A collaborative scheduling system and scheduling method for a fire-fighting robot

Abstract

The present invention discloses a collaborative scheduling system and a scheduling method for a fire-fighting robot, belonging to the field of fire-fighting technology. The system includes at least one on-site area equipped with a monitoring camera device, and the monitoring camera device can collect the first environmental parameter information of the on-site area; a fire-fighting unmanned aerial vehicle, which can collect the second environmental parameter information of the on-site area; a command center can receive and send task instructions based on the first environmental parameter information and the second environmental parameter information; at least one fire control box, which can receive and send action instructions based on the task instructions; a fire-fighting robot, which is communicatively connected to the fire control box, and the fire-fighting robot can receive the action instructions of the fire control box to perform fire-extinguishing actions on the on-site area. The present invention monitors the fire situation in real time, enables the system to optimize the allocation of fire-fighting equipment resources, and extinguishes fires efficiently.

Description

Technical Field

[0001] The present invention relates to the field of fire protection, and particularly to a collaborative scheduling system for a fire-fighting robot and a scheduling method thereof. Background Art

[0002] In the field of fire protection, from the perspective of traditional fire rescue at the fire scene, it is very important to master the situation of the fire scene, such as the number of trapped people, location, dangerous situation, fire size, burning items, degree of danger, etc. Understanding and mastering these situations can play a crucial role in rescue and fire extinguishing. In addition, during fire rescue, the real-time dynamics of the fire scene, the number and position status of intelligent equipment participating in fire extinguishing, etc. If the scheduling can be adjusted in a timely manner according to the changes in the fire situation at the scene, it is of great significance for efficient fire extinguishing and reducing the life and property safety of the people.

[0003] Currently, most traditional fire-fighting and extinguishing equipment operates independently in isolation, lacking overall collaborative operations and a complete scheduling system. Summary of the Invention

[0004] An object of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide a collaborative scheduling system for a fire-fighting robot and a scheduling method thereof.

[0005] The technical solution of the present invention is as follows:

[0006] A collaborative scheduling system for a fire-fighting robot, comprising:

[0007] At least one on-site area equipped with a monitoring camera device, the monitoring camera device being capable of collecting first environmental parameter information of the on-site area, the first environmental parameter information including position information and image information;

[0008] A fire-fighting drone, the fire-fighting drone being capable of collecting second environmental parameter information of the on-site area, the second environmental parameter information including three-dimensional image information when a fire breaks out in the on-site area;

[0009] A command center, which includes a control system, the control system being capable of receiving and sending task instructions based on the first environmental parameter information and / or the second environmental parameter information;

[0010] At least one fire control box, which is capable of receiving and sending action instructions based on the task instructions;

[0011] A fire-fighting robot, which is communicatively connected to the fire control box, the fire-fighting robot being capable of receiving the action instructions of the fire control box to perform fire extinguishing actions on the on-site area.

[0012] Preferably, the command center further includes a large screen for displaying the real-time status of the on-site area.

[0013] Preferably, the position information includes the orientation information of the fire-fighting robot and / or the fire control box, which facilitates the command center to intuitively judge the fire situation on the scene.

[0014] Preferably, the communication connection is a 5G network connection.

[0015] Preferably, the monitoring and imaging device is a wireless AI monitoring camera.

[0016] Preferably, a distance sensor is installed on the fire-fighting robot.

[0017] Preferably, a temperature sensor is installed on the fire-fighting robot.

[0018] Preferably, an alarm device is further included, which can receive the task instructions sent by the command center and take actions.

[0019] The present invention also provides a dispatching method for a collaborative dispatching system of a fire-fighting robot, including the following steps: the monitoring and imaging device collects the first environmental parameters of the on-site area and transmits them to the command center. The command center judges whether a fire breaks out based on the first environmental parameters. If it is judged that a fire breaks out, the command center sends task instructions to the alarm device. Firefighters transport the fire-fighting drones, fire-fighting robots, and fire control boxes that have been communicatively connected to the command center to the on-site area for fire-fighting operations. The fire-fighting drones collect the second environmental parameter information of the on-site fire situation and send it to the command center. The command center receives the information and sends task instructions to the fire control box. The fire control box receives the task instructions and controls the fire-fighting robot to perform fire-extinguishing operations.

