Automatic patrol fire-fighting robot and fire-fighting control method

Abstract

An automatic patrol fire-fighting robot and a fire-fighting control method, wherein the robot comprises a mobile chassis, a water tank, a water cannon platform and a dual-light platform; the water tank and the water cannon platform are arranged on the mobile chassis, a water cannon is arranged on the water cannon platform, and the nozzle of the water cannon is connected to the water pump in the water tank through a water pipe; it also comprises a laser rangefinder, which is arranged on the dual-light platform and can rotate synchronously with the dual-light platform, and is used to measure the straight-line distance between the robot and the fire source; a main control unit is used to calculate the height value H of the fire source relative to the robot according to the pitch angle value of the dual-light platform and the straight-line distance between the robot and the fire source; and according to the height value H and the pre-calibrated water flow injection trajectory data, the target horizontal distance of the robot from the fire source during fire extinguishing and the target injection angle of the water cannon nozzle during fire extinguishing are calculated. The present invention also comprises a fire-fighting control method for an automatic patrol fire-fighting robot. The present invention has a compact structure, high fire-fighting accuracy, and can greatly reduce the incidence of fire accidents.

Description

Technical Field

[0001] The invention relates to a fire-fighting robot, in particular to an automatic patrolling fire-fighting robot and a fire-fighting control method. Background Art

[0002] Currently, robots used in the firefighting field are generally divided into two categories: inspection robots and firefighting robots. Inspection robots are used for firefighting patrols, fire source detection, positioning and alarming in the operation scene, and do not have firefighting functions. Firefighting robots are directly used for firefighting, and do not carry water tanks. They need to be connected to an external water source before extinguishing the fire. The entire process requires human operation and control.

[0003] For example, CN207755667U discloses a fire-fighting robot, which uses a water pump to extract water from a water tank and sprays it out through a water spray barrel to extinguish fires; by setting up a stepper motor and a synchronous belt, the triangle plate rotates along a semicircular track, which is convenient for adjusting the angle of the water spray barrel, so that different fire situations can be extinguished accordingly; by setting up a temperature control switch, the fire is extinguished according to the temperature of the fire site, which plays an intelligent role and does not require manual control of the robot to extinguish fires. However, on the one hand, the fire-fighting robot only has the function of extinguishing fires and cannot perform automatic patrol functions; on the other hand, the water spraying angle can only be controlled by a stepper motor and a synchronous belt, with low precision, and it is impossible to obtain the best position for spraying. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an automatic patrol fire-fighting robot and a fire-fighting control method which have high fire-fighting accuracy, high fire-fighting efficiency, compact structure and diverse functions.

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

[0006] An automatic patrol fire-fighting robot of the present invention comprises a mobile chassis, a water tank, a water cannon platform and a dual-light platform; the water tank and the water cannon platform are arranged on the mobile chassis, the water cannon platform is provided with a water cannon, and the nozzle of the water cannon is connected to the water pump in the water tank through a water pipe;

[0007] Also includes:

[0008] The laser rangefinder is installed on the dual-light gimbal and can rotate synchronously with the dual-light gimbal to measure the straight-line distance between the robot and the fire source;

[0009] The main control unit is used to calculate the height value H of the fire source relative to the robot according to the pitch angle value of the dual-light pan-tilt platform and the straight-line distance between the robot and the fire source; and calculate the target horizontal distance between the robot and the fire source during fire extinguishing and the target injection angle of the water cannon nozzle during fire extinguishing according to the height value H and the pre-calibrated water jet trajectory data; it is also used to control the mobile chassis to run to the target horizontal distance, control the water cannon pan-tilt platform to adjust to the target injection angle, and start the water pump; the main control unit also communicates with the background terminal through the communication unit.

[0010] Furthermore, a visible light camera and a thermal imaging camera are installed on the dual-light pan-tilt head. The visible light camera is used for image and video monitoring; the thermal imaging camera is used for heat source detection and temperature monitoring; the control unit adjusts the angle of the dual-light pan-tilt head so that the fire source point is located at the center of the picture of the visible light camera.

[0011] Furthermore, the fire-fighting robot further includes at least one of the following sensors:

[0012] Flame sensor, used to detect abnormal points and identify whether they are fire sources;

[0013] The liquid level sensor is arranged in the water tank and is used to detect the liquid level height in the tank;

[0014] LiDAR is used to scan the surrounding environment for navigation, positioning and obstacle avoidance.

