Fire extinguishing robot and fire extinguishing method

Abstract

The invention discloses a fire extinguishing robot and a fire extinguishing method. The fire extinguishing robot comprises an execution mechanism and a control unit, the control unit is arranged on the fire-fighting robot body; the fire-fighting robot body is provided with a crawler chassis for moving, and the top of the fire-fighting robot body is provided with a camera; the monitor pipe is installed at the head of the fire-fighting robot body through the water monitor, the first conveying pipe is arranged in the monitor pipe in a penetrating mode, a liquid pipeline is formed between the monitor pipe and the first conveying pipe, and the monitor pipe is connected with a fire hose through the water monitor; a connector of the first conveying pipe penetrates through the peripheral wall of the gun barrel to be connected to a fire extinguisher assembly arranged at the tail of the fire-fighting robot body. And the control unit is in communication connection with the execution mechanism and is used for controlling the execution mechanism, performing centralized processing operation on the data and formulating the motion path and behavior of the fire-fighting robot. The fire-fighting robot in the scheme is used for replacing traditional fire-fighting equipment, and fire-fighting and fire-extinguishing can be rapidly completed on an offshore operation platform.

Description

Technical Field

[0001] The present invention relates to the technical field of fire fighting, and in particular to a fire fighting extinguishing robot and a fire fighting method. Background Art

[0002] my country is actively promoting the construction of 3 million square kilometers of marine territory. It is currently vigorously building the Xisha Islands and Nansha Islands in the South China Sea. The marine climate is quite different from the land climate, with high temperature, high humidity and strong radiation. Under such special climatic conditions, offshore operating platforms are prone to fire.

[0003] Due to the small space of offshore operating platforms, the scale and number of their buildings and equipment are carefully designed. Traditional fire-fighting equipment is easily restricted by the space of offshore operating platforms and cannot quickly complete fire-fighting on offshore operating platforms. Summary of the invention

[0004] In view of this, the present invention provides a fire-fighting robot that can quickly complete fire-fighting on an offshore operating platform.

[0005] The present invention also provides a fire extinguishing method comprising the fire extinguishing robot.

[0006] A fire-fighting robot, used in an offshore operating platform, comprises: an actuator and a control unit;

[0007] The actuator includes: a fire-fighting robot body, a crawler chassis, a camera, a water cannon, a gun barrel, a first delivery pipe and a fire extinguisher assembly;

[0008] The control unit is arranged in the fire-fighting robot body; the crawler chassis for movement are respectively installed on both sides of the bottom of the fire-fighting robot body, and the camera is installed on the top of the fire-fighting robot body;

[0009] The gun barrel is installed on the head of the fire-fighting robot body through the water monitor, the first delivery pipe is inserted into the gun barrel, a liquid pipeline is formed between the gun barrel and the first delivery pipe, and the water inlet end of the gun barrel is connected to the water outlet end of the water monitor, and the water inlet end of the water monitor is used to connect the fire hose;

[0010] The nozzle of the first delivery pipe faces the water outlet end of the gun barrel, and the connector of the first delivery pipe passes through the peripheral wall of the gun barrel and is connected to the fire extinguisher assembly arranged at the tail of the fire fighting robot body;

[0011] The control unit is communicatively connected with the actuator to control the actuator, perform centralized processing and calculation on data, and formulate the movement path and behavior of the fire-fighting robot.

[0012] Preferably, the actuator further comprises: a support frame;

[0013] The support frame is arranged between the gun barrel and the first delivery pipe, and is used for supporting and fixing the first delivery pipe in the gun barrel.

[0014] Preferably, the actuator further comprises: a telescopic tube and an electric push rod;

[0015] The gun barrel is connected to the water cannon via the telescopic tube, the fixed end of the electric push rod is fixed to the outer peripheral wall of the water cannon, and the free end of the electric push rod is connected to the gun barrel.

