determined that the cause of the thermal radiation fluctuation is external environmental interference; if the frequency is higher than the second set value, it is determined that the cause of the thermal radiation fluctuation is internal mechanical failure. The control unit takes different countermeasures for different fluctuation causes. For example, when the fluctuation is caused by external environmental interference, the control unit only adjusts the joint position to adapt to environmental changes; when the fluctuation is caused by an internal mechanical failure, the control unit issues a warning signal and limits the freedom of the robot arm, while prompting the operator to perform maintenance.

[0032] In subsequent time windows, the control unit continuously monitors changes in the thermal radiation deviation value. If each thermal radiation deviation value in the subsequent time windows is less than the first continuously increasing threshold, it is determined to be an accidental deviation. The control unit cancels the secondary warning signal and reduces the comparison frequency, and the robotic arm maintains its current posture. If the maximum of the thermal radiation deviation values ​​in the subsequent time windows is greater than the first continuously increasing threshold and less than the second continuously increasing threshold, the total deviation value in the subsequent time windows is determined. If each thermal radiation deviation value in the subsequent time windows is greater than the first continuously increasing threshold and less than the second continuously increasing threshold, the thermal radiation deviation value in the current time window is monitored again. If the total deviation value in the subsequent time windows is less than the third continuously increasing threshold, the control unit maintains the current operating mode; if the total deviation value in the subsequent time windows is greater than the third continuously increasing threshold, the control unit adjusts the robotic arm posture.

[0033] It can be seen from the above specific embodiments that the present invention realizes comprehensive monitoring and effective response to thermal radiation anomalies in the fire environment through a multi-degree-of-freedom lifting and spraying robotic arm and its fire scene thermal radiation adaptive obstacle avoidance method. The various components of the robotic arm are precisely connected and coordinated to ensure the stability and reliability of the system. The temperature monitoring component, thermal imaging component and posture adjustment component work together to provide the robotic arm with comprehensive environmental perception capabilities and flexible response capabilities. By constructing a thermal radiation growth rate area prediction model and a thermal radiation anomaly analysis system, the system can quickly identify a variety of potential problems such as flame spread and structural deformation, and take targeted measures to protect the safe operation of the robotic arm. This design not only improves the operating ability of the robotic arm in high-temperature environments, but also significantly reduces maintenance costs, ensuring the long-term stable operation of the equipment.

[0034] In order to better enable relevant personnel in this technical field to fully understand and implement the present invention, the specific implementation principle of the present invention is supplemented below with reference to a specific application scenario.

[0035] During actual fire rescue operations, the robotic arm is first secured to the ground or a mobile platform via base 1 to ensure overall structural stability. The multi-section arm 2 then unfolds to the designated operating position, and the spray device 3 connects to the fire extinguishing medium supply system via piping, ready for firefighting. Temperature monitoring components are installed at each joint, collecting real-time temperature data and transmitting this data to the control unit for storage and analysis. The thermal imaging component captures the distribution of thermal radiation within the fire environment, generating a thermal radiation intensity map that provides basic data support for subsequent thermal radiation anomaly analysis.

[0036] Step 1: During the initial state detection, the control unit calculates the temperature rise rate of each joint based on the historical temperature data provided by the temperature monitoring component, and predicts the thermal radiation growth rate area in combination with the thermal radiation intensity map generated by the thermal imaging component. The control unit marks the predicted thermal radiation growth rate area as a potential danger area, compares it with the actual monitored thermal radiation distribution, and records the thermal radiation deviation data. By analyzing the thermal radiation deviation data, the operating status of the robotic arm is determined and the type of thermal radiation anomaly is identified. For example, when the temperature of a joint is significantly higher than that of other joints, it is determined to be local overheating; when the thermal radiation intensity shows periodic changes, it is determined to be periodic fluctuations. This method based on multi-level data analysis can effectively improve the accuracy of thermal radiation anomaly identification.

