An intelligent duty robot for fire control centers

Abstract

The present invention provides an intelligent duty robot for a fire control center, which relates to the field of fire control technology and includes: a robot body and an interactive analysis device and a motion control module arranged on the robot body; the interactive analysis device is used to obtain remote control instructions, and control the operating mechanism on the robot body to perform key operations according to the received fire alarm signal and remote control instructions, and is also used to analyze the obtained operation video to determine whether the operation process is accurate, the operating mechanism includes an execution device and an operation end, and the operation end is arranged at the end of the execution device; the motion control module is connected to the interactive analysis device, and the motion control module is used to control the motion mechanism on the robot body to move and transport the execution device to the operation target. The present invention can reduce labor costs, and at the same time can centrally remotely control fire alarms of different models and monitor the internal situation of the fire control room.

Description

Technical Field

[0001] The present invention relates to the technical field of fire control, and in particular to an intelligent duty robot used in a fire control center. Background Art

[0002] In the field of fire protection, existing automatic fire alarm controllers are generally installed in fire control rooms, which are also equipped with other fire-fighting equipment. The fire control room is mainly used to receive fire alarm signals and control the operation of related fire-fighting facilities. Therefore, it is necessary to set up relevant professionals on duty to input operating instructions to the automatic fire alarm controller, start the fire pump, quickly supply water, etc., and quickly issue alarm reminders and isolate to prevent the spread of fire. However, fire incidents are rare events, so this is bound to cause a large number of on-duty personnel to be wasted. In addition, the current fire duty robots lack monitoring of the internal situation of the fire control room, and different automatic fire alarm controllers have different control methods, which makes them impossible to remotely and centrally control.

[0003] In summary, how to overcome the above-mentioned defects is a problem that those skilled in the art urgently need to solve. Summary of the Invention

[0004] In response to the above-mentioned problems and needs, this solution proposes an intelligent duty robot for fire control centers, which can solve the above-mentioned technical problems by adopting the following technical solutions.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The intelligent duty robot for a fire control center comprises: a robot body, an interactive analysis device and a motion control module arranged on the robot body;

[0007] The interactive analysis device is used to obtain remote control instructions and control the operating mechanism on the robot body to perform key operations based on the received fire alarm signal and remote control instructions. It is also used to analyze the obtained operation video to determine whether the operation process is correct. The operating mechanism includes an execution device and an operation terminal, and the operation terminal is provided at the end of the execution device;

[0008] The motion control module is connected to the interactive analysis device, and the motion control module is used to control the motion mechanism on the robot body to move and transport the execution device to the operation target.

[0009] Furthermore, the interactive analysis device includes a data receiving module and a data analysis module;

[0010] The data receiving module is used to receive remote centralized control instructions and obtain fire alarm signals;

[0011] The data analysis module is connected to the data receiving module, and the data analysis module includes a first analysis module and a second analysis module. The first analysis module is used to analyze the operation step information, execution action and key confirmation information contained in the sent control instruction to obtain an execution list. The second analysis module is connected to the first analysis module. The second analysis module is used to analyze the fire alarm signal, judge the fire alarm level information, and match the operation process information in the execution list according to the judgment result.

[0012] Furthermore, the data analysis module also includes an execution module, which is connected to the second analysis module. The execution module is used to receive the operation process information sent by the second analysis module, analyze the motion trajectory of the execution device based on the operation process information, and send the motion trajectory to the motion control module.

[0013] Furthermore, the interactive analysis device further includes a video monitoring module and an environment detection module;

[0014] The video monitoring module includes a video acquisition module, a pan-tilt control module and a video transmission module. The video acquisition module includes a high-definition camera, which is used to acquire video information of the key operation of the operating mechanism. The pan-tilt control module includes a motor drive module, a tracking range identification module and an angle detection module. The high-definition camera is set on the pan-tilt, and the motor drive module is used to control the pan-tilt to pitch and move left and right according to the coordinate information sent by the tracking range identification module and the spatial angle change information sent by the angle detection module. The tracking range identification module is used to determine whether the operating end of the operating mechanism is at the center coordinate of the image captured by the camera. If it is not at the center coordinate, tracking and adjustment are performed according to the deviation coordinate. The angle detection module is electrically connected to the motor drive module. The angle detection module includes an angle sensor. The angle sensor collects the spatial angle change information of the pan-tilt and sends it to the motor drive module. The video transmission module is used to upload the acquired video information to a video storage server;

[0015] The environmental detection module is used to detect temperature and humidity information and fire smoke information in the fire control room.

[0016] Furthermore, the environmental detection module includes a perception module and an early warning module. The perception module includes a temperature and humidity sensor, a smoke sensor and a flammable gas sensor. The temperature and humidity sensor, the smoke sensor and the flammable gas sensor send the detected temperature and humidity signals, smoke signals and flammable gas concentration signals to the early warning module. The early warning module compares the detected signal parameters with the corresponding threshold parameters, and issues a warning signal when the corresponding threshold parameters are exceeded.