[0016] Preferably, the actuator also includes: a high-precision vehicle-mounted antenna and an ultrasonic wind speed transmitter arranged on the top of the fire-fighting robot body.

[0017] Preferably, the actuator further comprises: an antenna assembly;

[0018] The antenna assembly includes: a remote control receiving antenna, a base station communication antenna and a 4G antenna, all of which are arranged on the fire-fighting robot body;

[0019] The remote control receiving antenna, the base station communication antenna and the 4G antenna are all electrically connected to the control unit.

[0020] Preferably, the actuator also includes: an audible and visual alarm light installed on the top of the fire-fighting robot body.

[0021] Preferably, the actuator further comprises: an air pump installed on the outer peripheral wall of the water monitor, and the output end of the air pump extends to the interior of the water monitor.

[0022] Preferably, the actuator further comprises: a buckle interface arranged at the tail of the fire-fighting robot body;

[0023] The water inlet end of the water monitor extends to the tail of the fire-fighting robot body and is connected to one end of the buckle interface, and the other end of the buckle interface is used to clip the fire hose.

[0024] Preferably, the fire extinguisher assembly comprises: a second delivery pipe, a solenoid valve and a fire extinguisher tank;

[0025] The first delivery pipe is connected to the output port of the fire extinguisher tank through the second delivery pipe, and the solenoid valve is arranged on the output port of the fire extinguisher tank;

[0026] Wherein, the control unit controls the solenoid valve to open or close.

[0027] Preferably, the actuator further comprises: a water mist cooling component;

[0028] The water mist cooling assembly includes: a water tank and a connecting pipe, a first cooling pipe, a second cooling pipe, a high-pressure water pump, a first water mist pipe and a second water mist pipe, all of which are located in the fire-fighting robot body;

[0029] There are two water tanks, which are respectively arranged on both sides of the top of the fire-fighting robot body, and the two water tanks are connected through the connecting pipe; the middle part of the connecting pipe is connected to the water monitor;

[0030] The first end of the first cooling pipe is connected to one of the two water tanks, and the second end is connected to the other of the two water tanks; the first cooling pipe is connected to the second cooling pipe through the high-pressure water pump;

[0031] Two water outlet ends of the second cooling pipe are respectively connected to the first water mist pipe and the second water mist pipe, and the first water mist pipe and the second water mist pipe are respectively arranged on both sides of the fire-fighting robot body;

[0032] The first water mist pipe is provided with a first water mist nozzle, and the second water mist pipe is provided with a second water mist nozzle.

[0033] A fire extinguishing method using a fire extinguishing robot, using the fire extinguishing robot, comprising the steps of:

[0034] The control unit uses the camera to locate the fire source and obtains the location information of the fire source;

[0035] Based on the positioning information, the control unit controls the tracked chassis to move to the fire source, and switches the fire extinguishing medium according to the type of fire source to extinguish the fire; if water is used for fire extinguishing, the water inlet end of the water cannon is connected to the fire hose, and the water source is sprayed from the liquid pipeline through the cannon barrel to extinguish the fire; if foam or dry powder is used for fire extinguishing, the connector of the first delivery pipe is connected to the fire extinguisher assembly, and the foam or dry powder of the fire extinguisher assembly is sprayed from the first delivery pipe through the cannon barrel to extinguish the fire.

[0036] Preferably, the control unit uses the camera to locate the fire source, including:

[0037] The control unit receives the fire source image captured by the camera and performs flame recognition based on a preset Faster R-CNN model, and outputs the location information of the fire source;

[0038] The FasterR-CNN model includes at least a color model and a mask RPN, wherein the color model is derived based on color features; the mask RPN is constructed based on a feature map obtained by extracting features from sample fire sources;

[0039] The process of performing flame recognition based on the preset FasterR-CNN model and outputting the location information of the fire source includes:

[0040] Preprocess the input fire source image;

[0041] Generate the original candidate anchor frame of the fire source location using the preprocessed fire source image;

[0042] Using the color model and the mask RPN to perform constraint processing in the original fire source location candidate anchor frame to obtain a final fire source location candidate anchor frame;

[0043] Determine the position and confidence information of the flame of the fire source image located in the new fire source position candidate anchor frame;

[0044] The flame is located according to the position and confidence information of the flame, and the location information of the fire source is obtained and outputted.