[0020] Preferably, at least 3 fire-fighting robots are provided.

[0021] The present invention has at least one of the following beneficial effects:

[0022] (1) For the collaborative dispatching system of a fire-fighting robot of the present invention, a monitoring and imaging device is installed in the on-site area. The command center can collect the first environmental parameters of the on-site area in real time. Based on the first environmental parameters, the command center can timely judge whether a fire breaks out in the on-site area, and give an alarm and send fire-fighting tasks in a timely manner; at the same time, combined with the second environmental parameters collected by the fire-fighting drones, the command center can timely obtain the three-dimensional image information of the on-site fire situation, and update or dispatch the fire-extinguishing tasks in a timely manner.

[0023] (2) For the dispatching method of the collaborative dispatching system of a fire-fighting robot of the present invention, through the real-time control of the fire-fighting robot by the fire control box, at the same time, the command center can also timely adjust the fire-fighting strategy according to the second environmental parameter information obtained by the fire-fighting drones to ensure the safety of fire extinguishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the first embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the scheduling principle of the first embodiment of the present invention;

[0026] Figure 3 It is a schematic structural diagram of Scenario 1;

[0027] Figure 4 It is a schematic structural diagram of Scenario 2;

[0028] Figure 5 It is a schematic structural diagram of Scenario 3;

[0029] Figure 6 It is a schematic structural diagram of Scenario 4;

[0030] In the figure, 100 - Command Center, 200 - Monitoring Camera Device, 300 - Fire - fighting Robot, 301 - First Fire Cannon, 302 - Second Fire Cannon, 400 - Fire - fighting Control Box, 500 - Fire - fighting UAV. Detailed Embodiment

[0031] This part will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The role of the drawings is to supplement the description in the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present invention. However, it should not be construed as a limitation on the protection scope of the present invention.

[0032] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention.

[0033] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more. Understandings such as "greater than", "less than", "exceeding", etc. do not include the recited number, and understandings such as "above", "below", "within", etc. include the recited number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0034] In the description of the present invention, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above - mentioned words in the present invention in combination with the specific content of the technical solution.

[0035] Refer toFigure 1 and Figure 2 , the first embodiment of the present invention:

[0036] A collaborative scheduling system for a fire-fighting robot, comprising:

[0037] At least one on-site area equipped with a monitoring camera device 200, the monitoring camera device 200 being capable of collecting first environmental parameter information of the on-site area, the first environmental parameter information including position information and image information;

[0038] A fire-fighting drone 300, the fire-fighting drone 300 being capable of collecting second environmental parameter information of the on-site area, the second environmental parameter information including three-dimensional image information when a fire breaks out in the on-site area;

[0039] A command center 100, which includes a control system, the control system being capable of receiving and sending task instructions based on the first environmental parameter information and the second environmental parameter information;

[0040] At least one fire control box 400, which is capable of receiving and sending action instructions based on the task instructions;

[0041] A fire-fighting robot 300, which is communicatively connected to the fire control box 400. More specifically, there is an integrated video and data transmission module between the fire-fighting robot 300 and the fire control box 400, and this module uses 5G communication transmission. The fire-fighting robot 300 is capable of receiving the action instructions of the fire control box 400 to perform fire extinguishing actions on the on-site area. The fire-fighting robot 300 is equipped with a fire cannon 301 that can swing. Specifically, the fire-fighting robot is a double-barrel fire cannon fire-fighting robot, and the first fire cannon 301 and the second fire cannon 302 thereon can swing, and the fire-fighting robot 300 can simultaneously transmit back the position information of the on-site fire source and the video information around the fire scene.