[0015] Furthermore, the water tank is divided into a first box body and a second box body that are interconnected along the width direction, wherein the length of the second box body is greater than that of the first box body, and an installation space is reserved at the front end of the first box body for installing a flame detector, a laser radar and a water cannon pan / tilt; the height of the first box body is higher than that of the second box body, the dual-light pan / tilt is arranged on the top surface of the first box body, and an indicator light and / or an alarm is also arranged on the side of the first box body that is higher than the second box body.

[0016] Furthermore, the mobile chassis is six-wheel drive, and an automatic charging electrode is provided at the center position of the lower front part of the mobile chassis; the water volume in the water tank is >120L, and the water cannon spray flow rate is >80L / min.

[0017] Furthermore, an antenna mounting seat is installed on the side of the water tank, and a satellite positioning antenna and a network communication antenna are provided on the antenna mounting seat; the satellite positioning antenna is used for navigation and positioning of the robot, and the network communication antenna is used for communication between the main control unit and the background terminal.

[0018] A fire extinguishing control method of an automatic patrol fire extinguishing robot of the present invention comprises the following steps:

[0019] S1: During the robot's patrol process, when the temperature is abnormal and the abnormal point is identified as a fire source, the fire extinguishing process is started and an alarm is sent to the background terminal;

[0020] S2: Use a laser rangefinder to measure the distance between the robot and the fire source, and adjust the angle of the dual-light gimbal so that the fire source is located at the center of the visible light camera. Obtain the pitch angle value θ of the dual-light gimbal and the straight-line distance A between the laser rangefinder and the fire source, and calculate the height value H of the fire source relative to the robot.

[0021] S3: Calculate the position and angle of the water cannon spray point: According to the height value H and the pre-calibrated water flow spray trajectory data, obtain the target horizontal distance L2 between the robot and the fire source point during fire extinguishing and the target spray angle α of the water cannon nozzle during fire extinguishing;

[0022] S4: Control the robot to move to the target horizontal distance L2 from the fire source, and control the water cannon platform to adjust to the target spray angle α, then start the water pump to start the fire extinguishing operation;

[0023] S5: When the water level in the water tank drops to the monitoring height of the bottom liquid level sensor, the water pump stops working;

[0024] S6: Fire extinguishing work is completed, continue to monitor the fire situation through images and videos, and wait for follow-up personnel to arrive and deal with the fire.

[0025] Further, in S3, the calculation of the position and angle of the water cannon spray point specifically includes the following steps:

[0026] S3-1. Pre-calibrate the water jet trajectory data: take the center of the jet nozzle of the water cannon nozzle as the origin, collect the height and horizontal coordinate values ​​of the calibration points in the middle and front sections of the water jet trajectory, and fit the water flow trajectory line; take several water cannon jet angles in the range of 0-90° to fit the water flow trajectory line, and obtain the effective fire extinguishing range according to the area enclosed by the calibration points;

[0027] S3-2. Take the intersection of the height value H and each trajectory line in the horizontal direction within the effective fire extinguishing range, and take the point with the largest horizontal distance from the robot as the fire extinguishing point. At this time, the horizontal distance of the fire extinguishing point is L2, and L2 is the horizontal distance between the robot and the fire source point during fire extinguishing. According to the horizontal distance L2 and the height value H, the spray angle α of the water cannon nozzle during fire extinguishing is obtained.

[0028] Further, in S4, when the water cannon sprays water, the water cannon platform is controlled to drive the water outlet of the water cannon nozzle to make a small circular motion, that is, to make a reciprocating circular swing with the theoretical water outlet position as the center and R as the radius, and R is 0-100mm.

[0029] Furthermore, in S1, a thermal imaging camera is used to detect whether the temperature at the target location is abnormal, and the main control unit transmits the detected temperature information to the background terminal via a network communication antenna for monitoring by background personnel; and a flame detector detects the abnormal point to identify whether it is a fire source. If it is a fire source, the fire extinguishing process is initiated and an alarm is sent to the background duty room.

[0030] Beneficial effects of the present invention:

[0031] (1) By combining the dual-light gimbal with the laser rangefinder, the laser rangefinder can be rotated along with the dual-light gimbal. When the dual-light gimbal rotates to the point where the fire source is located at the center of the visible light camera's image, the laser rangefinder can measure the distance between the robot and the fire source and calculate the height of the fire source relative to the robot, which is convenient for the subsequent calculation of the position and angle of the water cannon spray point.

