A group-based intelligent fire extinguishing method and system

Abstract

The present invention belongs to the field of fire fighting technology, and in particular, relates to a group-based intelligent fire-fighting method and system thereof, comprising the following steps: S1, the control center selects a fire-fighting robot according to the location of the fire scene, S2, the selected fire-fighting robot performs a performance self-test, S3, the control center dispatches a fire-fighting robot that has passed the self-test to the fire scene, and S4, the fire-fighting robot performs the fire-fighting task. The group-based intelligent fire-fighting method and system provided by the present invention do not require on-site participation of personnel, have a high degree of intelligence, and in the case of a large fire, can enable multiple fire-fighting robots to work together, can use the visual sensors of the fire-fighting robots to quickly and accurately locate the fire scene, and extinguish the fire in its infancy, and realize the intelligent interconnection between the fire-fighting robot and the control center in the form of a cloud network, which greatly enhances the ability to handle fire situations and improves the efficiency of fire-fighting. At the same time, through real-time conversion, the corresponding number of fire-fighting robots can be accurately excluded, which can minimize the energy consumption of the system.

Description

Technical Field

[0001] This invention belongs to the field of fire protection technology, and in particular relates to an intelligent fire extinguishing method and system based on grouping. Background Technology

[0002] Fire hazards are ubiquitous in society, and fires of all sizes occur frequently. Fire has become one of the most significant disasters endangering people's lives, health, and public property. Indoor fires, in particular, spread extremely quickly. If the fire is not extinguished in its early stages, it will become uncontrollable once it grows larger, with potentially disastrous consequences.

[0003] In existing technologies, there are three main methods for implementing firefighting robots: 1) Controlling the firefighting robot to travel to the fire scene and perform firefighting tasks through on-site human intervention or remote control. For example, Chinese Patent CN 111267128 B discloses a remote firefighting robot controller, which can control the firefighting robot to go to the fire scene. This method requires human intervention and has a low level of intelligence. 2) Providing the fire scene location information to the firefighting robot through reconnaissance equipment. For example, Chinese Patent CN110101996 B discloses a method for collaborative positioning and autonomous operation of firefighting robots in complex environments, which uses two reconnaissance robots to provide fire scene location information to the firefighting robot; another example is Chinese Patent CN107137838 B, which discloses a fire rescue closed-loop control system and method based on firefighting robots, which uses UAVs for high-altitude reconnaissance to provide fire scene location information to the firefighting robot. This method of providing fire scene location information to the firefighting robot through reconnaissance equipment is complex in principle, technically difficult, and has limited application scenarios. For example, UAVs used for high-altitude reconnaissance can cause significant damage to UAVs, their positioning accuracy depends on GPS accuracy, and they fail when facing indoor fires.

[0004] 3) Locating the fire point using the binocular vision device on the fire-fighting robot itself. For example, Chinese Patent CN109331378 B discloses a fire-fighting robot and intelligent fire-fighting method based on image processing. This method uses a video acquisition module to collect images of the area in front of the fire-fighting robot in real time and transmits the location information of the fire point to the robot. This method is suitable for situations where the approximate location of the fire is known, but the specific fire point needs to be located. However, if this method is used for large-scale fires, the positioning efficiency is low, which will delay the fire-fighting opportunity. Furthermore, this method is complex in principle and technically challenging. Summary of the Invention

[0005] To address the problems existing in the background art, the first objective of this invention is to provide a group-based intelligent fire extinguishing method, the technical solution of which is as follows:

[0006] A group-based intelligent fire suppression method includes the following steps:

[0007] Step S1: The control center selects a firefighting robot based on the location of the fire;

[0008] After receiving the fire information, the control center locates the nearest concentration of firefighting robots based on the fire's position. Simultaneously, based on fire images transmitted by fire cameras, it preliminarily determines the fire's intensity. Assuming each firefighting robot carries 50% extinguishing agent, it calculates the required number of firefighting robots, randomly selects that number, and sends them the "go to the fire to extinguish the fire" command. In addition, it selects two more firefighting robots and sends them the "standby" command.

[0009] Step S2: The selected firefighting robot performs a performance self-test;

[0010] After receiving the command "go to the fire scene to extinguish the fire" or "standby" through the wireless signal receiving module, the control unit of the fire extinguishing robot enters the self-test program. The self-test items include whether there are any abnormalities in the lower walking part and the upper functional part of the fire extinguishing robot, whether the fire extinguishing robot has sufficient power, and whether the fire extinguishing agent capacity is sufficient.

[0011] Step S3: The control center dispatches a self-tested and qualified firefighting robot to the fire scene;

[0012] S31: When only one fire-fighting robot is needed, the control unit will send a self-check command in real time on the way to the fire scene. When a new fire point is found, the control center will be notified to dispatch the fire-fighting robot that is in "standby" state and is close to the fire point to the new fire point to perform the fire-fighting task. If an obstacle is found, it will bypass the obstacle and continue to move forward. If the obstacle cannot be bypassed, the "breakthrough" mode will be activated to break through a path and continue to move forward. If the road is still not open after the "breakthrough" mode has been in effect for a period of time, the control center will dispatch firefighters to the fire scene.

[0013] S32: When multiple firefighting robots are needed, the control center sends a platooning command to the firefighting robots. After receiving the platooning command, the firefighting robots enter the platooning state and form a vehicle platoon according to the position order in the platooning command, ensuring the speed of the firefighting robots while maintaining a stable distance between the firefighting robots.

[0014] Step S4: The fire-fighting robot performs the fire-fighting task;

[0015] The fire-fighting robot uses its visual sensors to determine the exact location of the fire and the size of the fire.

[0016] If there is only one fire point, the control unit directs the lower-level walkway directly to the fire point. If there are multiple fire points, the control unit selects the fire point according to priority for fire suppression.

