Efficient fire-fighting equipment inspection robot, inspection method and control device

Abstract

The invention discloses an efficient fire-fighting equipment inspection robot, an inspection method and a control device. The efficient fire-fighting equipment inspection robot comprises a robot body, a drawing information processing module, a path planning module, a visual sensing module, a detection device and a fire-fighting communication module. The robot body comprises a carrier and a moving mechanism, and the moving mechanism is arranged on the carrier and can drive the carrier to move. The drawing information processing module is arranged on the carrier and is used for identifying and analyzing design information in the CAD drawing; the path planning module is arranged on the carrier and used for planning a moving path of the carrier; the visual sensing module is arranged on the carrier and is used for acquiring a picture of the equipment and identifying the type of the equipment; the detection device is arranged on the carrier, comprises various trigger mechanisms and is used for starting the corresponding trigger mechanism according to the equipment type identified by the visual sensing module; the fire-fighting communication module is arranged on the carrier. According to the scheme, the working pressure of maintenance personnel can be reduced, the fire-fighting equipment inspection efficiency and quality are improved, and artificial intelligent inspection is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of fire inspection, and in particular to an efficient fire equipment inspection robot, an inspection method and a control device. Background Art

[0002] Firefighting equipment is an important guarantee for detecting fires, controlling fires in time and extinguishing initial fires. It is widely used in buildings and can prevent and reduce the damage caused by fires to buildings and personnel. For example, patent CN221301513U discloses a smart fire monitoring device, which is equipped with a fire monitoring smoke detection mechanism consisting of a camera, a smoke exhaust box, a connecting pipe, a gas detection unit, a fan and an air quality sensor. When the smart fire monitoring device detects a fire, it can automatically start the fan to exhaust the smoke, and at the same time, it can detect the gas components of the fire smoke and transmit them to the firefighters.

[0003] However, in the automatic fire alarm system, inspection of fire-fighting equipment is indispensable. At present, the inspection of fire-fighting equipment is mainly carried out by manpower: at least two staff members are required. Personnel 1 guards the fire alarm host in the fire control room, and Personnel 2 holds fire plan, ladder, cigarette lighter and other tools to trigger equipment alarms one by one. After Personnel 1 confirms that the corresponding alarm has been received on the host, he clicks reset and the equipment inspection is completed.

[0004] This working mode is very inefficient and requires high professional quality of the staff, especially in complex areas of the workshop, such as high altitude and pipeline obstruction, etc., there are situations where inspections are not in place, inspection conditions are not met, and inspections are missed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose an efficient fire equipment inspection robot to solve the technical problems in the prior art that manual fire inspections are relatively inefficient and there are situations where inspections are not in place or inspections are missed.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an efficient fire equipment inspection robot, comprising: The robot body includes a carrier and a moving mechanism, wherein the moving mechanism is arranged on the carrier and can drive the carrier to move; A drawing information processing module, provided in the carrier, for identifying and analyzing the design information in the CAD drawing; A path planning module, provided on the carrier, for planning a moving path of the carrier; A visual sensing module, provided on the carrier, for acquiring equipment photos and identifying equipment types; A detection device, disposed on the carrier, comprising a plurality of trigger mechanisms, for activating the corresponding trigger mechanism according to the device type identified by the visual sensing module to trigger a device alarm; and The fire communication module is arranged on the carrier and is used for communicating with the fire host.

[0007] In some embodiments, the drawing information processing module is used to identify text annotations on the CAD drawings and the numbers, types and location coordinates of fire-fighting equipment, and store the identified information.

[0008] In some embodiments, the visual sensing module can store various real-life photos of the input equipment and analyze the captured images while following the movement of the carrier to identify the fire-fighting equipment.