[0045] Preferably, the step of performing constraint processing in the original fire source location candidate anchor frame by using the color model and the mask RPN to obtain the final fire source location candidate anchor frame includes:

[0046] Obtaining a color mask of the original fire source location candidate anchor frame based on the color model;

[0047] The color mask is used as the input of the mask RPN, and the mask RPN constrains the color mask so that anchors are generated only in the area of ​​interest, and outputs the final candidate anchor frame of the fire source location.

[0048] Preferably, the fire-fighting robot further comprises: an infrared thermal camera arranged on the fire-fighting robot body;

[0049] The infrared thermal camera is used to collect the image to be judged, and the image to be judged is converted into a thermal imaging image; for the high-temperature object in the thermal imaging image, the position is mapped to the visible light image using image recognition and registration technology, and if the Faster R-CNN flame recognition model also detects a flame target at the corresponding position in the visible light image, it is determined that there is a flame at the position.

[0050] It can be seen from the above technical solutions that the fire-fighting robot provided by the present invention replaces traditional fire-fighting equipment with the fire-fighting robot, and can quickly complete fire-fighting on an offshore operating platform.

[0051] The technical solution can also flexibly select different types of fire extinguishing media for fire extinguishing according to different types of fire sources, thereby improving fire extinguishing efficiency.

[0052] The present invention also provides a fire extinguishing method. Since the above-mentioned fire extinguishing robot is adopted, it also has corresponding beneficial effects. For details, please refer to the previous description, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A schematic diagram of the overall structure of a fire-fighting robot provided by an embodiment of the present invention (first perspective);

[0055] Figure 2 A schematic diagram of the overall structure of a fire-fighting robot provided by an embodiment of the present invention (second viewing angle);

[0056] Figure 3 A schematic diagram of the structure of a fire-fighting robot from a side view as a whole provided by an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of the overall structure of a fire-fighting robot from a top view provided by an embodiment of the present invention;

[0058] Figure 5 A schematic diagram of the structure of the gun barrel and other parts of the fire-fighting robot provided by an embodiment of the present invention;

[0059] Figure 6 for Figure 5 A cross-sectional view of

[0060] Figure 7 A schematic diagram of the structure of a water mist cooling component of a fire-fighting robot provided in an embodiment of the present invention;

[0061] Figure 8 A schematic diagram of the process of the control unit for targeting the fire source;

[0062] Fig. 9 Schematic diagram of the process of Faster R-CNN guided by color model;

[0063] Fig.10a Schematic diagram of the candidate anchor boxes of the fire source location constrained by color features (before constraint);

[0064] Fig.10b Schematic diagram of the candidate anchor boxes of the fire source location constrained by color features (constrained);

[0065] Fig.10cSchematic diagram of the candidate anchor boxes of the fire source location constrained by color features (after constraint);

[0066] Fig.11 Schematic diagram of the anchor point and the candidate anchor box of the fire source location at that point.

[0067] Among them, 1 is the fire-fighting robot body, 2 is the crawler chassis, 3 is the water tank, 4 is the high-precision vehicle-mounted antenna, 5 is the ultrasonic wind speed transmitter, 6 is the remote control receiving antenna, 7 is the base station communication antenna, 8 is the 4G antenna, 9 is the sound and light alarm light, 10 is the camera, 11 is the power supply component, 12 is the water cannon, 13 is the air pump, 14 is the electric push rod, 15 is the gun barrel, 16 is the support frame, 17 is the first delivery pipe, 18 is the nozzle, 19 is the connector, 20 is the fire extinguisher component, 21 is the buckle interface, 22 is the second delivery pipe; 23 is the connecting pipe, 24 is the first cooling pipe, 25 is the second cooling pipe, 26 is the first water mist nozzle, 27 is the second water mist nozzle, 28 is the high-pressure water pump, 29 is the solenoid valve, and 30 is the fire extinguisher tank;

[0068] A is the red anchor point. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the 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.