[0017] Depending on the size of the fire, the system determines whether the extinguishing agent it carries is sufficient. If the total amount of extinguishing agent is insufficient, it sends a message to the control center via its wireless signal transmission module, requesting that other robots be dispatched to the fire scene for support. Based on calculations, the control center selects one or two robots from the two "standby" robots to go to the fire scene to perform firefighting tasks. If adding two more firefighting robots still cannot provide the total amount of extinguishing agent required for firefighting, more "standby" firefighting robots are added to the fire scene to perform firefighting tasks. When more than five firefighting robots are added, the fire scene is determined to be in a dangerous state, and the control center immediately alerts the fire department.

[0018] As a preferred embodiment of the present invention, in step S2, the self-check procedure of the fire-fighting robot that receives the "go to the fire scene to extinguish the fire" command is as follows:

[0019] The control unit determines whether the self-inspection items meet the standards. If all three self-inspection items meet the standards, the self-inspection is qualified. If at least one of the three self-inspection items fails to meet the standards, the fire-fighting robot sends a message to the control center requesting that other fire-fighting robots be dispatched. The control center then selects one of the fire-fighting robots in the "standby" state and sends it the "go to the fire scene to extinguish the fire" command. At the same time, it adds another fire-fighting robot and sends it the "standby" command. In addition, the fire-fighting robot that receives the "go to the fire scene to extinguish the fire" command immediately enters the self-inspection program until it finds a fire-fighting robot that meets all three self-inspection items and is "going to the fire scene to extinguish the fire".

[0020] As a preferred embodiment of the present invention, in step S2, the self-test procedure of the fire-fighting robot that receives the "standby" command is as follows:

[0021] The control unit determines whether the self-test items meet the standards. If all three self-test items meet the standards, the self-test is qualified, and the robot returns an "OK" status to the control center, ready to receive the "go to the fire scene to extinguish the fire" command at any time. If the first item fails to meet the standards, the fire-fighting robot sends a message to the control center requesting other fire-fighting robots to "standby". The control center then selects one of the fire-fighting robots that has not received a command before and sends it a "standby" command. The fire-fighting robot that receives the "standby" command immediately enters the self-test program until it finds a "standby" fire-fighting robot that meets the standards for the first item. Then it enters the last two self-tests. If the last two self-test items meet the standards, the self-test is qualified, and the robot returns an "OK" status to the control center, ready to receive the "go to the fire scene to extinguish the fire" command at any time. If the last two self-test items fail to meet the standards, the fire-fighting robot immediately activates the fast charging mode and / or the fire extinguishing agent refill switch to quickly replenish the fire extinguishing agent. When the last two self-test items meet the standards, the robot returns an "OK" status to the control center, ready to receive the "go to the fire scene to extinguish the fire" command at any time.

[0022] As a preferred embodiment of the present invention, the fire extinguisher can automatically sense the extinguishing agent volume. Carbon dioxide is used as the extinguishing material, and the fire extinguisher casing is a cylindrical steel cylinder. A temperature sensor, a pressure sensor, and a liquid level sensor are installed inside the cylinder, each connected to a control unit. After this self-test step begins, the liquid level sensor transmits the liquid level value of the extinguishing agent in the cylinder to the control unit. The control unit then calculates the corresponding extinguishing agent volume based on this value, using the following formula:

[0023]

[0024] In the formula, For extinguishing agent capacity, This refers to the extinguishing agent level. This refers to the cross-sectional area of ​​the internal space of the fire extinguisher cylinder.

[0025] As a preferred embodiment of the present invention, the specific process of step S31 is as follows:

[0026] If the fire-fighting robot detects a new fire point on its way to the fire scene, its visual sensors will transmit the location of the fire point to the control unit. The control unit will then send the location of the fire point to the control center. The control center will dispatch a fire-fighting robot that is in a "standby" state and is closer to the fire point to perform the fire-fighting task. At the same time, another fire-fighting robot will be added to the "standby" state and perform the performance self-check in step S2. If its visual sensors or lidar detect temporary obstacles, it will transmit the obstacle information to the control unit. The control unit will plan a path and issue instructions to the lower walking part of the fire-fighting robot to bypass the obstacles and continue to the fire scene. If the temporary obstacles block the road and the fire-fighting robot cannot bypass them, the control unit will select the direction with the fewest obstacles and activate the "breakthrough" mode. First, it will control the fire-fighting robot to retreat, and then start with maximum acceleration to break through a path. If the road is still not cleared after this mode continues for 20 seconds, the control center will dispatch firefighters to the fire scene.

[0027] During the movement of the fire-fighting robot, the control unit sends self-check commands in real time to determine whether the lower walking part and the upper functional part are in normal condition. If the fire-fighting robot is damaged, causing abnormality in the lower walking part or the upper functional part, the control unit sends a message to the control center to request other fire-fighting robots to perform the fire-fighting task. The control center dispatches the fire-fighting robot that is in the "standby" state and is close to the fire point to perform the fire-fighting task. At the same time, another fire-fighting robot is added to the "standby" state and performs the performance self-check in step S2.

[0028] As a preferred embodiment of the present invention, in step S32, the control center needs to establish a formation control model:

[0029] The longitudinal dynamics of the firefighting robot can be represented as a first-order inertial time delay model, meaning there is a first-order inertial time delay between the actual acceleration and the desired acceleration of the firefighting robot, which can be expressed as:

[0030]

[0031]

[0032]

[0033] In the formula, , , These represent firefighting robots. Displacement, velocity, and acceleration; Firefighting robot The desired acceleration input; This indicates the inertial time delay of the firefighting robot;

[0034] A feedforward and feedback control strategy is used to determine the desired acceleration of the firefighting robot. In constructing the longitudinal following model for the formation control of firefighting robots, a nonlinear queue following model was adopted, and the effects of inertial time delay and communication latency of the firefighting robots were fully considered. This model can be expressed as:

[0035]

[0036]

[0037] In the formula, Firefighting robots Distance to the car in front, For the expected vehicle speed at different following distances, For communication delay, , , These are the controller gains;