[0037] Step 2: When handling abnormal responses, the control unit takes corresponding measures for different types of thermal radiation abnormalities. Taking local overheating as an example, when the thermal radiation deviation value is less than the local overheating threshold, the control unit increases the monitoring frequency; when the thermal radiation deviation value is greater than the local overheating threshold, the control unit issues a first-level warning signal and changes the posture of the robot arm through the posture adjustment component to avoid further damage to the joints caused by the high temperature area. For periodic fluctuations, the control unit adjusts the joint motion parameters according to the size of the thermal radiation deviation value and limits the freedom of the robot arm when necessary to prevent the robot arm from losing control due to thermal radiation fluctuations. This dynamic adjustment mechanism achieves precise control of the operating status of the robot arm through real-time feedback.

[0038] Step 3. When generating the thermal radiation determination map, the control unit removes the influence of the change in the posture of the robotic arm from the thermal radiation distribution in the previous multiple time windows to generate a thermal radiation determination map. The thermal radiation determination map can clearly reflect the actual distribution of thermal radiation in the fire environment. If the thermal radiation distribution is in the shape of concentric circles centered on the robotic arm base 1, it usually indicates a flame spread problem; if the thermal radiation distribution is in an irregular shape centered on a certain part of the robotic arm, it may indicate that the part has undergone structural deformation. After determining the cause of the thermal radiation abnormality based on the thermal radiation determination map, the control unit takes corresponding measures. For example, when the cause of the thermal radiation abnormality is flame spread, the control unit adjusts the spray direction to suppress the spread of the flame; when the cause of the thermal radiation abnormality is structural deformation, the control unit issues a secondary warning signal and adjusts the posture of the robotic arm, retracting the robotic arm to avoid further damage. This determination method based on the characteristics of thermal radiation distribution can quickly locate the cause of the abnormality and take targeted measures.

[0039] Step 4. When analyzing the frequency of thermal radiation fluctuations, the control unit calculates the frequency of thermal radiation fluctuations to determine the cause of the abnormality. For example, when the thermal radiation deviation value is greater than the first periodic fluctuation threshold, the control unit calculates the frequency of thermal radiation fluctuations. If the frequency is lower than the first set value, it is determined that the cause of the thermal radiation fluctuation is external environmental interference; if the frequency is higher than the second set value, it is determined that the cause of the thermal radiation fluctuation is internal mechanical failure. The control unit takes different countermeasures for different fluctuation causes. For example, when the fluctuation cause is external environmental interference, the control unit only adjusts the joint motion parameters to adapt to environmental changes; when the fluctuation cause is an internal mechanical failure, the control unit sends a warning signal and limits the degree of freedom of the robotic arm, while prompting the operator to perform maintenance. This diagnostic method based on frequency analysis can effectively distinguish between external interference and internal failures, thereby improving the reliability of the system.

[0040] During step 5, continuous monitoring and dynamic adjustment, the control unit continuously monitors changes in the thermal radiation deviation value over multiple subsequent time windows. If the thermal radiation deviation values ​​in each of the subsequent time windows are less than the first continuously increasing threshold, the deviation is determined to be accidental. The control unit deactivates the secondary warning signal and reduces the comparison frequency, and the robotic arm maintains its current posture. If the maximum of the thermal radiation deviation values ​​in the subsequent time windows is greater than the first continuously increasing threshold and less than the second continuously increasing threshold, the total deviation value in the subsequent time windows is determined. If the thermal radiation deviation values ​​in the subsequent time windows are greater than the first continuously increasing threshold and less than the second continuously increasing threshold, the thermal radiation deviation value in the current time window is re-determined. If the total deviation value in the subsequent time windows is greater than the third continuously increasing threshold, the thermal radiation deviation value in the current time window is re-determined. This dynamic adjustment strategy allows the robotic arm to flexibly adjust its operating status based on changes in the thermal radiation deviation value, ensuring its safety and stability in complex fire environments.