[0032] (2) By calibrating the water jet trajectory data, the water jet trajectory lines at different water cannon jet angles can be obtained, and then the effective fire extinguishing range can be obtained. Combined with the detection of the dual-light gimbal and the laser rangefinder, the optimal fire extinguishing point can be obtained, thereby determining the horizontal distance between the robot and the fire source and the jet angle of the water cannon nozzle, greatly improving the accuracy of fire extinguishing;

[0033] (3) By setting the water pump, hydraulic sensor and water tank capacity, that is, the water volume in the water tank is >120L, the water cannon spray flow rate is >80L / min, and when the water level in the water tank drops to the monitoring height of the bottom liquid level sensor, the water pump automatically stops working, which can ensure that the water tank has sufficient water, and automatically sprays and stops without the need for human assistance;

[0034] (4) The combination of flame detectors and thermal imaging cameras can fully determine whether the abnormal point is a fire source;

[0035] (5) By setting up a structure with one long and one short water tank, one high and one low, the water tank capacity can be increased while ensuring the compactness of the structure, thus reducing the overall size of the robot; and effective space can be used to install other equipment;

[0036] (6) By installing a mobile chassis, laser radar, satellite positioning antenna, etc., the robot can have not only the fire-fighting function, but also the inspection function, which can realize fire patrol, fire source identification, positioning alarm, automatic sprinkler fire extinguishing, etc.

[0037] It can be said that the robot of the present invention is mainly used to monitor and discover the initial fire point and suppress and extinguish the initial fire source. After the robot is deployed, it can discover and deal with the fire in the first time, and alarm the back-end staff at the same time. The entire operation process from patrolling to fire extinguishing does not require human participation in the operation, and all can be completed automatically, which greatly reduces the incidence of fire accidents, avoids the evolution of larger-scale fires due to untimely handling, and greatly reduces the losses caused by fire accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the three-dimensional structure of the robot according to the embodiment of the present invention;

[0039] Figure 2 yes Figure 1 a cross-sectional view of the illustrated embodiment;

[0040] Figure 3 Schematic diagram of calculating the height H of the fire source relative to the robot according to an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of the position and angle calculation of the water cannon spray point according to an embodiment of the present invention.

[0042] Description of the accompanying drawings:

[0043] 1. Mobile chassis; 2. Water tank; 3. Water cannon gimbal; 4. Laser radar; 5. Laser rangefinder; 6. Dual-light gimbal; 7. Flame detector; 8. Satellite positioning antenna; 9. Network communication antenna; 11. Automatic charging electrode; 21. Water pump; 22. Liquid level sensor; 23. Left box; 24. Right box; 31. Water cannon; 32. Water pipe; 61. Visible light camera; 62. Thermal imaging camera; 311. Nozzle. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] like Figure 1 and Figure 2 As shown: an automatic patrol fire-fighting robot, including a mobile chassis 1, a water tank 2, a water cannon platform 3, a laser radar 4, a laser rangefinder 5, a dual-light platform 6 and a flame detector 7; wherein the water tank 2 is installed on the mobile chassis 1, and an installation space is reserved on the front side of the water tank 2 for arranging the flame detector 7, the laser radar 4 and the water cannon platform 3; a water cannon 31 is arranged on the water cannon platform 3, and a nozzle 311 of the water cannon 31 is connected to a water pump 21 of the water tank 2 via a water pipe 32; the dual-light platform 6 is arranged on the top surface of the water tank, and a camera is installed on the dual-light platform.

[0046] Specifically, the mobile chassis 1 of this embodiment is six-wheel drive, has a strong load-bearing capacity, can carry a large amount of water and equipment; has strong off-road capability, adapts to complex road environments; has automatic driving capability, and can patrol autonomously in work scenes. An automatic charging pole 11 is provided at the center of the lower front part of the mobile chassis, which enables the robot to automatically dock with a charging pile for charging.

[0047] In this embodiment, the water tank 2 is installed on the mobile chassis 1, and is used to store water for use in fire fighting. A water pump 21 is provided in the water tank, and the water pump 21 is connected to the water cannon nozzle 311 through a water pipe 32, which is used to automatically pump the water in the water tank into the water pipe, and then spray it out from the water cannon nozzle. A liquid level sensor 22 is also provided in the water tank, which is used to monitor the water level in the water tank. Once it is detected that the liquid level in the water tank is lower than the target liquid level, the water pump is controlled to stop working. In this embodiment, the amount of water in the water tank is >120L, and the water cannon spray flow rate is >80L / min, which can support the robot to automatically spray water for 1-2 minutes, can effectively extinguish the initial fire source, and can also effectively suppress larger initial fires.