[0038] Regarding the internal stability of the formation: When the lead vehicle experiences state fluctuations, the controller can ensure that all firefighting robots maintain a stable driving speed and a reasonable following distance after a certain period of time. To guarantee the internal stability of the firefighting robot formation, the eigenvalues ​​of the system error transfer function must all have negative real parts, i.e.:

[0039]

[0040] In the formula, For error To determine the number of firefighting robots, Replace with Gain can be obtained , Boundary values:

[0041]

[0042] Regarding the stability of the formation queue: To avoid large oscillations at the tail of the queue due to a small input from the lead vehicle, the necessary and sufficient condition for queue stability is:

[0043]

[0044] In the formula, Let be the error transfer function from the preceding vehicle to the following vehicle. To avoid the phenomenon of the minimum value being less than 0, the following constraints on the minimum value are given:

[0045]

[0046] In the formula:

[0047]

[0048] This allows us to obtain the controller gain boundary for queue stability, ensuring the queue stability of the formation.

[0049] As a preferred embodiment of the present invention, the priority division criteria in step S4 are as follows:

[0050] Level A - There are trapped personnel;

[0051] Category B - Sorted from highest to lowest hazard level of the combustible material;

[0052] Class C - Sorted from largest to smallest fire intensity;

[0053] The fire size is divided into six levels. According to the principle that "the larger the fire, the greater the safe extinguishing distance, and the smaller the fire, the smaller the safe extinguishing distance", the fire-fighting robot is programmed with a safe extinguishing distance corresponding to each level. The visual sensor transmits the fire size at the ignition point to the control unit. The control unit converts the fire size into a fire level and determines the safe extinguishing distance between the fire-fighting robot and the ignition point based on the fire level. During the fire-fighting process, the control unit can monitor the fire in real time and make conversions to achieve dynamic adjustment of the safe extinguishing distance.

[0054] As a preferred embodiment of the present invention, the specific process for determining whether the carried fire extinguishing agent is sufficient in step S4 is as follows:

[0055] The fire-fighting robot is programmed to set the required extinguishing agent volume for each fire level. Before firefighting begins, after confirming the specific location of the fire, the control unit sums up the fire intensity levels of all fire points to calculate the total amount of extinguishing agent needed for firefighting. This is then compared with the extinguishing agent volume carried by the robot to determine if the extinguishing agent is sufficient. In addition, during the firefighting process, the control unit compares the fire intensity level with the remaining extinguishing agent volume in real time.

[0056] The second objective of this invention is to provide a group-based intelligent fire extinguishing system, including a group of fire extinguishing robots and a control center. The control center controls, dispatches, and monitors the group of fire extinguishing robots via a cloud network. The group of fire extinguishing robots includes multiple fire extinguishing robots responsible for performing fire extinguishing tasks. Each fire extinguishing robot includes an upper functional part and a lower walking part. The upper functional part includes a fire extinguishing part, an intelligent sensing part, and a control unit. The fire extinguishing part includes a fire extinguisher and a solenoid valve. The intelligent sensing part includes a visual sensor, a lidar, a weight detector, and a life detector.

[0057] The fire extinguisher in the fire extinguishing section is a refillable fire extinguisher containing fire extinguishing agent. The opening is controlled by a solenoid valve, which opens or closes after receiving instructions from the control unit.

[0058] The vision sensor can rotate 360 ​​degrees and works in conjunction with the smoke sensor to identify information about objects appearing in the fire-fighting robot's field of vision, the location of the fire, the size of the fire, and the type of burning material at the fire, and then transmits the identified information to the control unit.

[0059] The lidar detects information about surrounding obstacles and transmits it to the control unit.

[0060] The weight detector can measure the weight of the fire extinguisher and transmit it to the control unit;

[0061] The life detector can detect whether there are trapped people in the fire. If so, it will transmit the location information of the trapped people to the control unit.

[0062] The control unit can determine the fire extinguishing priority based on the information received above, convert the weight of the fire extinguisher into the corresponding fire extinguishing agent capacity, and send instructions to the lower-level walking part so that the fire extinguishing robot can proceed to the fire point along a planned path that avoids obstacles and extinguish the fire while maintaining a safe distance.

[0063] As a preferred embodiment of the present invention, the lower walking section includes an intelligent mobile chassis and a collision-resistant reinforcement device. The intelligent mobile chassis moves by receiving instructions from the control unit. The collision-resistant reinforcement device is installed around the intelligent mobile chassis. When the fire-fighting robot enters the "breakthrough" mode, the collision-resistant reinforcement device can open a path for the fire-fighting robot while ensuring that the fire-fighting robot itself is not damaged.

[0064] The beneficial effects of this invention are as follows:

[0065] (1) The intelligent fire extinguishing method and system based on group provided by the present invention does not require on-site personnel participation, has a high degree of intelligence, and can enable multiple fire extinguishing robots to work together in the case of large fires. It can use the visual sensors of the fire extinguishing robots to quickly and accurately locate the fire scene and extinguish the fire in its infancy.

[0066] (2) The intelligent fire extinguishing method and system based on group provided by the present invention realizes intelligent interconnection between fire extinguishing robots and control center through cloud network, which greatly enhances the ability to deal with fire and improves the efficiency of fire extinguishing. At the same time, through real-time calculation, the corresponding number of fire extinguishing robots can be accurately eliminated, which can minimize the system energy consumption.

[0067] (3) The intelligent fire extinguishing method and system based on group provided by the present invention designs a logic and method for dispatching fire extinguishing robots to perform fire extinguishing tasks. It can select the most reasonable fire extinguishing robot to perform fire extinguishing tasks based on the location of the fire scene, and can arrange other fire extinguishing robots to continue to perform tasks when the fire extinguishing robot performing the task fails.