[0009] In a second aspect, the present invention further provides an efficient fire equipment inspection method, which is used for the efficient fire equipment inspection robot as described in any one of the above, and the fire equipment inspection method comprises the steps of: Control the drawing information processing module to parse the numbering sequence and location coordinates of the equipment from the CAD drawing of the area to be inspected; Controlling the path planning module to read the position coordinates of each device, and performing path planning based on the position coordinates of each device and the actual position coordinates of the carrier to obtain an optimal path; Controlling the moving mechanism to drive the carrier to move along the optimal path, and stopping the movement when the visual sensing module recognizes the target device; Control the detection device to start the corresponding trigger mechanism to trigger the target device alarm, and then obtain the alarm record of the fire host. If the fire host generates a corresponding alarm record, the target device is reported to be normal; if the fire host does not generate an alarm record, the target device is reported to be abnormal; The moving mechanism is controlled to drive the carrier to move to the next target device for inspection until the inspection of all devices is completed.

[0010] In some embodiments, the step of controlling the moving mechanism to drive the carrier to move along the optimal path and stopping the movement when the visual sensing module recognizes the target device includes: When the carrier moves to the coordinate position of the target device, the visual sensor module is controlled to take a photo of the target device, and the photographed image is compared and analyzed with the actual photo stored in the visual sensor module; If the comparison results are consistent, it is determined that the target device is identified.

[0011] In some embodiments, if the comparison result is consistent, the step of determining that the target device is identified further includes: When the carrier moves to the coordinate position of the target device, the number of the target device is sent to the fire host, so that the fire host can send an inspection confirmation signal to the target device according to the received number information, so that the signal light of the target device flashes; Controlling the visual sensor module to obtain the flashing condition of the signal light of the target device; When the signal light of the target device is detected to be flashing and the comparison result is consistent, it is determined that the target device is identified.

[0012] In some embodiments, the step of controlling the path planning module to read the position coordinates of each device and performing path planning based on the position coordinates of each device and the actual position coordinates of the carrier to obtain the best path includes: The path planning module is controlled to determine the direction of the optimal path in the order of device numbers from small to large.

[0013] In some embodiments, the step of controlling the moving mechanism to drive the carrier to move along the optimal path and stopping the movement when the visual sensing module recognizes the target device further includes: When the visual sensor module fails to identify the target device, it reports the target device abnormality, and then obtains the coordinate position of the next numbered device, and uses the next numbered device as the target device.

[0014] In some embodiments, after the step of controlling the detection device to start the corresponding trigger mechanism to trigger the target device alarm, and then obtaining the alarm record of the fire host, if the fire host generates a corresponding alarm record, reporting that the target device is normal, and if the fire host does not generate an alarm record, reporting that the target device is abnormal, the step of controlling the moving mechanism to drive the carrier to move to the next target device for inspection until all equipment inspections are completed also includes: The trigger mechanism is controlled to shut down, and the shutdown information of the trigger mechanism is transmitted to the fire host, so that the fire host can reset the alarm of the target device.

[0015] In a third aspect, the present invention also provides an efficient fire equipment inspection control device, comprising a memory, a processor, and an efficient fire equipment inspection method control program stored in the memory and executable on the processor, wherein the efficient fire equipment inspection method control program implements the steps of the efficient fire equipment inspection method as described above when executed by the processor.

[0016] Compared with the prior art, the efficient fire equipment inspection robot provided by the present invention can accurately locate the equipment based on the fire drawings and video screen analysis with the help of the mobile mechanism, the drawing information processing module, the path planning module and the visual sensor module, obtain the equipment information, and send the equipment number to the fire host. After receiving the analog signal of the equipment, the fire host triggers it. After the visual sensor module detects the analog signal, it starts the corresponding trigger mechanism to trigger the equipment alarm. When the fire host generates an alarm message, it reports that the target equipment is normal; when the fire host does not generate an alarm message, it reports that the equipment is abnormal. Repeat the operation until the inspection of all equipment is completed. Thereby, the work pressure of maintenance personnel can be reduced, the efficiency and quality of fire equipment inspection can be improved, and artificial intelligence inspection can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the framework of an efficient fire-fighting equipment inspection robot provided by an embodiment of the present invention; Figure 2 It is a flow chart of a first embodiment of an efficient fire-fighting equipment inspection method provided by the present invention; Figure 3 It is a schematic diagram of the hardware operating environment of the efficient fire-fighting equipment inspection control device provided by an embodiment of the present invention.