[0042] The position information more specifically includes: the distance position of the fire-fighting robot 300 from the fire scene, and the distance between them, the position information of the fire control box 400 (i.e., the position where the firefighter is located), and the distance between them and the fire-fighting robot 300, as well as the position information of on-site obstacles, etc.;

[0043] By installing a monitoring camera device in the on-site area, the command center can collect the first environmental parameters of the on-site area in real time, that is, the command center can timely judge whether a fire breaks out in the on-site area, and issue an alarm and send a fire-fighting task in a timely manner to achieve efficient and safe fire extinguishing.

[0044] As a preferred embodiment of the present invention, it may also have the following additional technical features:

[0045] The command center 100 includes a large screen for displaying the real-time status of the on-site area, specifically including displaying on-site video information and fire source location information.

[0046] The communication connection is a 5G network connection, using 5G communication transmission. The characteristics of high speed, low latency, and large capacity support the real-time transmission of large data streams and large video streams in the fire scene, enabling real-time scheduling.

[0047] The monitoring camera device 200 is a wireless AI monitoring camera, which is internally provided with an infrared thermal imaging module for obtaining the fire situation on-site.

[0048] The fire-fighting robot 300 is equipped with a distance sensor to obtain the distance between the fire-fighting robot and the fire control box, the distance between the fire-fighting robot and the fire scene, and the distance between adjacent fire-fighting robots, facilitating the command center to plan and schedule the specific fire situation in the fire scene.

[0049] Among them, the distance between the fire-fighting robot 200 and the fire control box 400 is used to remind the firefighters to pay attention that the operating distance is within the controllable range, achieving an accurate and timely fire extinguishing effect; the distance between the fire-fighting robot 200 and the fire scene is used to prevent the fire-fighting robot from being too close to the center of the fire scene, resulting in the fire-fighting robot being scrapped due to overheating and affecting the fire extinguishing function; the distance between adjacent fire-fighting robots 200 is used to overall optimize the fire extinguishing range of the fire-fighting robots, maximizing their effectiveness and playing a role in timely scheduling. The specific scheduling method is as follows:

[0050] Step 1: Obtain fire scene information: The monitoring camera device 200 obtains the distance d between the fire-fighting robots 300, the fire-fighting drone 500 obtains the shape information of the fire scene area; the fire-fighting robot 500 obtains the distance L between it and the fire scene.

[0051] Step 2: The command center 100 includes a control system. The control system calculates the swing angle α of the fire cannon on the fire-fighting robot 300 based on the fire scene information in Step 1; the control system sends the information of the swing angle α of the fire cannon to the fire control box 400 and displays it, and controls the swing angle of the fire cannon on the fire-fighting robot 300 in response to the information.

[0052] In the above Step 2, the calculation method for the control system to calculate the swing angle of the fire cannon on the fire-fighting robot 300 based on the fire scene information in Step 1 is specifically as follows: The control system initially judges the shape information and fits it into a circular area or an elliptical area, and the fitting method uses the feature boundary value extraction method.

[0053] If the shape information is determined or fitted to a circular area, the fire-fighting UAV obtains the diameter D of the circular area. In the second step, the calculation formula used by the control system to calculate the swing angle of the fire-fighting cannon on the fire-fighting robot 300 based on the fire field information in the first step is: Calculated

[0054] If the shape information is determined or fitted to an elliptical area, the fire-fighting UAV obtains the major axis LA and minor axis LB of the ellipse. In the second step, the calculation formula used by the control system to calculate the swing angle of one of the fire-fighting cannons on the fire-fighting robot (300) based on the fire field information in the first step is:

[0055] And / or; Thus, the swing angle α of the fire-fighting cannon is calculated.