[0068] (4) The intelligent fire extinguishing method and system based on grouping provided by the present invention requires a team to go to the fire scene when the fire is large. In order to ensure the speed and stability of the team's movement, a team control model is established for the team, which further improves the fire extinguishing rate. Attached Figure Description

[0069] Other objects and results of the invention will become more apparent and readily understood with reference to the following description taken in conjunction with the accompanying drawings. In the drawings:

[0070] Figure 1 This is a system architecture diagram of the present invention;

[0071] Figure 2 This is a flowchart of the self-test process for the fire-fighting robot in this invention;

[0072] Figure 3 This is a schematic diagram illustrating the working principle of the fire-fighting robot in this invention as it travels to the fire scene. Detailed Implementation

[0073] To enable those skilled in the art to better understand the technical solutions and advantages of the present invention, the present application will be described in detail below with reference to the accompanying drawings, but this is not intended to limit the scope of protection of the present invention.

[0074] Example 1

[0075] See Figure 1 A group-based intelligent fire extinguishing system includes a group of fire extinguishing robots and a control center. The control center controls, dispatches, and monitors the group of fire extinguishing robots through a cloud network. The group of fire extinguishing robots includes multiple fire extinguishing robots responsible for performing fire extinguishing tasks. Each fire extinguishing robot includes an upper functional part and a lower walking part. The upper functional part includes a fire extinguishing part, an intelligent sensing part, and a control unit. The fire extinguishing part includes fire extinguishers and solenoid valves. The intelligent sensing part includes visual sensors, lidar, weight detectors, and life detectors.

[0076] The fire extinguishers in the fire-fighting section are refillable fire extinguishers containing extinguishing agent. The opening is controlled by a solenoid valve, which opens or closes after receiving instructions from the control unit.

[0077] The vision sensor can rotate 360 ​​degrees and works in conjunction with the smoke sensor to identify information about objects appearing in the fire-fighting robot's field of vision, the location of the fire, the size of the fire, and the type of burning material at the fire point, and then transmits the identified information to the control unit.

[0078] The lidar detects information about obstacles in the surrounding area and transmits it to the control unit.

[0079] The weight detector measures the weight of the fire extinguisher and transmits the result to the control unit;

[0080] The life detector can detect whether there are trapped people in the fire. If so, it will transmit the location information of the trapped people to the control unit.

[0081] Based on the information received above, the control unit can determine the priority of fire extinguishing, convert the weight of the fire extinguisher into the corresponding extinguishing agent capacity, and send instructions to the lower-level walking part so that the fire extinguishing robot can proceed to the fire point along a planned path that avoids obstacles and extinguish the fire while maintaining a safe distance.

[0082] Furthermore, the lower walking section includes an intelligent mobile chassis and anti-collision reinforcement devices. The intelligent mobile chassis moves by receiving instructions from the control unit. The anti-collision reinforcement devices are installed around the intelligent mobile chassis. When the fire-fighting robot enters the "breakout" mode, the anti-collision reinforcement devices can open a path for the fire-fighting robot while ensuring that the fire-fighting robot itself is not damaged.

[0083] Example 2

[0084] A group-based intelligent fire suppression method includes the following steps:

[0085] Step S1: The control center selects a firefighting robot based on the location of the fire;

[0086] After receiving the fire information, the control center locates the nearest concentration of firefighting robots based on the fire's position. Simultaneously, based on fire images transmitted by fire cameras, it preliminarily determines the fire's intensity. Assuming each firefighting robot carries 50% extinguishing agent, it calculates the required number of firefighting robots, randomly selects that number, and sends them the "go to the fire to extinguish the fire" command. In addition, it selects two more firefighting robots and sends them the "standby" command.

[0087] Step S2: The selected firefighting robot performs a performance self-test;

[0088] After receiving the command "go to the fire scene to extinguish the fire" or "standby" through the wireless signal receiving module, the control unit of the fire extinguishing robot enters the self-test program. The self-test items include whether there are any abnormalities in the lower walking part and the upper functional part of the fire extinguishing robot, whether the fire extinguishing robot has sufficient power, and whether the fire extinguishing agent capacity is sufficient.

[0089] Step S3: The control center dispatches a self-tested and qualified firefighting robot to the fire scene;

[0090] S31: When only one fire-fighting robot is needed, the control unit will send a self-check command in real time on the way to the fire scene. When a new fire point is found, the control center will be notified to dispatch the fire-fighting robot that is in "standby" state and is close to the fire point to the new fire point to perform the fire-fighting task. If an obstacle is found, it will bypass the obstacle and continue to move forward. If the obstacle cannot be bypassed, the "breakthrough" mode will be activated to break through a path and continue to move forward. If the road is still not open after the "breakthrough" mode has been in effect for a period of time, the control center will dispatch firefighters to the fire scene.

[0091] S32: When multiple firefighting robots are needed, the control center sends a platooning command to the firefighting robots. After receiving the platooning command, the firefighting robots enter the platooning state and form a vehicle platoon according to the position order in the platooning command, ensuring the speed of the firefighting robots while maintaining a stable distance between the firefighting robots.

[0092] Step S4: The fire-fighting robot performs the fire-fighting task;

[0093] The fire-fighting robot uses its visual sensors to determine the exact location of the fire and the size of the fire.

[0094] If there is only one fire point, the control unit directs the lower-level walkway directly to the fire point. If there are multiple fire points, the control unit selects the fire point according to priority for fire suppression.

[0095] Depending on the size of the fire, the system determines whether the extinguishing agent it carries is sufficient. If the total amount of extinguishing agent is insufficient, it sends a message to the control center via its wireless signal transmission module, requesting that other robots be dispatched to the fire scene for support. The control center, based on calculations, selects one or two robots from the two "standby" robots to go to the fire scene to perform firefighting tasks. If adding two more firefighting robots still cannot provide the total amount of extinguishing agent required for firefighting, it continues to add more "standby" firefighting robots to go to the fire scene to perform firefighting tasks. When more than five firefighting robots are added, the fire scene is determined to be in a dangerous state, and the control center immediately alerts the fire department.