[0018] Description of reference numerals: 101. Memory; 102. Processor; 103. Communication bus. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the technical problems in the prior art that manual fire inspections are relatively low in efficiency and there are cases of inadequate inspections and missed inspections, the present invention provides an efficient fire equipment inspection robot that can reduce the work pressure of maintenance personnel, improve the efficiency and quality of fire equipment inspections, and realize artificial intelligence inspections.

[0021] See also Figure 1 , Figure 1This is a structural schematic diagram of an efficient fire-fighting equipment inspection robot in one embodiment of the present invention. The efficient fire-fighting equipment inspection robot includes a robot body, a drawing information processing module, a path planning module, a visual sensing module, a detection device and a fire communication module; the robot body includes a carrier and a moving mechanism, the moving mechanism is arranged on the carrier, and can drive the carrier to move; the drawing information processing module is arranged on the carrier, for identifying and parsing the design information in the CAD drawing; the path planning module is arranged on the carrier, for planning the moving path of the carrier; the visual sensing module is arranged on the carrier, for obtaining equipment photos and identifying equipment types; the detection device is arranged on the carrier, including a plurality of trigger mechanisms, for starting the corresponding trigger mechanism according to the equipment type identified by the visual sensing module, so as to trigger the equipment alarm; the fire communication module is arranged on the carrier, for communicating with the fire host.

[0022] In the efficient fire equipment inspection robot provided by the present invention, the mobile mechanism, the drawing information processing module, the path planning module and the visual sensor module can accurately locate the equipment based on the fire drawings and video screen analysis, obtain the equipment information, and send the equipment number to the fire host. After receiving the analog signal of the equipment, the fire host triggers it. After the visual sensor module detects the analog signal, it starts the corresponding trigger mechanism to trigger the equipment alarm. When the fire host generates an alarm message, it reports that the target equipment is normal; when the fire host does not generate an alarm message, it reports that the equipment is abnormal. Repeat the operation until the inspection of all equipment is completed. Thereby, the work pressure of maintenance personnel can be reduced, the efficiency and quality of fire equipment inspection can be improved, and artificial intelligence inspection can be realized.

[0023] It should be noted that there is no limitation on the specific setting form of the moving mechanism as long as it can drive the carrier to move. In one embodiment, the moving mechanism is a track to drive the carrier to move stably; in another embodiment, the moving mechanism is a plurality of multi-joint robotic arms.

[0024] In one embodiment, the drawing information processing module is used to identify text annotations on the CAD drawings and the number, type and location coordinates of the fire-fighting equipment, and store the identified information.

[0025] In this embodiment, the drawing information processing module integrates deep learning, image recognition, natural language processing and other technologies, and can automatically identify and parse key design information in CAD drawings. Through algorithm models and model training, it can intelligently identify firefighting equipment and text annotations on drawings, and store the identified information, including but not limited to: equipment number, equipment type and equipment location coordinates.

[0026] In addition, it should be noted that in this solution, the path planning module uses the DFS (Depth-First Searching) algorithm, which can quickly calculate the optimal path from the robot's current position coordinates to the next device to be inspected, and guide the robot to move for inspection.

[0027] In one embodiment, the visual sensing module can store various real-life photos of the input equipment and analyze the captured images while following the movement of the carrier to identify the fire-fighting equipment.

[0028] In this embodiment, the visual sensing module can identify the equipment and equipment types by first inputting various real photos of each device and training the model with AI, such as various types of smoke sensors, temperature sensors, etc. During the movement of the robot, the shooting pictures are analyzed to identify the firefighting equipment.

[0029] In addition, it should be noted that the robot has a built-in fire inspection device, including multiple trigger mechanisms, such as cigarette lighters, temperature guns, and sound sensors. After identifying and confirming the equipment, the robot raises the corresponding trigger mechanism according to the equipment type to trigger the equipment alarm.