[0070] A fire-fighting robot provided by an embodiment of the present invention is applied to an offshore operation platform, such as Figure 1-Figure 7 As shown, it includes: an actuator and a control unit;

[0071] The actuator includes: a fire-fighting robot body 1, a crawler chassis 2, a camera 10, a water cannon 12, a cannon tube 15, a first delivery pipe 17 and a fire extinguisher assembly 20;

[0072] The control unit is arranged in the fire-fighting robot body 1; crawler chassis 2 for movement are respectively installed on both sides of the bottom of the fire-fighting robot body 1, and a camera 10 is installed on the top of the fire-fighting robot body 1;

[0073] like Figure 3 and Figure 6 As shown, the gun barrel 15 is installed on the head of the fire-fighting robot body 1 through the water monitor 12, the first delivery pipe 17 is passed through the gun barrel 15, a liquid pipeline is formed between the gun barrel 15 and the first delivery pipe 17, and the water inlet end of the gun barrel 15 is connected to the water outlet end of the water monitor 12, and the water inlet end of the water monitor 12 is used to connect the fire hose;

[0074] The nozzle 18 of the first delivery pipe 17 faces the water outlet end of the gun barrel 15, and the connector 19 of the first delivery pipe 17 passes through the peripheral wall of the gun barrel 15 and is connected to the fire extinguisher assembly 20 arranged at the rear of the fire fighting robot body 1;

[0075] Among them, the control unit and the actuator are communicatively connected to control the actuator, centrally process and calculate the data, and formulate the movement path and behavior of the fire-fighting robot.

[0076] In the above technical scheme, when a fire is found on the offshore platform, the fire-fighting robot uses the mobility of the crawler chassis 2 to move and manipulate in different terrains and environments, and then moves to the place where the fire occurs; when the fire-fighting robot arrives at the place where the fire occurs, it can select different types of fire extinguishing media to extinguish the fire according to different types of fires, thereby improving the fire extinguishing efficiency; when liquid fire extinguishing is selected, the water inlet end of the barrel 15 is connected to the fire hose, and the water flows through the liquid pipeline and is sprayed from the water outlet end of the barrel 15 to the fire source, thereby playing a role in extinguishing the fire; when dry powder, foam or other fire extinguishing media are selected, the connector 19 of the first delivery pipe 17 is connected to the fire extinguisher assembly 20 (the fire extinguisher assembly 20 contains a dry powder fire extinguisher, a foam fire extinguisher, and a carbon dioxide fire extinguisher), and the dry powder, foam or other fire extinguishing media are sprayed from the nozzle 18 to the fire source through the first delivery pipe 17, thereby playing a role in extinguishing the fire.

[0077] Compared with the existing technical solutions, the fire-fighting robot is used as the fire-fighting equipment of the offshore working platform. The fire-fighting robot can move smoothly on the offshore working platform through the tracked chassis 2, and can flexibly and quickly shuttle in a small space, thereby quickly completing the fire-fighting work; and the setting of the gun barrel 15 and the first delivery pipe 17 can flexibly select different types of fire-extinguishing media for fire-fighting according to different types of fire sources, thereby improving the fire-fighting efficiency.

[0078] Optimize the above technical solutions, such as Figure 5 and Figure 6 As shown, the actuator further includes: a support frame 16;

[0079] The support frame 16 is disposed between the gun barrel 15 and the first delivery pipe 17 , and is used to support and fix the first delivery pipe 17 in the gun barrel 15 .

[0080] In the above technical solution, the stability of the overall structure of the fire-fighting robot is improved by providing the support frame 16; preferably, the support frame 16 is a hollow structure to allow the fire-extinguishing liquid to be sprayed toward the fire source through the hollow structure in the support frame 16.