[0096] Further, see Figure 2 In step S2, the self-check procedure of the firefighting robot that receives the "go to the fire scene to extinguish the fire" command is as follows:

[0097] S211: The control unit determines whether there are any abnormalities in the lower walking part and the upper functional part of the fire extinguishing robot. If there are no abnormalities, the fire extinguishing robot will automatically proceed to the next step of judgment. If there are abnormalities, the fire extinguishing robot will send a message to the control center through the wireless signal transmission module, requesting that other fire extinguishing robots be dispatched. The control center will then select one of the fire extinguishing robots in the "standby" state and send it the "go to the fire scene to extinguish the fire" command. At the same time, another fire extinguishing robot will be added and sent the "standby" command to it. In addition, the fire extinguishing robot that receives the command will immediately enter the self-check program until it finds a fire extinguishing robot that has no abnormalities in this judgment step and is "going to the fire scene to extinguish the fire" to proceed to the next step of judgment.

[0098] S212: The control unit determines whether the fire-fighting robot has sufficient power. If the fire-fighting robot has sufficient power, it will automatically proceed to the next step. If the fire-fighting robot has insufficient power, it will send a message to the control center through the wireless signal transmission module, requesting that other fire-fighting robots be dispatched. The control center will then select one of the fire-fighting robots in the "standby" state and send it the "go to the fire scene to extinguish the fire" command. At the same time, another fire-fighting robot will be added and sent the "standby" command to it. In addition, the fire-fighting robot that receives the command will immediately enter the self-check program and execute S211 and S212 until a fire-fighting robot that has no abnormalities in the above two steps is found and is "going to the fire scene to extinguish the fire" to proceed to the next step.

[0099] S213: The control unit determines whether the extinguishing agent capacity is sufficient. If the extinguishing agent capacity is sufficient, the fire extinguishing robot passes the self-test. If the extinguishing agent capacity is insufficient, the fire extinguishing robot sends a message to the control center through the wireless signal transmission module, requesting that other fire extinguishing robots be dispatched. The control center selects one of the fire extinguishing robots in the "standby" state and sends it the "go to the fire scene to extinguish the fire" command. At the same time, another fire extinguishing robot is added and sends the "standby" command to it. In addition, the fire extinguishing robot that receives the command immediately enters the self-test program and executes S211, S212 and S213 until a fire extinguishing robot that has no abnormalities in the above three stages is found to "go to the fire scene to extinguish the fire".

[0100] The self-check procedure for a firefighting robot that receives a "standby" command is as follows:

[0101] S221: The control unit determines whether there are any abnormalities in the lower walking part and the upper functional part of the fire extinguishing robot. If there are no abnormalities, the fire extinguishing robot will automatically proceed to the next step of judgment. If there are abnormalities, the fire extinguishing robot will send a message to the control center through the wireless signal transmission module, requesting that other fire extinguishing robots be dispatched to "standby". The control center will then select one of the fire extinguishing robots that has not received instructions and send it a "standby" instruction. The fire extinguishing robot that receives the instruction will immediately enter the self-check program until it finds a "standby" fire extinguishing robot that has no abnormalities in this judgment step to proceed to the next step of judgment.

[0102] S222: The control unit determines whether the fire extinguishing robot has sufficient power. If the fire extinguishing robot has sufficient power, it will automatically proceed to the next judgment. If the robot has insufficient power, it will immediately start the fast charging mode. After charging is completed, it will proceed to the next judgment.

[0103] S223: The control unit determines whether the extinguishing agent capacity is sufficient. If the extinguishing agent capacity is sufficient, the fire-fighting robot returns an "OK" status to the control center and is ready to receive the "go to the fire scene to extinguish the fire" command at any time. If the extinguishing agent capacity is insufficient, the fire-fighting robot immediately activates the rapid filling switch to quickly replenish the extinguishing agent. After the extinguishing agent capacity exceeds 50%, it returns an "OK" status to the control center and is ready to receive the "go to the fire scene to extinguish the fire" command at any time.

[0104] Furthermore, the fire extinguisher can automatically sense the extinguishing agent volume. The extinguishing material used is carbon dioxide, and the extinguisher casing is a cylindrical steel cylinder. Inside the cylinder are temperature sensors, pressure sensors, and liquid level sensors, each connected to the control unit. Since the critical temperature of carbon dioxide is 31℃ and its critical pressure is 7.3MPa, and the indoor temperature is approximately 20℃, while the rated pressure of the fire extinguisher is 5MPa, the carbon dioxide in the cylinder is normally in a liquid state. After this self-test step begins, the liquid level sensor transmits the liquid level value of the extinguishing agent in the cylinder to the control unit. The control unit then calculates the corresponding extinguishing agent volume using the following formula:

[0105]

[0106] In the formula, For extinguishing agent capacity, This refers to the extinguishing agent level. This refers to the cross-sectional area of ​​the internal space of the fire extinguisher cylinder.

[0107] Further, see Figure 3 The specific process of step S31 is as follows:

[0108] If the firefighting robot detects a new fire point on its way to the fire, its visual sensors transmit the location of the fire point to the control unit. The control unit then transmits the fire point location to the control center via its wireless signal transmission module. The control center dispatches a nearby firefighting robot that is in "standby" status to the new fire point to perform the firefighting task. Simultaneously, another firefighting robot is added to "standby" status and performs the performance self-check in step S2. If its visual sensors or lidar detect a temporary obstacle, it transmits the obstacle information to the control unit. The control unit plans a path and issues instructions to the lower-level walking section of the firefighting robot to bypass the obstacle and continue to the fire. If obstacles block the road, preventing the firefighting robot from bypassing them, the control unit selects the direction with the fewest obstacles and activates the "breakthrough" mode. The robot first reverses and then accelerates at maximum speed to create a path. If the road remains blocked after 20 seconds in "breakthrough" mode, the control unit sends a message to the control center requesting the dispatch of firefighting robots on other paths. When selecting a firefighting robot, the control center automatically avoids those traveling along the same path to the fire. If this is the only path to the fire or there are no other firefighting robots that can reach the fire via other paths, the control center dispatches firefighters to the fire.