[0056] The following provides specific implementation scenarios to further illustrate the first embodiment;

[0057] Scenario 1: The fire field area is determined to be circular; refer to Figure 3 ; In the figure;

[0058] 1, 2, and 3 refer to three fire-fighting robots in the case;

[0059] L refers to the distance between the fire-fighting robot 1 and the fire field;

[0060] L’ refers to the distance between the fire-fighting robot 2 and the fire field;

[0061] L” refers to the distance between the fire-fighting robot 3 and the fire field;

[0062] D refers to the diameter of the fire-fighting area of the fire-fighting robot;

[0063] α refers to the swing angle of the fire-fighting cannon of the fire-fighting robot 1;

[0064] β refers to the swing angle of the fire-fighting cannon of the fire-fighting robot 2;

[0065] γ refers to the swing angle of the fire-fighting cannon of the fire-fighting robot 3;

[0066] d12 refers to the distance between the fire-fighting robot 1 and the fire-fighting robot 2;

[0067] d23 refers to the distance between the fire-fighting robot 2 and the fire-fighting robot 3;

[0068] d31 refers to the distance between the fire-fighting robot 3 and the fire-fighting robot 1;

[0069] This algorithm is used in combination with the entire fire-fighting robot scheduling system. The scheduling system receives the distances d12, d23, d31 between the fire-fighting robots 300 captured by the monitoring camera device 200, and the size of the fire field area photographed by the fire-fighting drone 500 from high altitude. For example, in this case, D is the diameter of the fire field, and combines the distances L, L’, L” from the fire field measured by the respective sensors of the fire-fighting robots.

[0070] Thus, it calculates

[0071] Similarly, the size of β can be estimated:

[0072] Thus, it calculates

[0073] Similarly, the size of γ can be estimated:

[0074] Thus, it calculates

[0075] The numerical values of α, β, and γ calculated by this algorithm are sent by the control system of the fire center to the fire control box 400 for display. The firefighters operate the fire guns on the fire-fighting robots 300 to control the corresponding swinging angles based on these numerical values.

[0076] The control system reasonably optimizes the calculation of the distances d12, d23, d31 between the fire-fighting robots 300, so that they are reasonably arranged according to the shape and size of the fire field area. Combining the distances L, L’, L” from the fire field measured by the respective sensors of the fire-fighting robots 300, it reasonably optimizes their layout, enables them to coordinate with each other, and makes reasonable adjustments according to the real-time changes of the fire field area to achieve the optimal fire extinguishing effect.

[0077] Scenario 2: The fire field area is judged to be elliptical; refer to Figure 4 ; in the figure;

[0078] 1, 2, and 3 refer to the three fire-fighting robots in the case;

[0079] L refers to the distance from the fire-fighting robot 1 to the fire field;

[0080] L’ refers to the distance from the fire-fighting robot 2 to the fire field;

[0081] L” refers to the distance from the fire-fighting robot 3 to the fire field;

[0082] LA refers to the major axis of the fire-fighting area of the fire-fighting robot;

[0083] LB refers to the minor axis of the fire-fighting area of the fire-fighting robot;

[0084] LA' refers to the chord length directly opposite to the fire-fighting robot 1;

[0085] α refers to the swing angle of the fire-fighting gun of the fire-fighting robot 1;

[0086] β refers to the swing angle of the fire-fighting gun of the fire-fighting robot 2;

[0087] γ refers to the swing angle of the fire-fighting gun of the fire-fighting robot 3;

[0088] d12 refers to the distance between the fire-fighting robot 1 and the fire-fighting robot 2;

[0089] d23 refers to the distance between the fire-fighting robot 2 and the fire-fighting robot 3;

[0090] d31 refers to the distance between the fire-fighting robot 3 and the fire-fighting robot 1;