[0017] Furthermore, the motion control module includes an identification module, a first motor control module and a second motor control module. The identification module is used to identify the distance between the operation control area of ​​the automatic fire alarm controller in the fire control room and the execution device to obtain the motion trajectory information of the execution device; the first motor control module is used to control the execution device to move; the second motor control module is used to control the operation end to move to the operation target and perform key operations.

[0018] Furthermore, the recognition module includes a binocular camera, an image recognition module and a motion trajectory output module. The binocular camera sends the collected depth of field data and image data to the image recognition module. The image recognition module determines the spatial distance difference information between the center coordinates of the target sub-area to be operated and the execution device on the robot body based on the depth of field data, and moves according to the spatial distance difference information in a motion manner of first moving left and right and then moving up and down, and transports the execution device to the initial motion position of the operation end.

[0019] Furthermore, the motion mechanism includes a mounting bracket, a guide rail and a slider, the mounting bracket is used to install the guide rail, the slider and the guide rail are adapted to each other, a lifting mechanism is provided on the slider, the actuator is provided on the lifting mechanism, and the first motor control module drives the guide rail through the motor to control the motion of the slider and controls the lifting mechanism to move up and down.

[0020] Furthermore, the operating end includes a robotic arm, a robotic claw and a robotic arm controller. The robotic arm controller receives the motion trajectory information of the operating end sent by the execution module and sends a control signal to the second motor control module. The second motor control module controls the robotic arm to move to the operating target and controls the robotic claw to perform a button pressing operation.

[0021] It can be seen from the above technical solution that the beneficial effects of the present invention are: the present invention has good scene adaptability, can adapt to various brands and models of automatic fire alarm controllers, has good scalability, can reduce labor costs, and at the same time can centrally remotely control different models of fire alarms, and monitor the internal conditions of the fire control room.

[0022] In addition to the objects, features and advantages described above, the best embodiments for implementing the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. The drawings are only used to show some embodiments of the present invention, rather than to limit all embodiments of the present invention thereto.

[0024] Figure 1 The figure is a schematic diagram of the structure of an intelligent duty robot used in a fire control center according to the present invention.

[0025] Figure 2 Schematic diagram of the structure of the interactive analysis device in the present invention.

[0026] Figure 3 It is a schematic diagram of the composition structure of the motion control module in the present invention.

[0027] Figure 4 It is a structural schematic diagram of the robot body in the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] With the development of large-scale parallel computing, deep learning algorithms, and human brain chip technology, artificial intelligence has made rapid progress in recent years. It has been widely applied in fields such as computer science, economics and trade, robotic control, communications, and medicine, and has achieved fruitful results. With the comprehensive advancement of informatization and intelligentization, artificial intelligence technology has also been fully utilized in fire protection systems. Robots in fire control rooms can assist and delegate the daily work of on-duty personnel, significantly reducing labor costs and improving the efficiency of centralized monitoring. The architectural design of on-duty robots can also enhance the intelligence level of control centers.

[0030] like Figures 1 to 4As shown, the present invention discloses an intelligent duty robot system for a fire control center. The intelligent duty robot for a fire control center specifically comprises a robot body, an interactive analysis device disposed on the robot body, and a motion control module. The interactive analysis device is used to obtain remote control commands and control the operating mechanism on the robot body to perform key operations based on the received fire alarm signal and remote control commands. It is also used to analyze the captured operation video to determine whether the operation process is accurate. The operating mechanism includes an actuator and an operating terminal, which is disposed at the end of the actuator.

[0031] In this embodiment, the robot body consists of an operating mechanism and a motion mechanism. The operating mechanism is arranged on the motion mechanism. The motion mechanism consists of a mounting bracket, a guide rail and a slider, etc. It can be adaptively installed according to the layout and size of the fire control room. After installation, the position is adjusted through on-site or remote debugging and editing of programming instructions, and the trajectory and position information of the corresponding operation are recorded.

[0032] The interactive analysis device includes a data receiving module and a data analysis module; the data receiving module is used to receive remote centralized control instructions and obtain fire alarm signals; the data analysis module is connected to the data receiving module, and the data analysis module includes a first analysis module and a second analysis module, the first analysis module is used to analyze the operation step information, execution action and key confirmation information contained in the sent control instructions to obtain an execution list, and the second analysis module is connected to the first analysis module, and the second analysis module is used to analyze the fire alarm signal, judge the fire alarm level information, and match the operation process information in the execution list according to the judgment result.

[0033] In this embodiment, when the robot is on duty, that is, after receiving a fire alarm signal through the existing automatic fire alarm controller, it immediately judges and analyzes the corresponding fire alarm level based on the characteristic parameter information contained in the received centralized control instruction, and matches the corresponding operation process information based on the judgment result.