[0081] To further optimize the above technical solution, the number of the support frames 16 is three groups;

[0082] The three groups of support frames 16 are evenly spaced along the axial direction of the gun barrel 15, further improving the stability of the overall structure of the fire-fighting robot; of course, the three groups of support frames 16 are all hollow structures.

[0083] In this technical solution, if Figure 1 and Figure 2 As shown, the actuator also includes: a telescopic tube and an electric push rod 14;

[0084] The gun barrel 15 is connected to the water cannon 12 through a telescopic tube. The fixed end of the electric push rod 14 is fixed to the outer wall of the water cannon 12. The free end of the electric push rod 14 is connected to the gun barrel 15. In this solution, the electric push rod 14 promotes the extension and retraction of the gun barrel 15, thereby achieving the purpose of controlling the shape of the water column. The setting of the telescopic tube is conducive to the flexible operation of the electric push rod 14.

[0085] In this technical solution, if Figure 1 As shown, the actuator also includes: a high-precision vehicle-mounted antenna 4 and an ultrasonic wind speed transmitter 5 arranged on the top of the fire-fighting robot body 1.

[0086] In the above technical scheme, the main function of the high-precision vehicle-mounted antenna 4 is to receive wireless signals and transmit them to the vehicle-mounted equipment. The vehicle-mounted equipment installed on the fire-fighting robot includes a GPS navigation system, vehicle-mounted communication equipment, etc.; the ultrasonic wind speed transmitter 5 is a device for measuring the wind speed in the air. It calculates the wind speed by sending ultrasonic pulses and measuring the time it takes to propagate in the air, and then transmits the collected data to the fire-fighting robot body 1, and uploads it to the offshore operating platform through the communication host.

[0087] In the above technical solution, if Figure 1 and Figure 3 As shown, the actuator further includes: an antenna assembly;

[0088] The antenna assembly includes: a remote control receiving antenna 6, a base station communication antenna 7 and a 4G antenna 8, all of which are arranged on the fire fighting robot body 1;

[0089] The remote control receiving antenna 6, the base station communication antenna 7 and the 4G antenna 8 are all electrically connected to the control unit.

[0090] In the above scheme, the remote control receiving antenna 6 is installed on the fire-fighting robot body 1, the base station communication antenna 7 is installed on the top of the fire-fighting robot body 1, and the base station communication antenna 7 is located on one side of the remote control receiving antenna 6, and the 4G antenna 8 is installed on the fire-fighting robot body 1. The remote control receiving antenna 6 is used to receive signals for controlling the movement of the fire-fighting robot body 1. The base station communication antenna 7 is an important component of the wireless communication base station, and its function is to receive and send wireless signals and communicate with mobile devices or other base stations; the 4G antenna 8 is an antenna device specifically used to receive and send 4G network signals; in addition, it should be noted that the antenna assembly adopts outdoor high-precision positioning and navigation technology to realize automatic positioning and navigation of the fire-fighting robot.

[0091] In this technical solution, if Figure 1 As shown, the actuator also includes: an audible and visual alarm light 9 installed on the top of the fire-fighting robot body 1. When the audible and visual alarm light 9 detects an abnormal fire source, the audible and visual alarm light 9 will sound an alarm.

[0092] In this technical solution, if Figure 2 As shown, the actuator also includes: an air pump 13 installed on the outer wall of the water cannon 12, and the output end of the air pump 13 extends to the inside of the water cannon 12. The air pump 13 is used to achieve foaming of the foam inside the water cannon 12 under specific conditions to achieve the purpose of changing the fire extinguishing medium.