[0109] During its movement, the fire-fighting robot's control unit sends self-check commands in real time to determine whether the lower walking section and the upper functional section are functioning normally. If the fire-fighting robot is damaged, causing abnormalities in the lower walking section or the upper functional section, the control unit sends a message to the control center through its wireless signal transmission module, requesting that other robots be dispatched to perform the fire-fighting task. The control center dispatches a fire-fighting robot that is in a "standby" state and is close to the fire point to perform the fire-fighting task. At the same time, another fire-fighting robot is added to the "standby" state and performs the performance self-check in step S2.

[0110] Furthermore, in step S32, the control center needs to establish a formation control model:

[0111] The longitudinal dynamics of the firefighting robot can be represented as a first-order inertial time delay model, meaning there is a first-order inertial time delay between the actual acceleration and the desired acceleration of the firefighting robot, which can be expressed as:

[0112]

[0113]

[0114]

[0115] In the formula, , , These represent firefighting robots. Displacement, velocity, and acceleration; Firefighting robot The desired acceleration input; This indicates the inertial time delay of the firefighting robot;

[0116] To ensure that the firefighting robots in the formation can quickly and accurately follow the speed of the vehicle in front, a feedforward plus feedback control strategy is adopted to determine the desired acceleration of the firefighting robots. This strategy uses the acceleration information of the preceding vehicle as a feedforward quantity to achieve a rapid state response, and uses the following error and speed difference as feedback quantities to reduce the control error. In the process of constructing the longitudinal following model for the formation control of firefighting robots, a nonlinear queue following model is adopted, and the effects of the inertial time delay and communication delay of the firefighting robots are fully considered. It can be expressed as:

[0117]

[0118]

[0119] In the formula, Firefighting robots Distance to the car in front, For the expected vehicle speed at different following distances, For communication delay, , , These are the controller gains;

[0120] Regarding the internal stability of the formation: When the lead vehicle experiences state fluctuations, the controller can ensure that all firefighting robots maintain a stable driving speed and a reasonable following distance after a certain period of time. To guarantee the internal stability of the firefighting robot formation, the eigenvalues ​​of the system error transfer function must all have negative real parts (all falling to the left of the imaginary axis), that is:

[0121]

[0122] In the formula, For error, To determine the number of firefighting robots, Replace with Gain can be obtained , Boundary values:

[0123]

[0124] Regarding the stability of the formation queue: To avoid large oscillations at the tail of the queue due to a small input from the lead vehicle, the necessary and sufficient condition for queue stability is:

[0125]

[0126] In the formula, Let be the error transfer function from the preceding vehicle to the following vehicle. To avoid the phenomenon of the minimum value being less than 0, the following constraints on the minimum value are given:

[0127]

[0128] In the formula:

[0129]

[0130] This allows us to obtain the controller gain boundary for queue stability, ensuring the queue stability of the formation.

[0131] Furthermore, in step S4, the priority division criteria are as follows:

[0132] Level A - There are trapped personnel;

[0133] Category B - Sorted from highest to lowest hazard level of the combustible material;

[0134] Class C - Sorted from largest to smallest fire intensity;

[0135] The fire size is divided into six levels. Following the principle that "the larger the fire, the greater the safe extinguishing distance, and the smaller the fire, the smaller the safe extinguishing distance," a program is written inside the fire-fighting robot. Each level corresponds to a safe extinguishing distance. The visual sensor transmits the fire size from the ignition point to the control unit. The control unit converts the fire size into a fire level and determines the safe extinguishing distance between the fire-fighting robot and the ignition point based on the fire level. During the fire-fighting process, the control unit can monitor the fire in real time and perform the conversion, realizing dynamic adjustment of the safe extinguishing distance and ensuring the safety of the fire-fighting robot itself.

[0136] Furthermore, in step S4, the specific process for determining whether the carried extinguishing agent is sufficient is as follows:

[0137] The fire-fighting robot is programmed to set the required extinguishing agent volume for each fire level. Before firefighting begins, after confirming the specific location of the fire, the control unit sums the fire intensity levels of all fire points to calculate the total amount of extinguishing agent needed. This is then compared with the robot's own extinguishing agent capacity to determine if the extinguishing agent is sufficient. In addition, during the firefighting process, the control unit continuously compares the fire intensity level with the remaining extinguishing agent to handle situations where there is sufficient extinguishing agent before firefighting begins, but the fire intensity suddenly increases after firefighting begins.