[0034] The data analysis module also includes an execution module, which is connected to the second analysis module. The execution module is used to receive the operation process information sent by the second analysis module, analyze the motion trajectory of the execution device according to the operation process information, and send the motion trajectory to the motion control module.

[0035] The execution module analyzes the position and sequence of the buttons that need to be operated according to the operation process information, and uses the spatial information system to generate a path planning map in three-dimensional space. On the basis of clarifying the starting position and destination position of the robot's inspection path, the entire inspection path is represented by discrete fine-grained position points, thereby generating a three-dimensional inspection path table, and sending it to the motion control module. Specifically, during the movement of the robot, with the current position as the center, the surrounding directions are refined in a grid manner, and the moving direction is recorded using grid data. The position of the robot is converted into corresponding coordinates according to the row and column numbers. Through the grid refinement method, the robot can move in an orderly manner in the direction guided by the inspection path.

[0036] The interactive analysis device also includes a video monitoring module and an environment detection module. The video monitoring module includes a video acquisition module, a pan / tilt control module, and a video transmission module. The video acquisition module includes a high-definition camera, which is used to acquire video information of key operations performed by the operating mechanism. The pan / tilt control module includes a motor drive module, a tracking range identification module, and an angle detection module. The high-definition camera is mounted on the pan / tilt. The motor drive module is used to control the pan / tilt and left / right movement of the pan / tilt based on coordinate information sent by the tracking range identification module and spatial angle change information sent by the angle detection module. The tracking range identification module is used to determine whether the operating end of the operating mechanism is at the center coordinate of the image captured by the camera. If not, tracking and adjustment are performed based on the deviation coordinates. The angle detection module is electrically connected to the motor drive module and includes an angle sensor. The angle sensor collects spatial angle change information of the pan / tilt and sends it to the motor drive module. The video transmission module is used to upload the acquired video information to a video storage server. The environment detection module is used to detect temperature, humidity, and fire smoke information within the fire control room. The environmental detection module includes a perception module and an early warning module. The perception module includes a temperature and humidity sensor, a smoke sensor, and a flammable gas sensor. The temperature and humidity sensor, the smoke sensor, and the flammable gas sensor send the detected temperature and humidity signals, smoke signals, and flammable gas concentration signals to the early warning module. The early warning module compares the detected signal parameters with the corresponding threshold parameters, and issues a warning signal when the corresponding threshold parameters are exceeded.

[0037] In this embodiment, the video monitoring module monitors and analyzes the robot's button pressing videos to track whether the buttons are pressed accurately. The environmental detection module can perform real-time detection of the environment in the fire control room and issue early warning prompts when an abnormality occurs.

[0038] The motion control module is connected to the interactive analysis device, and the motion control module is used to control the motion mechanism on the robot body to move and transport the execution device to the operation target.

[0039] Specifically, the motion control module includes an identification module, a first motor control module, and a second motor control module. The identification module is used to identify the distance between the operating control area of ​​the automatic fire alarm controller in the fire control room and the actuator, and obtain the motion trajectory information of the actuator; the first motor control module is used to control the movement of the actuator; and the second motor control module is used to control the operation terminal to move to the operation target and perform key operations. The identification module includes a binocular camera, an image recognition module, and a motion trajectory output module. The binocular camera sends the collected depth of field data and image data to the image recognition module. The image recognition module determines the spatial distance difference between the center coordinates of the target sub-area to be operated and the actuator on the robot body based on the depth of field data. Based on the spatial distance difference information, the robot moves the actuator in a motion mode of first moving left and right and then moving up and down, transporting the actuator to the initial motion position of the operation terminal. The motion mechanism includes a mounting bracket, a guide rail, and a slider. The mounting bracket is used to mount the guide rail. The slider is adapted to the guide rail. The slider is provided with a lifting mechanism. The actuator is provided on the lifting mechanism. The first motor control module drives the guide rail through a motor to control the motion of the slider and controls the lifting mechanism to move up and down. The operating end includes a robotic arm, a robotic claw and a robotic arm controller. The robotic arm controller receives the motion trajectory information of the operating end sent by the execution module and sends a control signal to the second motor control module. The second motor control module controls the robotic arm to move to the operating target and controls the robotic claw to perform a button pressing operation.

[0040] In this embodiment, when the operating end moves to the operating target, it controls the mechanical claw to perform button pressing operations, thereby completing the corresponding fire protection facility control and fire linkage operations, which can realize centralized control of different models of fire automatic controllers and has good scalability.

[0041] It should be noted that the embodiments described in the present invention are only preferred ways to implement the present invention, and any obvious modifications that belong to the overall concept of the present invention should fall within the scope of protection of the present invention.