[0093] In this technical solution, if Figure 1 and Figure 2 As shown, the actuator also includes: a buckle interface 21 arranged at the tail of the fire-fighting robot body 1;

[0094] The water inlet end of the water cannon 12 extends to the tail of the fire-fighting robot body 1 and is connected to one end of the snap interface 21. The other end of the snap interface 21 is used to snap into the fire hose. The setting of the snap interface 21 allows the fire-fighting robot body 1 to be quickly snapped into the external fire hose, which is beneficial to improving the fire-fighting robot's fire-fighting speed; as a preference, part of the setting direction of the water cannon 12 is parallel to the longitudinal direction of the fire-fighting robot.

[0095] In this technical solution, if Figure 4 As shown, the fire extinguisher assembly 20 includes: a second delivery pipe 22, a solenoid valve 29 and a fire extinguisher tank 30;

[0096] The first delivery pipe 17 is connected to the output port of the fire extinguisher tank 30 through the second delivery pipe 22 , and the solenoid valve 29 is disposed on the output port of the fire extinguisher tank 30 .

[0097] The control unit controls the electromagnetic valve 29 to open or close.

[0098] In the above technical solution, the solenoid valve is controlled by the control unit to control the working state of the dry powder fire extinguisher tank. The output end of the fire extinguisher tank is opened by the solenoid valve 29, and the dry powder flows into the interior of the delivery pipe through the four-branch pipe and the connector, and then is sprayed toward the fire source through the nozzle 18 to extinguish the fire. In one embodiment, there are multiple fire extinguisher tanks 30, and different fire extinguisher tanks 30 are filled with different fire extinguishing media. Different fire extinguishing media are used to extinguish the fire according to the type of fire source.

[0099] In this technical solution, if Figure 7 As shown, the actuator also includes: a water mist cooling component;

[0100] The water mist cooling component includes: a water tank 3 and a connecting pipe 23, a first cooling pipe 24, a second cooling pipe 25, a high-pressure water pump 28, a first water mist pipe and a second water mist pipe, all of which are located in the fire-fighting robot body 1;

[0101] There are two water tanks 3, which are respectively arranged on both sides of the top of the fire-fighting robot body 1, and the two water tanks 3 are connected through a connecting pipe 23; the middle part of the connecting pipe 23 is connected to the water cannon 12;

[0102] The first end of the first cooling pipe 24 is connected to one of the two water tanks 3, and the second end is connected to the other of the two water tanks 3; the first cooling pipe 24 is connected to the second cooling pipe 25 through the high-pressure water pump 28;

[0103] The two water outlet ends of the second cooling pipe 25 are respectively connected to the first water mist pipe and the second water mist pipe, and the first water mist pipe and the second water mist pipe are respectively arranged on both sides of the fire fighting robot body 1;

[0104] The first water mist pipe is provided with a first water mist nozzle 26 , and the second water mist pipe is provided with a second water mist nozzle 27 , wherein the first water mist nozzle 26 and the second water mist nozzle 27 can spray water mist through the side wall of the fire-fighting robot body 1 .

[0105] In the above technical scheme, the water mist nozzle 31 is set to cool itself during operation. When the fire-fighting robot enters the fire scene, the external high temperature is transmitted inward through the body of the fire-fighting robot, and the first water mist nozzle 26 and the second water mist nozzle 27 are used to spray water mist, so that the body temperature of the fire-fighting robot is reduced to avoid malfunction of its internal electronic components due to excessive temperature. It should be noted that the flow direction of the liquid is: after the liquid passes through the water cannon 12, it passes through the connecting pipe 23, the water tank 3, the first cooling pipe 24, the second cooling pipe 25 in turn, and sprays water mist from the water mist nozzle of the water mist pipe.

[0106] In order to further optimize the above technical solution, Figure 4As shown, there are multiple first water mist nozzles 26, and the multiple first water mist nozzles 26 are evenly spaced and arranged along the longitudinal direction of the first water mist pipe;

[0107] And / or, there are multiple second water mist nozzles 27, and the multiple second water mist nozzles 27 are evenly spaced apart in the longitudinal direction of the second water mist pipe.