[0048] The shell of the water tank 2 of this embodiment is designed to be a long and short, high and low structure, that is, the water tank is divided into a left box 23 and a right box 24 along the width direction, and the two are connected as one, wherein the length of the right box 24 is greater than the length of the left box 23, that is, the front end of the left box is reserved with an installation space for installing a flame detector, a laser radar and a water cannon pan-tilt; the height of the left box 23 is higher than the right box 24, and a double-light pan-tilt 6 is arranged on the top surface of the left box 23, and an indicator light or an alarm can also be arranged on the side of the left box that is higher than the right box. The design of the water tank of the present invention not only greatly increases the capacity of the water tank, but also makes full use of the structure of the water tank to install other equipment, improves space utilization, and ensures the compactness of the structure.

[0049] In this embodiment, a flame detector 7, a laser radar 4 and a water cannon platform 3 are arranged in the installation space reserved at the front end of the left box. Among them, the flame detector 7 is arranged at the front side and tilted upward, and is used to detect whether the high-temperature point is a flame. Among them, the flame detector 7 can also be connected to an angle adjustment structure to facilitate the adjustment of the detection angle. By adjusting its pitch angle, it can be applied to detection at different positions to improve the detection accuracy. A laser radar 4 is arranged on one side of the rear of the flame detector 7, which is used to scan surrounding objects, navigate and avoid obstacles. A water cannon platform 3 is arranged behind the laser radar 4, and a water cannon 31 is arranged on the water cannon platform. The water cannon can be driven to rotate horizontally and vertically through the water cannon platform to adjust the spray angle of the water cannon.

[0050] In this embodiment, a dual-light platform 6 is provided on the top surface of the left box body of the water tank, and a camera is installed on the dual-light platform 6. A laser rangefinder 5 is provided under the base of the camera, so that the laser rangefinder 5 can rotate synchronously with the camera to monitor the distance from the robot to the fire source. The camera includes a horizontally arranged visible light camera 61 and a thermal imaging camera 62. The visible light camera is used for image and video monitoring; the thermal imaging camera is used for heat source detection and temperature monitoring. Driven by the dual-light platform, both the visible light camera and the thermal imaging camera can rotate 360° horizontally and 360° vertically to achieve all-round inspection without blind spots.

[0051] In this embodiment, an antenna mounting seat is installed on the upper side of the right side of the water tank, and a satellite positioning antenna 8 and a network communication antenna 9 are arranged on the antenna mounting seat. The satellite positioning antenna 8 is used for navigation and positioning of the robot, and the network communication antenna 9 is used for connecting the robot to the background communication network.

[0052] In this embodiment, all the aforementioned electrical components are connected to the main control unit, which receives the detection information of each sensor, controls the operation of each pan / tilt and water pump according to each instruction, and communicates with the background terminal through the network communication antenna. The main control unit is arranged in the chassis.

[0053] It can be said that the automatic patrol fire-fighting robot of this embodiment has both patrol and fire-fighting functions. It is mainly used to monitor and discover the initial fire point and suppress and extinguish the initial fire source. It can realize functions such as fire patrol, fire source identification, positioning alarm, automatic sprinkler fire extinguishing, etc. After the robot is deployed, it can find and deal with the fire in the first time, and alarm the background staff at the same time. The entire operation process from patrol to fire-fighting does not require human participation and can be completed automatically. It greatly reduces the incidence of fire accidents, avoids the evolution of larger-scale fires due to untimely handling, and greatly reduces the losses of fire accidents.

[0054] The operation process of the robot in this embodiment includes the following steps:

[0055] S101: After the robot is deployed in the operation area, it conducts automatic patrol;

[0056] S102: During patrolling, when the thermal imaging camera detects abnormal temperature, it sends the information to the main control unit, and the main control unit transmits the temperature information detected by the thermal imaging camera to the back-end terminal via the network communication antenna for monitoring by the back-end personnel.

[0057] S103: The flame detector detects the abnormal point and identifies whether it is a fire source. If it is a fire source, the fire extinguishing process is started and an alarm is sent to the backstage duty room. If it is not a fire source, there is no need to send an alarm and the patrol continues.