[0091] This algorithm is used in combination with the entire fire-fighting robot scheduling system. The scheduling system receives the distances d12, d23, d31 between the fire-fighting robots 300 captured by the monitoring camera device 200, and the size of the fire field area photographed by the fire-fighting UAV 500 at high altitude (LA refers to the major axis of the fire-fighting site area of the fire-fighting robot; LB refers to the minor axis of the fire-fighting site area of the fire-fighting robot). For example, in this case, LA refers to the major axis of the fire-fighting site area of the fire-fighting robot, and LB refers to the minor axis of the fire-fighting site area of the fire-fighting robot (where both LA and LB are obtained by the scheduling system algorithm extracting the characteristic boundary values from the fire field images acquired by the fire-fighting UAV 500 using an infrared thermal imager). An approximation is made for LA' which is the chord length directly opposite to the fire-fighting robot 1, and calculations are performed according to the value of LA. Combining the distances L, L', L" from the fire field measured by the respective sensors of the fire-fighting robots, we get:

[0092] It is calculated that:

[0093] Similarly, the size of β can be estimated:

[0094] It is calculated that:

[0095] Calculation of the swing angle γ of the fire-fighting gun of the fire-fighting robot 3:

[0096] It is calculated that:

[0097] For the numerical values of α, β, and γ calculated by this algorithm, the control center sends the data to the fire control box 400 for display. Firefighters operate the fire-fighting gun on the fire-fighting robot 300 to swing the corresponding degrees based on these numerical values.

[0098] The central dispatching system reasonably optimizes and calculates the distances d12, d23, and d31 between the fire-fighting robots 300, so that they are reasonably arranged according to the shape and size of the fire field area. Combining the distances L, L’, and L” from the fire field measured by the respective sensors of the fire-fighting robots 300, their layout is reasonably optimized to make them coordinate with each other, and reasonable adjustments are made according to the real-time changes of the fire field area to achieve the optimal fire extinguishing effect.

[0099] In view of the fact that the shape of the actual fire field is often irregular and changes at any time, the outstanding advantage of this set of algorithms is that it can adjust the calculation mode in real time and adjust the implementation layout of the fire-fighting robots according to the changes in the fire field area. The algorithm adopts the principle of approximate fitting. The circular and elliptical embodiments respectively show that basically two modes of approximate fitting circle and approximate fitting ellipse can be covered (the switching between the two modes is determined by comparing the ratio of LA and LB. When the fire field area parameter LB / LA > 0.5, the circular fitting mode is adopted, that is, LA≈LB = D; when the fire field area parameter LB / LA < 0.5, the elliptical fitting mode is adopted), and the principle of maximizing the swing angle is adopted to cover the entire fire field as the calculation target.

[0100] Scenario three, refer to Figure 5 , if the fire field area is a quasi-circular fire field, the control system will fit it into a circle:

[0101] Among them: In the algorithm embodiment of the quasi-circular fire field area, the fire control center dispatching system, according to the irregular fire field area data transmitted back by the on-site fire-fighting UAV 500, performs the fire extinguishing command execution in the circular fitting mode according to the algorithm constraint conditions (determined by comparing the ratio of LA and LB. When the fire field area parameter LB / LA > 0.5, the circular fitting mode is adopted, that is, LA≈LB = D).

[0102] Scenario four, refer to Figure 6 , if the fire field area is a quasi-elliptical fire field, the control system will fit it into an ellipse:

[0103] Among them: In the algorithm embodiment of the quasi-elliptical fire field area, the fire control center dispatching system, according to the irregular fire field area data transmitted back by the on-site fire-fighting UAV 500, performs the fire extinguishing command execution in the elliptical fitting mode according to the algorithm constraint conditions (determined by comparing the ratio of LA and LB. When the fire field area parameter LB / LA < 0.5, the elliptical fitting mode is adopted).

[0104] In specific applications, the monitoring camera device 200 is a wireless AI monitoring camera, and an infrared thermal imaging module is arranged therein for obtaining the fire situation on site.

[0105] The command center is communicatively connected to the fire control box via a 5G network. With 5G communication transmission, its characteristics of high speed, low latency, and large capacity support the real-time transmission of big data streams and large video streams at the fire scene, enabling real-time scheduling.

[0106] A temperature sensor is installed on the fire-fighting robot 300 to detect temperature information in real time, preventing the fire-fighting robot 300 from being damaged due to excessive temperature.