[0108] In the above scheme, the fire-fighting robot has a better cooling effect by providing multiple water mist nozzles.

[0109] A fire extinguishing method using a fire extinguishing robot, using the fire extinguishing robot, comprising the steps of:

[0110] The control unit uses the camera 10 to locate the fire source and obtain the location information of the fire source;

[0111] Based on the positioning information, the control unit controls the tracked chassis 2 to move to the fire source, and switches the fire extinguishing medium according to the type of fire source to extinguish the fire; if water is used for fire extinguishing, the water inlet end of the water cannon 12 is connected to the fire hose, and the water source is sprayed from the liquid pipeline through the gun barrel 15 to extinguish the fire; if foam or dry powder is used for fire extinguishing, the connector 19 of the first delivery pipe 17 is connected to the fire extinguisher assembly 20, and the foam or dry powder of the fire extinguisher assembly 20 is sprayed from the first delivery pipe 17 through the gun barrel 15 to extinguish the fire.

[0112] In the above technical solution, the fire extinguishing medium can be switched as needed to extinguish the fire, making the fire extinguishing robot applicable to a wider range of scenarios.

[0113] In order to optimize the above technical solutions, Figure 8-Figure 11 As shown, the control unit uses the camera 10 to locate the fire source, including:

[0114] The control unit receives the fire source image captured by the camera 10 and performs flame recognition based on the preset FasterR-CNN model, and outputs the location information of the fire source;

[0115] The Faster R-CNN model includes at least a color model and a mask RPN. The color model is derived based on color features. The mask RPN is constructed based on a feature map obtained by extracting features from sample fire sources.

[0116] The process of performing flame recognition based on the preset Faster R-CNN model and outputting the location information of the fire source includes: Figure 8-Figure 11 As shown,

[0117] S1: preprocess the input fire source image;

[0118] In the above technical solution, the above preprocessing includes operations such as resizing and normalization, so as to make it meet the input requirements of the FasterR-CNN flame recognition model, and at the same time reduce the influence of background noise in the fire source image on the flame position prediction;

[0119] S2: Generate the original candidate anchor frame of the fire source location using the preprocessed fire source image. Fig.10a The original candidate anchor frame of the fire source location is shown.

[0120] In the above technical solution, the original candidate anchor frames of the fire source location are the first batch of candidate frames generated in the target detection process. According to the artificially determined m scales and n aspect ratios, these scales and aspect ratios are combined to obtain m*n anchors with determined shapes at each anchor point. After the camera 10 captures the image, all the anchor candidate frames generated on the image are shown in red. The red point is the red anchor point A (such as Fig.10c As shown in the figure), the green box is the original candidate anchor box of the fire source location (as shown in the figure). Fig.11 As shown in Figure 3, the anchor points are distributed over the entire image at certain intervals, so the anchors can cover the entire image.

[0121] S3: Use the color model and mask RPN to perform constraint processing in the original fire source location candidate anchor frame to obtain the final fire source location candidate anchor frame. Fig.10b The process of constraining using color masks is shown. Fig.10c The final candidate anchor frame of the fire source location is shown;

[0122] S4: Determine the position and confidence information of the flame of the fire source image located in the new fire source position candidate anchor frame;

[0123] S5: Locate the flame according to the flame position and confidence information, obtain the location information of the fire source, and output it.

[0124] The above technical solution is optimized. The color model and mask RPN are used to perform constraint processing in the original candidate anchor frame of the fire source location to obtain the final candidate anchor frame of the fire source location, including:

[0125] The color mask of the original candidate anchor box of the fire source location is obtained based on the color model;

[0126] The color mask is used as the input of the Mask RPN, which constrains the color mask so that anchors are only generated in the area of ​​interest and outputs the final candidate anchor box of the fire source location.