Claims

1. An intelligent duty robot for a fire control center, characterized in that: include: A robot body, an interaction analysis device and a motion control module provided on the robot body; The interactive analysis device is used to obtain remote control instructions and control the operating mechanism on the robot body to perform key operations based on the received fire alarm signal and remote control instructions. It is also used to analyze the obtained operation video to determine whether the operation process is correct. The operating mechanism includes an execution device and an operation terminal, and the operation terminal is provided at the end of the execution device; The motion control module is connected to the interactive analysis device, and is used to control the motion mechanism on the robot body to move and transport the execution device to the operation target; The interactive analysis device includes a data receiving module and a data analysis module; The data receiving module is used to receive remote centralized control instructions and obtain fire alarm signals; The data analysis module is connected to the data receiving module, and the data analysis module includes a first analysis module and a second analysis module. The first analysis module is used to analyze the operation step information, execution action and key confirmation information contained in the sent control instruction to obtain an execution list. The second analysis module is connected to the first analysis module. The second analysis module is used to analyze the fire alarm signal, judge the fire alarm level information, and match the operation process information in the execution list according to the judgment result.

2. The intelligent duty robot for a fire control center according to claim 1, characterized in that: The data analysis module also includes an execution module, which is connected to the second analysis module. The execution module is used to receive the operation process information sent by the second analysis module, analyze the motion trajectory of the execution device according to the operation process information, and send the motion trajectory to the motion control module.

3. The intelligent duty robot for a fire control center according to claim 2, characterized in that: The interactive analysis device also includes a video monitoring module and an environment detection module; The video monitoring module includes a video acquisition module, a pan-tilt control module and a video transmission module. The video acquisition module includes a high-definition camera, which is used to acquire video information of the key operation of the operating mechanism. The pan-tilt control module includes a motor drive module, a tracking range identification module and an angle detection module. The high-definition camera is set on the pan-tilt, and the motor drive module is used to control the pan-tilt to pitch and move left and right according to the coordinate information sent by the tracking range identification module and the spatial angle change information sent by the angle detection module. The tracking range identification module is used to determine whether the operating end of the operating mechanism is at the center coordinate of the image captured by the camera. If it is not at the center coordinate, tracking and adjustment are performed according to the deviation coordinate. The angle detection module is electrically connected to the motor drive module. The angle detection module includes an angle sensor. The angle sensor collects the spatial angle change information of the pan-tilt and sends it to the motor drive module. The video transmission module is used to upload the acquired video information to a video storage server; The environmental detection module is used to detect temperature and humidity information and fire smoke information in the fire control room.

4. The intelligent duty robot for a fire control center according to claim 3, characterized in that: The environmental detection module includes a perception module and an early warning module. The perception module includes a temperature and humidity sensor, a smoke sensor, and a flammable gas sensor. The temperature and humidity sensor, the smoke sensor, and the flammable gas sensor send the detected temperature and humidity signals, smoke signals, and flammable gas concentration signals to the early warning module. The early warning module compares the detected signal parameters with the corresponding threshold parameters, and issues a warning signal when the corresponding threshold parameters are exceeded.

5. The intelligent duty robot for a fire control center according to claim 1, characterized in that: The motion control module includes an identification module, a first motor control module and a second motor control module. The identification module is used to identify the distance between the operation control area of ​​the automatic fire alarm controller in the fire control room and the execution device to obtain the motion trajectory information of the execution device; the first motor control module is used to control the execution device to move; the second motor control module is used to control the operation end to move to the operation target and perform key operations.

6. The intelligent duty robot for a fire control center according to claim 5, characterized in that: The recognition module includes a binocular camera, an image recognition module and a motion trajectory output module. The binocular camera sends the collected depth of field data and image data to the image recognition module. The image recognition module determines the spatial distance difference information between the center coordinates of the target sub-area to be operated and the execution device on the robot body based on the depth of field data, and moves according to the spatial distance difference information in a motion manner of first moving left and right and then moving up and down, transporting the execution device to the initial motion position of the operation end.

7. The intelligent duty robot for a fire control center according to claim 6, characterized in that: The motion mechanism includes a mounting bracket, a guide rail and a slider. The mounting bracket is used to install the guide rail. The slider is adapted to the guide rail. A lifting mechanism is provided on the slider. The actuator is provided on the lifting mechanism. The first motor control module drives the guide rail through a motor to control the motion of the slider and controls the lifting mechanism to move up and down.

8. The intelligent duty robot for a fire control center according to claim 1, characterized in that: The operating end includes a robotic arm, a robotic claw and a robotic arm controller. The robotic arm controller receives the motion trajectory information of the operating end sent by the execution module and sends a control signal to the second motor control module. The second motor control module controls the robotic arm to move to the operating target and controls the robotic claw to perform a button pressing operation.

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