[0107] At least 3 fire-fighting robots 300 are provided, and the connection lines between the fire-fighting robots 300 can form a regular polygon. In this embodiment, 3 fire-fighting robots are used to form an equilateral triangle. The command center can calculate the optimal swing angle of the fire cannon more quickly and efficiently according to the above calculation method and promptly feedback it to the on-site area to adjust the fire-fighting strategy.

[0108] The command center 100 reasonably optimizes and calculates the distances between the fire-fighting robots 300, enabling them to be reasonably arranged according to the shape and size of the fire scene area. Combining the distances measured by the respective sensors of the fire-fighting robots 300 to the fire scene, their layout is reasonably optimized to make them coordinate with each other and make reasonable adjustments according to the real-time changes of the fire scene area to achieve the optimal fire-fighting effect.

[0109] The command center 100 calculates the swing angle α of the fire cannon on the fire-fighting robot 300 based on the above information; the command center 100 sends the information of the swing angle α of the fire cannon to the fire control box 400 and displays it. Firefighters control the swing angle of the fire cannon on the fire-fighting robot 300 through this information. Similarly, the swing angles of the fire cannons of other fire-fighting robots can be calculated, and their layout is reasonably optimized to make them coordinate with each other and make reasonable adjustments according to the real-time changes of the fire scene area to achieve the optimal fire-fighting effect.

[0110] At least 3 fire-fighting robots 300 are provided, and the connection lines between the fire-fighting robots 300 can form a regular polygon. In this embodiment, 3 fire-fighting robots are used to form an equilateral triangle. The command center can calculate the optimal swing angle of the fire cannon more quickly and efficiently according to the above calculation method and promptly feedback it to the on-site area to adjust the fire-fighting strategy.

[0111] A temperature sensor is installed on the fire-fighting robot 300 to obtain the temperature information of the location where the fire-fighting robot is located, and timely protect the fire-fighting robot itself from the temperature it can withstand in real time, ensuring its lifespan and safe fire-fighting.

[0112] It also includes an alarm device, which can act according to the task instructions sent by the command center.

[0113] The present invention also provides a second embodiment:

[0114] A scheduling method for a collaborative scheduling system of a fire-fighting robot, comprising the following steps: A monitoring camera device 200 collects first environmental parameters of a site area and transmits them to a command center. The command center determines whether a fire has occurred based on the first environmental parameters. If it is determined that a fire has occurred, the command center 100 issues a task instruction to an alarm device. Firefighters transport a fire-fighting drone 500, a fire-fighting robot 300, and a fire control box 400 that has been communicatively connected to the command center to the site area for fire-fighting operations. The fire-fighting drone 500 collects second environmental parameter information on the fire situation in the site area and sends it to the command center. The command center receives the information and sends a task instruction to the fire control box 400. The fire control box 400 receives the task instruction and controls the fire-fighting robot 300 to perform fire-extinguishing operations.

[0115] More specifically, a scheduling method for a collaborative scheduling system of a fire-fighting robot, comprising the following steps: This system is applied to the fire-fighting system of an entire factory area. When the monitoring camera device 200, i.e., an intelligent monitoring AI camera, detects a fire, it immediately notifies the entire fire-fighting system to issue a fire alarm, forming a full-system linkage. Firefighters carry the fire control box 400 and control the fire-fighting robot 300 to transport it to the site area for fire-fighting operations. Synchronously, the fire-fighting drone 500 takes off for operations. The monitoring camera device 200 collects first environmental parameters of the site area and transmits them to the command center. The command center receives the information and sends a task instruction to the fire control box 400. The fire control box 400 receives the task instruction and controls the fire-fighting robot 300 to perform fire-extinguishing operations; the fire-fighting robot 300 real-time detects the distance from the fire scene. The fire-fighting robot 300 sends this information to the fire control box 400 to notify the firefighters to adjust the distance in a timely manner to protect the normal operation of the fire-fighting robot 300. Synchronously, the fire-fighting drone 500 collects second environmental parameter information on the fire situation in the site area and sends it to the command center. The command center judges the fire-extinguishing plan in real time based on the overall high-altitude fire situation state captured by the drone 500, issues a position adjustment instruction to the fire control box 400, and the fire control box 400 issues a task instruction to control the fire-fighting robot 300 to adjust to a suitable position for fire-extinguishing operations.