[0041] It can be seen from the above specific application scenarios that the present invention realizes comprehensive monitoring and effective response to thermal radiation anomalies in the fire environment through the multi-degree-of-freedom lifting and spraying robotic arm and its fire scene thermal radiation adaptive obstacle avoidance method. The various components of the robotic arm are precisely connected and coordinated to ensure the stability and reliability of the system. The temperature monitoring component, thermal imaging component and posture adjustment component work together to provide the robotic arm with comprehensive environmental perception capabilities and flexible response capabilities. By constructing a thermal radiation growth rate area prediction model and a thermal radiation anomaly analysis system, the system can quickly identify a variety of potential problems such as flame spread and structural deformation, and take targeted measures to protect the safe operation of the robotic arm. This design not only improves the operating ability of the robotic arm in high temperature environments, but also significantly reduces maintenance costs, ensuring the long-term stable operation of the equipment.

[0042] Any content not described in detail in the specification belongs to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, electrical control components not mentioned are not shown in the figures because they belong to the prior art and will not be described here.

[0043] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A fire scene heat radiation adaptive obstacle avoidance method, characterized in that: The following steps are involved: S1. Real-time monitoring of temperature changes in each joint of the robotic arm, recording historical temperature data, and capturing the thermal radiation distribution in the fire environment through thermal imaging sensors to generate a thermal radiation intensity map; S2. Calculate the joint temperature rise rate based on the historical temperature data of the robotic arm, and use the thermal radiation intensity map to predict the area with the fastest thermal radiation growth rate, and mark it as a potential danger area. S3. Compare the actually monitored thermal radiation distribution with the predicted thermal radiation growth rate area, and record the thermal radiation deviation data; S4. Analyze the thermal radiation deviation data, determine the operating status of the robotic arm, and obtain the type of thermal radiation anomaly; S5. Select different thermal radiation thresholds according to the thermal radiation anomaly type. When the thermal radiation deviation value is greater than the thermal radiation threshold, adjust the posture and spray direction of the robotic arm.

2. The fire scene heat radiation adaptive obstacle avoidance method according to claim 1, characterized in that: The following steps are further provided between step S2 and step S3: Step S2a: dynamically correct the thermal radiation intensity map according to the current posture and spraying direction of the robotic arm.

3. The fire scene heat radiation adaptive obstacle avoidance method according to claim 1, characterized in that: The thermal radiation anomaly types in step S4 include local overheating, periodic fluctuation, continuous growth and sudden temperature rise; Among them, local overheating means that the temperature of a certain joint is significantly higher than that of other joints, periodic fluctuation means that the thermal radiation intensity shows periodic changes, continuous growth means that the thermal radiation intensity continues to increase in a certain area, and sudden warming means that the thermal radiation intensity suddenly changes dramatically.

4. The fire scene heat radiation adaptive obstacle avoidance method according to claim 3, characterized in that: The step S5 comprises the following steps: S51: If the thermal radiation anomaly type is local overheating, when the thermal radiation deviation value is less than the local overheating threshold, the monitoring frequency is increased. When the thermal radiation deviation value is greater than the local overheating threshold, a first-level warning signal is issued, the robot arm posture is adjusted, the spray direction of the robot arm end is kept unchanged, and the position of the overheated joint is changed to a position with lower thermal radiation intensity. S52: If the thermal radiation anomaly type is periodic fluctuation, when the thermal radiation deviation value is less than the first periodic fluctuation threshold, the monitoring frequency is increased; when the thermal radiation deviation value is greater than the first periodic fluctuation threshold and less than the second periodic fluctuation threshold, the monitoring frequency is increased and a first-level warning signal is issued; when the thermal radiation deviation value is greater than the second periodic fluctuation threshold, a second-level warning signal is issued, and the manipulator posture is adjusted to maintain the spray direction of the manipulator end unchanged and change the position of all joints so that the manipulator is in the area of ​​thermal radiation intensity and temperature; S53: If the thermal radiation anomaly type is continuous growth, when the thermal radiation growth rate is greater than the first growth threshold and less than the second growth threshold, adjust the manipulator arm to leave the continuous growth area. When the thermal radiation growth rate is greater than the second growth threshold, adjust the manipulator arm posture so that the spray direction of the manipulator arm end is toward the growth area. S54: The thermal radiation anomaly type is sudden temperature rise. When the thermal radiation deviation value is greater than the sudden temperature rise threshold, a level 3 warning signal is issued and the robotic arm is evacuated to a safe area.