[0138] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A group-based intelligent fire extinguishing method, characterized in that: The following steps are involved: Step S1: The control center selects a fire-fighting robot according to the location of the fire; After receiving the fire information, the control center will locate the fire-fighting robot concentration closest to the fire scene according to the location of the fire scene, and preliminarily determine the fire level based on the fire scene image transmitted by the fire scene camera. Based on the assumption that each fire-fighting robot carries 50% of the fire-fighting agent, the control center will calculate the number of fire-fighting robots required, randomly select the number of fire-fighting robots, and send them the "go to the fire scene to extinguish the fire" command; in addition, two more fire-fighting robots will be selected and sent the "standby" command to them; Step S2: The selected fire-fighting robot performs a performance self-test; After receiving the "go to the fire scene to extinguish the fire" or "standby" command through the wireless signal receiving module, the control unit of the fire-fighting robot enters the self-checking program. The self-checking items include whether there are any abnormalities in the lower walking part and the upper functional part of the fire-fighting robot, whether the fire-fighting robot's own power is sufficient, and whether the fire-extinguishing agent capacity is sufficient; Step S3: The control center dispatches the fire-fighting robot that has passed the self-inspection to the fire scene; S31: When only one fire-fighting robot is needed, on the way to the fire scene, the control unit will send a self-checking instruction in real time. When a new fire point is found, the control center will be notified to dispatch a fire-fighting robot that is in the "standby" state and closer to the fire point to the new fire point to perform the fire-fighting task. If an obstacle is found, the robot will bypass the obstacle and continue to move forward. If the obstacle cannot be bypassed, the robot will start the "breakout" mode to break open a way out and continue to move forward. If the road is still blocked after the "breakout" mode continues for a period of time, the control center will dispatch firefighters to the fire scene. S32: When multiple fire-fighting robots are needed, the control center sends a formation driving command to the fire-fighting robots. After receiving the formation driving command, the fire-fighting robots enter the formation driving state and form a vehicle formation according to the position sorting in the formation driving command, so as to ensure the speed of the fire-fighting robots while maintaining a stable distance between the fire-fighting robots; Step S4: the fire-fighting robot performs the fire-fighting task; Use the fire-fighting robot's visual sensors to confirm the specific location of the fire and the size of the fire; If there is only one fire point, the control unit controls the lower walking part to go directly to the fire point. If there are multiple fire points, the control unit selects the fire point according to priority to extinguish the fire: According to the size of the fire, it determines whether the fire extinguishing agent carried is sufficient. If the total amount of fire extinguishing agent is insufficient, the wireless signal transmission module sends information to the control center, requesting other robots to go to the fire scene for support. The control center selects one or two of the two "standby" robots to go to the fire scene to perform the fire extinguishing task based on calculations. If adding two fire-fighting robots still cannot reach the total amount of fire-fighting agent required for extinguishing the fire, continue to add "standby" fire-fighting robots to go to the fire scene to perform the fire-fighting task. When the number of added fire-fighting robots exceeds 5, the fire scene is determined to be in a dangerous state, and the control center immediately alerts the fire department.

2. The group-based intelligent fire extinguishing method according to claim 1, characterized in that: In step S2, the self-check procedure of the fire-fighting robot receiving the "go to the fire scene to extinguish the fire" instruction is as follows: The control unit determines whether the self-inspection items meet the standards. If all three self-inspection items meet the standards, the self-inspection is qualified. If at least one of the three self-inspection items does not meet the standards, the fire-fighting robot sends information to the control center, requesting other fire-fighting robots to go there. The control center selects one of the fire-fighting robots in the "standby" state and sends it a "go to the fire scene to extinguish the fire" command. At the same time, another fire-fighting robot is added and sent a "standby" command to it. In addition, the fire-fighting robot that receives the "go to the fire scene to extinguish the fire" command immediately enters the self-inspection program until a "go to the fire scene to extinguish the fire" fire-fighting robot that meets the standards for all three self-inspection items is found.

3. A group-based intelligent fire extinguishing method according to claim 2, characterized in that: In step S2, the self-check procedure of the fire-fighting robot receiving the "standby" command is as follows: The control unit determines whether the self-inspection items meet the standards. If all three self-inspection items meet the standards, the self-inspection is qualified, and the "OK" status is returned to the control center. The "go to the fire scene to extinguish the fire" command can be received at any time. If the first item does not meet the standard, the fire-fighting robot sends information to the control center, requesting other fire-fighting robots to be "on standby". The control center selects one of the fire-fighting robots that has not received the command and sends it a "standby" command. The fire-fighting robot that receives the "standby" command immediately enters the self-inspection program until a "standby" fire-fighting robot that meets the standard for the item is found, and then enters the next two self-inspections. If both the next two self-inspection items meet the standards, the self-inspection is qualified, and the "OK" status is returned to the control center. The "go to the fire scene to extinguish the fire" command can be received at any time. If the next two self-inspection items do not meet the standards, the fire-fighting robot immediately turns on the fast charging mode or / and the fire-extinguishing agent filling switch for the items that do not meet the standards, and quickly replenishes the fire-extinguishing agent. When the next two self-inspection items meet the standards, the "OK" status is returned to the control center, and the "go to the fire scene to extinguish the fire" command can be received at any time.

4. The group-based intelligent fire extinguishing method according to claim 3, characterized in that: The fire extinguisher can automatically sense the capacity of the fire extinguishing agent. The fire extinguishing material is carbon dioxide. The fire extinguisher shell adopts a cylindrical steel cylinder. A temperature sensor, an air pressure sensor and a liquid level sensor are installed in the steel cylinder, which are connected to the control unit respectively. After the self-check step starts, the liquid level sensor transmits the liquid level value of the fire extinguishing agent in the bottle to the control unit, and the control unit calculates the corresponding fire extinguishing agent capacity according to this. The formula is: In the formula, is the extinguishing agent capacity, is the extinguishing agent liquid level, It is the cross-sectional area of ​​the inner space of the fire extinguisher cylinder.

5. The group-based intelligent fire extinguishing method according to claim 4, characterized in that: The specific process of step S31 is as follows: If the fire-fighting robot finds a new fire point on the way to the fire scene, its visual sensor will transmit the location of the fire point to the control unit, and the control unit will send the location of the fire point to the control center. The control center will dispatch a fire-fighting robot that is in the "standby" state and is closer to the fire point to the new fire point to perform the fire-fighting task, and at the same time add another fire-fighting robot to the "standby" state, and perform the performance self-check in step S2; if its visual sensor or laser radar detects a temporary obstacle, it will transmit the obstacle information to the control unit, and the control unit will plan the path and issue instructions to the lower walking part of the fire-fighting robot to bypass the obstacle and continue to the fire scene. If the temporary obstacle blocks the road and the fire-fighting robot cannot bypass it, the control unit will select the direction with the least obstacles and start the "breakout" mode, first controlling the fire-fighting robot to retreat, and then starting with the maximum acceleration to break open a way out. If the road is still not broken out after this mode lasts for 20 seconds, the control center will dispatch firefighters to the fire scene. When the fire-fighting robot is moving, the control unit will send self-check instructions in real time to determine whether the status of the lower walking part and the upper functional part is normal. If the fire-fighting robot is damaged, resulting in abnormalities in the lower walking part or the upper functional part, the control unit sends information to the control center, requesting other fire-fighting robots to perform fire-fighting tasks. The control center dispatches a fire-fighting robot that is in a "standby" state and is closer to the fire point to perform the fire-fighting task, and at the same time adds another fire-fighting robot to the "standby" state, and performs the performance self-check in step S2.