[0030] The fire communication module is used for the robot to communicate with the fire host. The communication instructions include but are not limited to: 1. Equipment confirmation, the robot sends the identified equipment number to the host and confirms the identification result through a confirmation signal; 2. Equipment alarm, the host sends the generated alarm information to the robot; 3. Abnormal reporting, if the alarm command is not received within the preset period, the robot will report the abnormal status of the equipment to the host.

[0031] Also, see Figure 2 The present invention also provides an efficient fire equipment inspection method for the efficient fire equipment inspection robot as described above. The first embodiment of the efficient fire equipment inspection method comprises the steps of: S1: Control the drawing information processing module to parse the numbering sequence and location coordinates of the equipment from the CAD drawing of the area to be inspected; S2: Control the path planning module to read the position coordinates of each device, and perform path planning based on the position coordinates of each device and the actual position coordinates of the carrier to obtain the best path; S3: Control the moving mechanism to drive the carrier to move along the optimal path, and stop moving when the visual sensor module recognizes the target device; S4: The control detection device starts the corresponding trigger mechanism to trigger the target device to alarm, and then obtains the alarm record of the fire host. If the fire host generates a corresponding alarm record, the target device is reported to be normal. If the fire host does not generate an alarm record, the target device is reported to be abnormal. S5: Control the moving mechanism to drive the carrier to move to the next target device for inspection until the inspection of all devices is completed.

[0032] The workflow of this embodiment is as follows: the robot reads the position of the first device according to the device data pre-parsed from the drawings and in the order of the equipment numbers, performs path planning with the current position, and moves to the position of the target device; the robot analyzes the video images during the movement until it identifies the target device and stops; the robot activates the trigger mechanism according to the device type of the target device to trigger the device alarm; after the device alarm, an alarm record will be generated on the fire host, and the alarm information will be sent to the robot; if the robot receives the alarm information, it will report the normal inspection result, otherwise it will report an abnormality; when the inspection of the target device is completed, the robot repeats the operation to the next target device until the inspection of all devices is completed.

[0033] It should be noted that in step S5 of this solution, when the carrier moves to the next target device position, steps S2 to S4 are repeated, so that the path can be flexibly adjusted according to actual conditions to improve inspection efficiency and ensure inspection accuracy.

[0034] In the second embodiment of the efficient fire equipment inspection method, step S3 includes: S31: When the carrier moves to the coordinate position of the target device, the visual sensor module is controlled to shoot the target device, and the shot image is compared and analyzed with the actual photo stored in the visual sensor module; S32: If the comparison result is consistent, it is determined that the target device is identified.

[0035] In this embodiment, when the carrier moves to the position coordinates of the target device recorded in the drawing, the visual sensing module compares the stored device photo with the captured image. When the comparison results are consistent, it is determined that the target device is identified, thereby avoiding erroneous activation of the trigger mechanism and improving inspection accuracy and efficiency.

[0036] In the third embodiment of the efficient fire equipment inspection method, step S32 further includes: When the carrier moves to the coordinate position of the target device, the number of the target device is sent to the fire host, so that the fire host can send an inspection confirmation signal to the target device according to the received number information, so that the signal light of the target device flashes; Control the visual sensor module to obtain the flashing status of the signal light of the target device; When the signal light of the target device is detected to be flashing and the comparison result is consistent, it is determined that the target device is identified.

[0037] In this embodiment, the robot analyzes the video images while moving; at the same time, it sends the device number of the target device to the fire host. After receiving the number, the fire host sends an inspection confirmation signal to the target device, causing the signal light of the target device to flash. When the robot detects the flashing signal of the target device and the comparison result of the captured image is consistent with the stored photo, it confirms that the device identification is correct, further ensuring the accuracy of the inspection.

[0038] In the fourth embodiment of the efficient fire equipment inspection method, step S2 includes: The control path planning module determines the direction of the best path according to the device number in ascending order.

[0039] In this embodiment, the moving path of the mobile mechanism is determined from small to large according to the number of the equipment. The judgment logic is simple, which makes it easy for the robot to inspect the equipment one by one and effectively avoids missed inspections.