[0116] When the temperature of the site area collected by the fire-fighting robot 300 is greater than the set value, the fire control box 400 controls the fire-fighting robot 300 to move away from the fire point in the site area to a safe distance for cooling.

[0117] Specifically, when applied to factory fire extinguishing, the distance between the fire control box and the fire-fighting robot is 300 - 500 m, the distance between the fire-fighting robot and the fire scene is 50 - 100 m, and the distance between adjacent fire-fighting robots is dynamically adjusted in real time.

[0118] The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, and to enable others of ordinary skill in the art to understand the invention for the purpose of designing various embodiments with various modifications suited to particular uses.

Claims

1. Scheduling method of a collaborative scheduling system for a fire-fighting robot, characterized in that, based on a collaborative scheduling system for a fire-fighting robot, the collaborative scheduling system includes: at least one on-site area equipped with a monitoring camera device (200), the monitoring camera device (200) being capable of collecting first environmental parameter information of the on-site area, the first environmental parameter information including position information and image information; a fire-fighting drone (500), the fire-fighting drone (500) being capable of collecting second environmental parameter information of the on-site area, the second environmental parameter information including three-dimensional image information when a fire breaks out in the on-site area; a command center (100), which includes a control system, the control system being capable of receiving and sending task instructions based on the first environmental parameter information and / or the second environmental parameter information; at least one fire control box (400), which is capable of receiving and sending action instructions based on the task instructions; a fire-fighting robot (300), which is communicatively connected to the fire control box (400), the fire-fighting robot (300) being capable of receiving the action instructions of the fire control box (400) to perform fire-fighting actions on the on-site area; the specific scheduling method is as follows: Step 1: Obtain fire scene information: The monitoring camera device (200) obtains the distance d between the fire-fighting robots (300), and the fire-fighting drone (500) obtains the shape information of the fire scene area; the fire-fighting robot (300) obtains the distance L from it to the fire scene. Step 2: The command center (100) includes a control system, and the control system calculates the swing angle α of the fire cannon on the fire-fighting robot (300) based on the fire scene information in Step 1; the control system sends the fire cannon swing angle α information to the fire control box (400) and displays it, and controls the swing angle of the fire cannon on the fire-fighting robot (300) in response to the information. In the said Step 2, the calculation method for the control system to calculate the swing angle of the fire cannon on the fire-fighting robot (300) based on the fire scene information in Step 1 is specifically: The control system preliminarily judges the shape information and fits it into a circular area or an elliptical area, and the fitting method uses the feature boundary value extraction method. If the shape information is determined or fitted to a circular area, the fire-fighting UAV obtains the diameter D of the circular area. In the second step, the calculation formula for the swing angle of the fire-fighting cannon on the fire-fighting robot 300 obtained by the control system according to the fire field information in the first step is: , and the calculated result is ; If the shape information is judged or fitted as an elliptical area, the fire-fighting drone obtains the major axis LA and minor axis LB of the ellipse. In the said Step 2, the calculation formula for the control system to calculate one of the swing angles of the fire cannon on the fire-fighting robot (300) based on the fire scene information in Step 1 is: ; and / or; , thereby calculating the swing angle α of the fire monitor.

2. The scheduling method of a collaborative scheduling system for a fire-fighting robot according to claim 1, characterized in that, at least 3 fire-fighting robots (300) are provided.

3. The scheduling method of a collaborative scheduling system for a fire-fighting robot according to claim 1, characterized in that, it further includes an alarm device, which can receive the task instructions sent by the command center and take actions.

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