6. A group-based intelligent fire extinguishing method according to claim 5, characterized in that: In step S32, the control center needs to establish a formation control model: The longitudinal dynamics of the fire-fighting robot is expressed as a first-order inertial delay model, that is, there is a first-order inertial time lag between the actual acceleration and the expected acceleration of the fire-fighting robot, which can be expressed as: In the formula, , , Fire extinguishing robots displacement, velocity and acceleration, for The derivative of for The derivative of for The derivative of Fire extinguishing robot The expected acceleration input; Indicates the inertia delay of the fire-fighting robot; A feedforward plus feedback control strategy is used to determine the expected acceleration of the fire-fighting robot. In the process of constructing the longitudinal following model of the fire-fighting robot formation control, a nonlinear queue following model was adopted, and the influence of the inertial time lag and communication delay of the fire-fighting robot was fully considered, which can be expressed as: In the formula, Fire extinguishing robot The distance to the vehicle ahead, for The derivative of is the expected vehicle speed at different following distances, is the communication delay, , , are controller gains respectively; Regarding the internal stability of the formation: When the leading vehicle has state fluctuations, the controller can make all fire-fighting robots maintain a stable driving speed after a certain period of time and keep a reasonable following distance. In order to ensure the internal stability of the fire-fighting robot formation, the characteristic roots of the system error transfer function must all have negative real parts, that is: In the formula, H ( s ) refers to the system error transfer function, Error is the number of fire-fighting robots. Replace with , you can get the gain , Boundary values: Regarding the stability of the queue: In order to avoid large-scale oscillations at the rear of the queue due to a small input from the head car, the necessary and sufficient conditions for queue stability are: In the formula, is the error transfer function from the front car to the rear car. To avoid the phenomenon that the minimum value is less than 0, the constraint conditions for the minimum value are given: Where: Thus, the controller gain boundary of queue stability can be obtained to ensure the queue stability of the formation.

7. The group-based intelligent fire extinguishing method according to claim 6, characterized in that: In step S4, the priority classification criteria are as follows: Class A - There are trapped persons; Class B - ranked from high to low in terms of the danger level of the burning materials; Class C - Sort by fire from largest to smallest; The fire size is divided into six levels. According to the principle of "the larger the fire, the longer the safe fire-fighting distance, and the smaller the fire, the smaller the safe fire-fighting distance", a program is written inside the fire-fighting robot. Each level corresponds to a safe fire-fighting distance. The visual sensor transmits the fire size of the ignition point to the control unit. The control unit converts the fire size into the fire level and determines the safe fire-fighting distance between the fire-fighting robot and the ignition point according to the fire level. During the fire-fighting process, the control unit can monitor the fire in real time and perform conversions to achieve dynamic adjustment of the safe fire-fighting distance.

8. The group-based intelligent fire extinguishing method according to claim 7, characterized in that: In step S4, the specific process of judging whether the carried fire extinguishing agent is sufficient is as follows: A program is written inside the fire-fighting robot to set the corresponding capacity of fire extinguishing agent for each fire extinguishing level. After the specific location of the fire point is confirmed, that is, before the fire extinguishing begins, the control unit will add up the fire levels of all the fire points to obtain the total amount of fire extinguishing agent required for fire extinguishing, and compare it with the capacity of fire extinguishing agent carried by the robot to determine whether the fire extinguishing agent carried is sufficient. In addition, during the fire extinguishing process, the control unit will compare the fire level and the remaining fire extinguishing agent in real time.

9. A group-based intelligent fire extinguishing system, characterized in that: The system implements the fire-fighting method of claim 8, comprising a fire-fighting robot group and a control center, wherein the control center controls, deploys and monitors the fire-fighting robot group through a cloud network; the fire-fighting robot group comprises a plurality of fire-fighting robots responsible for performing fire-fighting tasks, the fire-fighting robots comprise an upper functional part and a lower walking part, the upper functional part comprises a fire-fighting part, an intelligent sensing part and a control unit, the fire-fighting part comprises a fire extinguisher and a solenoid valve, and the intelligent sensing part comprises a visual sensor, a laser radar, a weight detector and a life detector; The fire extinguisher of the fire extinguishing part is a filling fire extinguisher, which is filled with fire extinguishing agent, and the opening is controlled by a solenoid valve, which opens or closes after receiving the command of the control unit; The visual sensor can rotate 360 ​​degrees and cooperate with the smoke sensor to identify the object information, the location of the fire point, the size of the fire and the type of the burning object at the fire point that appear in the field of vision of the fire-fighting robot, and transmit the identified information to the control unit; The laser radar detects surrounding obstacle information and transmits it to the control unit; The weight detector can measure the weight of the fire extinguisher and transmit it to the control unit; The life detector can detect whether there are trapped persons in the fire scene, and if so, transmit the position information of the trapped persons to the control unit; The control unit can determine the priority of fire extinguishing based on the information received above, convert the weight of the fire extinguisher into the corresponding fire extinguishing agent capacity, and issue instructions to the lower walking part, so that the fire extinguishing robot can go to the fire point along the planned path avoiding obstacles and extinguish the fire while maintaining a safe distance for fire extinguishing.

10. The group-based intelligent fire extinguishing system according to claim 9, characterized in that: The lower walking part includes an intelligent mobile chassis and an anti-collision reinforcement device. The intelligent mobile chassis realizes walking by receiving instructions from the control unit. The anti-collision reinforcement device is installed around the intelligent mobile chassis. When the fire-fighting robot starts the "breakout" mode, the anti-collision reinforcement device can open a passage for the fire-fighting robot while ensuring that the fire-fighting robot itself is not damaged.

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