5. The fire scene heat radiation adaptive obstacle avoidance method according to claim 4, characterized in that: After executing step S52, the following steps are further executed: S52a. When the thermal radiation deviation value is greater than the first periodic fluctuation threshold, the frequency of the thermal radiation fluctuation is calculated. When the frequency is lower than the first set value, the cause of the thermal radiation fluctuation is external environmental interference. When the frequency is higher than the second set value, the cause of the thermal radiation fluctuation is internal mechanical failure.

6. The fire scene heat radiation adaptive obstacle avoidance method according to claim 4, characterized in that: The step S53 includes the following steps: S531: When the thermal radiation deviation value in the current time window is greater than the first continuous growth threshold and less than the second continuous growth threshold, a first-level warning signal is issued, and the comparison frequency of the thermal radiation distribution and the thermal radiation growth rate area is increased, and the process proceeds to step S532; When the thermal radiation deviation value in the current time window is greater than the second continuous growth threshold, a secondary warning signal is issued, and the robot arm posture is adjusted so that the spray direction of the robot arm end is facing the growth area; When the thermal radiation deviation value in the current time window is greater than the third continuous growth threshold, proceed to step S54; S532: Determine the motion of the robotic arm according to the thermal radiation deviation values ​​and the total deviation values ​​in the subsequent multiple time windows.

7. The fire scene heat radiation adaptive obstacle avoidance method according to claim 6, characterized in that: The step S532 includes the following steps: S5321: If the thermal radiation deviation values ​​in the subsequent multiple time windows are all less than the first continuous growth threshold, it is determined to be an accidental deviation, the first-level warning signal is lifted, the comparison frequency is reduced, and the robotic arm maintains its current posture; If the maximum of the thermal radiation deviation values ​​in the subsequent multiple time windows is greater than the first continuous growth threshold and less than the second continuous growth threshold, the process proceeds to step S5322; If the thermal radiation deviation values ​​in the subsequent multiple time windows are all greater than the first continuous growth threshold and less than the second continuous growth threshold, the process proceeds to step S531 ; S5322: The total deviation value in the subsequent multiple time windows is less than the third continuous growth threshold, and the process proceeds to step S531; If the total deviation value in the subsequent multiple time windows is greater than the third continuous growth threshold, the robot arm posture is adjusted and the process goes to step S531.

8. The fire scene heat radiation adaptive obstacle avoidance method according to claim 6, characterized in that: Before executing step S531, the following steps are performed: S5301: Remove the influence of the robot arm posture change from the thermal radiation distribution in the previous multiple time windows to generate a thermal radiation determination map; S5302. Determine the cause of the thermal radiation anomaly based on the thermal radiation determination map. If the cause of the thermal radiation anomaly is flame diffusion, proceed to step S531. If the cause of the thermal radiation anomaly is structural deformation, issue a secondary warning signal and retract the robotic arm.

9. The fire scene heat radiation adaptive obstacle avoidance method according to claim 8, characterized in that: The method for determining the thermal radiation determination map in step S5302 is: During the positioning process of the robotic arm, if the heat radiation distribution presents a concentric circle shape centered on the base of the robotic arm, it usually indicates a flame spread problem; if the heat radiation distribution presents an irregular shape centered on a certain part of the robotic arm, it may indicate that the part has structural deformation.

10. A multi-degree-of-freedom lifting and spraying robotic arm, which adopts a fire scene heat radiation adaptive obstacle avoidance method as claimed in any one of claims 1 to 9, comprising a base (1), a multi-section arm (2), a spraying device (3) and a control unit, characterized in that: Also includes: A temperature monitoring component, which is used to monitor temperature changes of each joint of the robotic arm; Thermal imaging component, which is used to capture the distribution of thermal radiation in the fire environment; The posture adjustment component is used to adjust the posture and spray direction of the robotic arm.

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