[0040] In the fifth embodiment of the efficient fire equipment inspection method, step S3 further includes: When the visual sensor module fails to identify the target device, it reports the target device abnormality, then obtains the coordinate position of the next numbered device, and uses the next numbered device as the target device.

[0041] In this embodiment, when the visual sensor module fails to identify the target device, it reports the abnormality of the target device, thereby ensuring that the inspection personnel can be aware of the problem and check to confirm whether the device is missing or the wrong device type is placed.

[0042] It should be noted that in another embodiment, after the visual sensing module compares the captured image of the current position coordinates with the stored photo of the corresponding position coordinates and finds inconsistency, it can compare the captured image with other types of stored devices. When a consistency is found, a signal of device type error is reported; and when all comparisons are inconsistent, the device is reported to be missing.

[0043] In the sixth embodiment of the efficient fire equipment inspection method, after step S4 and before step S5, the following steps are further included: Control the trigger mechanism to shut down, and transmit the shutdown information of the trigger mechanism to the fire host, so that the fire host can reset the alarm of the target device.

[0044] In this embodiment, when the inspection of the target device is completed, the trigger mechanism is controlled to shut down, and the fire host resets the target device to avoid continuous alarm of the device and affect subsequent equipment inspections.

[0045] See also Figure 3The present invention also provides an efficient fire equipment inspection control device, including a memory 101, a processor 102, and an efficient fire equipment inspection method control program stored in the memory 101 and executable on the processor 102. When the efficient fire equipment inspection method control program is executed by the processor 102, the steps of the efficient fire equipment inspection method as described above are implemented.

[0046] In this embodiment, the memory 101 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory, and the memory 101 may optionally be a storage device independent of the aforementioned control device; the processor 102 may be a CPU. The memory 101 and the processor 102 are connected by a communication bus 103, and the communication bus 103 may be a UART bus or an I2C bus.

[0047] It is understandable that the efficient fire-fighting equipment inspection control device may also be provided with programs related to driving other functional units or components to drive other functional units or components in the efficient fire-fighting equipment inspection robot.

[0048] In another optional embodiment, an efficient fire-fighting equipment inspection and control device integrates a detection module, a calculation module and a control module; wherein the detection module can be used to detect the ambient temperature, the calculation module is used to calculate the carrier movement distance, and the control module is used to control the operation of other functional units or components.

[0049] In order to better understand the present invention, the following Figures 1 to 3 The technical solution of the present invention is described in detail: The detailed workflow of this program is as follows: (1) The robot reads the position of the first device according to the device data pre-parsed from the drawing and in the order of the device numbers, performs path planning with the current position, and moves to the position of the target device; (2) The robot analyzes the video while moving until it identifies the target device and stops; (3) The robot sends the device number of the target device to the fire host; (4) After receiving the number, the fire host sends an inspection confirmation signal to the target device, causing the signal light of the target device to flash; (5) After the robot detects the flashing signal of the target device, it confirms that the device has been correctly identified; (6) The robot activates the trigger mechanism and triggers the device alarm according to the device type of the target device.

[0050] (7) After the device alarms, an alarm record will be generated on the fire host and the alarm information will be sent to the robot (8) If the robot receives an alarm message, it reports the inspection result as normal, otherwise it reports an abnormality.

[0051] (9) The fire host resets the equipment alarm. The equipment inspection is completed and the robot repeats the operation to the next target equipment.

[0052] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An efficient fire equipment inspection robot, characterized in that: include: The robot body includes a carrier and a moving mechanism, wherein the moving mechanism is arranged on the carrier and can drive the carrier to move; A drawing information processing module, provided in the carrier, for identifying and analyzing the design information in the CAD drawing; A path planning module, provided on the carrier, for planning a moving path of the carrier; A visual sensing module, provided on the carrier, for acquiring equipment photos and identifying equipment types; A detection device, disposed on the carrier, comprising a plurality of trigger mechanisms, for activating the corresponding trigger mechanism according to the device type identified by the visual sensing module to trigger a device alarm; and The fire communication module is arranged on the carrier and is used for communicating with the fire host.