[0058] S104: When the fire extinguishing process is started, the laser rangefinder measures the distance between the robot and the fire source, and adjusts the angle of the dual-light gimbal so that the fire source is located at the center of the image of the visible light camera.

[0059] like Figure 3 As shown in the figure: Since the laser rangefinder is installed on the camera and moves synchronously with the camera, the laser rangefinder is also synchronously aimed at the fire source. The robot's main control unit reads the dual-light gimbal pitch angle value θ and the straight-line distance A between the robot and the fire source measured by the laser rangefinder, and can calculate the height value H and horizontal distance L1 of the fire source relative to the robot. This step enables the robot to obtain the coordinate position of the fire source, so as to facilitate the analysis and calculation of the fire extinguishing effect in the subsequent steps.

[0060] S105: Calculate the position and angle of the water cannon spray point, specifically including:

[0061] a. The robot pre-calibrates the water jet trajectory data. Since the water jet trajectory of the water cannon is relatively stable at a certain jet angle, the center of the jet nozzle of the water cannon nozzle is taken as the origin, and the height and horizontal coordinate values ​​of the middle and front calibration points of the water jet trajectory (for example, the highest point of the water jet trajectory and at least one other calibration point between the origin and the highest point) are collected to fit the water jet trajectory. Several water cannon jet angles are selected within the range of 0-90° to fit the water jet trajectory, and the effective fire extinguishing range (such as Figure 4 The gray sector filled area represented by , that is, the area surrounded by the calibration points). Since the water flow trajectory is closer to the front, the stability is better, but the landing area is smaller; the water flow stability is worse when it is farther back, and it will deviate greatly due to the influence of wind. Therefore, within the effective fire extinguishing range selected in this embodiment, the water flow stability is better, and the landing area is also large enough.

[0062] b. The robot takes the intersection of the H value and each trajectory line in the horizontal direction within the effective fire extinguishing range according to the fire source position height value H obtained above (such as Figure 4 (shown by the dotted line). At this time, there may be multiple intersections. The point with the largest horizontal distance from the robot among these intersections is taken as the fire extinguishing point. At this time, the horizontal distance of the fire extinguishing point is L2. The larger L2 is, the farther the water flow is sprayed, and the larger the landing area is. Then L2 is the horizontal distance between the robot and the fire source during fire extinguishing, and the spray angle α of the fire extinguishing point trajectory is the spray angle of the water cannon nozzle during fire extinguishing.

[0063] S106: The robot moves to the calculated injection point and adjusts the angle of the water cannon.

[0064] Since the horizontal distance L1 obtained by the robot to the fire source is not necessarily equal to the theoretical fire extinguishing distance L2, the robot moves to a position with a horizontal distance L2 from the fire source and adjusts the water cannon angle to α, then starts the water pump to start the fire extinguishing operation.

[0065] S107: Start the water pump to start spraying water.

[0066] Among them, the water cannon platform can be adjusted in a small range according to actual needs to increase the area of ​​the sprayed water flow. Specifically, the water cannon platform controls the water outlet of the water cannon nozzle to make a small circular motion, that is, with the theoretical outlet position as the center of the circle and R as the radius, it makes a reciprocating circular swing. The R value is within the range of 0-100mm and can be set by yourself.

[0067] S108: When the water level in the water tank drops to the monitoring height of the bottom liquid level sensor, the water pump stops working.

[0068] S109: Fire extinguishing work is completed, continue to monitor the fire situation through images and videos, and wait for follow-up personnel to arrive and deal with the fire.

[0069] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A fire extinguishing control method for an automatic patrol fire extinguishing robot, characterized in that: The following steps are involved: S1: During the robot's patrol process, when abnormal temperature is detected and the abnormal point is identified as a fire source, the fire extinguishing process is started and an alarm is sent to the background terminal; S2: Use a laser rangefinder to measure the distance between the robot and the fire source, and adjust the angle of the dual-light gimbal so that the fire source is located at the center of the visible light camera. Obtain the pitch angle value θ of the dual-light gimbal and the straight-line distance A between the laser rangefinder and the fire source, and calculate the height value H of the fire source relative to the robot. S3: Calculate the position and angle of the water cannon spray point: Pre-calibrate the water jet trajectory data: take the center of the jet outlet of the water monitor nozzle as the origin, collect the height and horizontal coordinate values ​​of the calibration points in the middle and front sections of the water jet trajectory, and fit the water jet trajectory line; take several water monitor jet angles within the range of 0-90° to fit the water jet trajectory line, and obtain the effective fire extinguishing range according to the area enclosed by the calibration points; Take the intersection of the height value H and each trajectory line in the horizontal direction within the effective fire extinguishing range, and take the point with the largest horizontal distance from the robot as the fire extinguishing point. At this time, the horizontal distance of the fire extinguishing point is L2, which is the horizontal distance between the robot and the fire source during fire extinguishing. According to the horizontal distance L2 and the height value H, the spray angle α of the water cannon nozzle during fire extinguishing is obtained; S4: Control the robot to move to the target horizontal distance L2 from the fire source, and control the water cannon platform to adjust to the target spray angle α, then start the water pump to start the fire extinguishing operation; S5: When the water level in the water tank drops to the monitoring height of the bottom liquid level sensor, the water pump stops working; S6: Fire extinguishing work is completed, continue to monitor the fire situation through images and videos, and wait for follow-up personnel to arrive and deal with the fire.

2. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 1, characterized in that: In S4, when the water cannon sprays water, the water cannon pan / tilt is controlled to drive the water cannon nozzle outlet to make a small circular motion, that is, to make a reciprocating circular swing with the theoretical outlet position as the center and R as the radius, where R is 0-100mm.

3. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 1 or 2, characterized in that: In S1, the thermal imaging camera is used to detect whether the temperature at the target location is abnormal. The main control unit transmits the detected temperature information to the background terminal via the network communication antenna for monitoring by the background personnel; and the flame detector detects the abnormal point to identify whether it is a fire source. If it is a fire source, the fire extinguishing process is started and an alarm is sent to the background duty room.

4. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 1 or 2, characterized in that: The automatic patrol fire-fighting robot comprises a mobile chassis, a water tank, a water cannon platform and a dual-light platform; the water tank and the water cannon platform are arranged on the mobile chassis, the water cannon platform is provided with a water cannon, and the nozzle of the water cannon is connected to the water pump in the water tank through a water pipe; and further comprises: The laser rangefinder is installed on the dual-light gimbal and can rotate synchronously with the dual-light gimbal to measure the straight-line distance between the robot and the fire source; The main control unit is used to calculate the height value H of the fire source relative to the robot according to the pitch angle value of the dual-light pan-tilt platform and the straight-line distance between the robot and the fire source; and calculate the target horizontal distance between the robot and the fire source during fire extinguishing and the target injection angle of the water cannon nozzle during fire extinguishing according to the height value H and the pre-calibrated water jet trajectory data; it is also used to control the mobile chassis to run to the target horizontal distance, control the water cannon pan-tilt platform to adjust to the target injection angle, and start the water pump; the main control unit also communicates with the background terminal through the communication unit.

5. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 4 is characterized in that: The dual-light pan-tilt platform is equipped with a visible light camera and a thermal imaging camera. The visible light camera is used for image and video monitoring; the thermal imaging camera is used for heat source detection and temperature monitoring; the control unit adjusts the angle of the dual-light pan-tilt platform so that the fire source point is located at the center of the picture of the visible light camera.

6. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 4 is characterized in that: The automatic patrol fire-fighting robot also includes at least one of the following sensors: Flame sensor, used to detect abnormal points and identify whether they are fire sources; The liquid level sensor is arranged in the water tank and is used to detect the liquid level height in the tank; LiDAR is used to scan the surrounding environment for navigation, positioning and obstacle avoidance.

7. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 6, characterized in that: The water tank is divided into a first box body and a second box body that are interconnected along the width direction, wherein the length of the second box body is greater than that of the first box body, and an installation space is reserved at the front end of the first box body for installing a flame detector, a laser radar and a water cannon pan / tilt; the height of the first box body is higher than that of the second box body, the dual-light pan / tilt is arranged on the top surface of the first box body, and an indicator light and / or an alarm is also arranged on the side of the first box body that is higher than the second box body.

8. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 4, characterized in that: The mobile chassis is six-wheel drive, and an automatic charging electrode is provided at the center of the lower front part of the mobile chassis; the water volume in the water tank is >120L, and the water cannon spray flow rate is >80L / min.

9. The fire extinguishing control method of the automatic patrol fire extinguishing robot according to claim 4, characterized in that: An antenna mounting seat is installed on the side of the water tank, and a satellite positioning antenna and a network communication antenna are arranged on the antenna mounting seat; the satellite positioning antenna is used for navigation and positioning of the robot, and the network communication antenna is used for communication between the main control unit and the background terminal.

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