2. The efficient firefighting equipment inspection robot according to claim 1 is characterized in that: The drawing information processing module is used to identify the text annotations on the CAD drawings and the number, type and location coordinates of the fire-fighting equipment, and store the identified information.

3. The efficient firefighting equipment inspection robot according to claim 1 is characterized in that: The visual sensing module can store various real photos of the input equipment and analyze the photographed images while following the movement of the carrier to identify the fire-fighting equipment.

4. An efficient fire equipment inspection method, used for the efficient fire equipment inspection robot as claimed in any one of claims 1 to 3, characterized in that: The fire-fighting equipment inspection method comprises the following steps: Control the drawing information processing module to parse the numbering sequence and location coordinates of the equipment from the CAD drawing of the area to be inspected; Controlling the path planning module to read the position coordinates of each device, and performing path planning based on the position coordinates of each device and the actual position coordinates of the carrier to obtain an optimal path; Controlling the moving mechanism to drive the carrier to move along the optimal path, and stopping the movement when the visual sensing module recognizes the target device; Control the detection device to start the corresponding trigger mechanism to trigger the target device alarm, and then obtain the alarm record of the fire host. If the fire host generates a corresponding alarm record, the target device is reported to be normal; if the fire host does not generate an alarm record, the target device is reported to be abnormal; The moving mechanism is controlled to drive the carrier to move to the next target device for inspection until the inspection of all devices is completed.

5. The efficient firefighting equipment inspection method according to claim 4 is characterized in that: The step of controlling the moving mechanism to drive the carrier to move along the optimal path and stopping the movement when the visual sensing module recognizes the target device includes: When the carrier moves to the coordinate position of the target device, the visual sensor module is controlled to take a photo of the target device, and the photographed image is compared and analyzed with the actual photo stored in the visual sensor module; If the comparison results are consistent, it is determined that the target device is identified.

6. The efficient firefighting equipment inspection method according to claim 5 is characterized in that: If the comparison result is consistent, the step of determining that the target device is identified further includes: When the carrier moves to the coordinate position of the target device, the number of the target device is sent to the fire host, so that the fire host can send an inspection confirmation signal to the target device according to the received number information, so that the signal light of the target device flashes; Controlling the visual sensor module to obtain the flashing condition of the signal light of the target device; When the signal light of the target device is detected to be flashing and the comparison result is consistent, it is determined that the target device is identified.

7. The efficient firefighting equipment inspection method according to claim 4 is characterized in that: The step of controlling the path planning module to read the position coordinates of each device and perform path planning based on the position coordinates of each device and the actual position coordinates of the carrier to obtain the best path includes: The path planning module is controlled to determine the direction of the optimal path in the order of device numbers from small to large.

8. The efficient firefighting equipment inspection method according to claim 7 is characterized in that: The step of controlling the moving mechanism to drive the carrier to move along the optimal path and stopping the movement when the visual sensing module recognizes the target device also includes: When the visual sensor module fails to identify the target device, it reports the target device abnormality, and then obtains the coordinate position of the next numbered device, and uses the next numbered device as the target device.

9. The efficient firefighting equipment inspection method according to claim 4 is characterized in that: After the step of controlling the detection device to start the corresponding trigger mechanism to trigger the target device alarm, and then obtaining the alarm record of the fire host, if the fire host generates a corresponding alarm record, reporting that the target device is normal, and if the fire host does not generate an alarm record, reporting that the target device is abnormal, the step of controlling the moving mechanism to drive the carrier to move to the next target device for inspection until all equipment inspections are completed also includes: The trigger mechanism is controlled to shut down, and the shutdown information of the trigger mechanism is transmitted to the fire host, so that the fire host can reset the alarm of the target device.

10. An efficient fire-fighting equipment inspection control device, characterized in that: The invention comprises a memory, a processor and an efficient fire equipment inspection method control program stored in the memory and executable on the processor. When the efficient fire equipment inspection method control program is executed by the processor, the steps of the efficient fire equipment inspection method as described in claims 4 to 9 are implemented.

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