[0127] In this technical solution, among the image features of flames, color features are relatively easy to obtain and are also widely used flame features in flame detection. In order to enable the anchor to generate all areas in the image that are similar to the flame color and the anchor frame will not miss the flame area as much as possible, we use a relatively loose color model. This color model covers the flame color in general fire situations and does not consider the color of the flame generated by the combustion of special materials (such as blue). It is defined as:

[0128]

[0129] Among them, M(x,y) represents the generated flame color mask, fR, fG, and fB refer to the image values ​​of the R, G, and B channels of the image, and TR represents the threshold set on the R channel. Through this color model, a relatively loose color mask can be obtained, which contains the flame and all image areas with similar colors to the flame. The original dense anchor generation strategy in the Faster R-CNN flame recognition model is changed to a color-guided anchoring strategy. Only the anchor points are set in the area of ​​interest in the mask, and no anchors are generated in other areas of the color mask. This can greatly reduce the number of anchors generated initially, and the anchors are distributed around objects with similar colors to the flames, which also improves the average quality of the anchors. In order to implement the anchoring strategy described above, the core of the Faster R-CNN flame recognition model, that is, the original candidate anchor frame of the fire source location, is improved, which is called Masked RPN (hereinafter referred to as Masked RPN). Masked RPN accepts a color mask of the same size as the feature map as input, so that the color mask information can be combined to obtain the final candidate anchor frame of the fire source location so that the anchor is generated only in the area of ​​interest.

[0130] In the above scheme, the mask convolution layer only performs convolution on the masked area of ​​interest, and sets other areas to zero, thereby reducing a portion of the matrix dot multiplication operations. By using mask convolution to implement the color-guided anchoring strategy, the efficiency of the model calculation can be improved.

[0131] In one embodiment, the process of extracting the candidate anchor frame of the fire source location includes extracting the feature map to obtain the candidate anchor frame of the fire source location, such as Fig. 9 shown.

[0132] To optimize the above technical solution, the fire-fighting robot further comprises: an infrared thermal camera arranged on the fire-fighting robot body 1;

[0133] An infrared thermal camera is used to collect the image to be judged and converted into a thermal imaging image. For the high-temperature object in the thermal imaging image, the image recognition and registration technology is used to map its position to the visible light image. If the FasterR-CNN flame recognition model also detects a flame target at the corresponding position in the visible light image, it is determined that there is a flame at that position.

[0134] In the above scheme, the Faster R-CNN flame recognition model is used to obtain the location of the flame target in the visible light image (given in the form of a rectangular box). However, there may be some image areas with similar flame features in the actual scene, such as sunset images. The Faster R-CNN flame recognition model is difficult to distinguish whether these areas are flames, which makes the above method not feasible to use alone in practical applications. In addition, the use of infrared thermal cameras is added to further determine the final candidate anchor frame of the fire source location obtained by the Faster R-CNN flame recognition model; a single pixel in the thermal imaging image can realize the detection and discovery function of the target (called 1x1 mode), that is, a high temperature point on the image is detected (a highlight point in the grayscale image). If the thermal imaging image detects a high temperature point, the Faster R-CNN flame recognition model also detects a flame target at the corresponding position in the visible light image, then it is determined that there is a flame at the corresponding position of the final candidate anchor frame of the fire source location.

[0135] In order to further improve the accuracy of flame detection, the infrared thermal camera needs to collect a certain set of pixels, such as 2x2, 3x3, and 4x4 modes, and determine whether the alarm conditions are met by examining the average temperature in the set; for high-temperature objects detected in thermal imaging images, use image recognition and registration technology to map their positions to visible light images. If the Faster R-CNN flame recognition model also detects a flame target at the corresponding position in the visible light image, it is determined that there is a flame at that position.

[0136] In some embodiments, a fire detection and fire fighting robot adapted to an offshore operating platform according to an embodiment of the present invention has a control unit and an actuator that are communicatively connected to control the actuator, perform centralized processing and calculation of data, and formulate the movement path and behavior of the fire fighting robot.

[0137] The technical features mentioned above, the technical features to be mentioned below, and the technical features shown separately in the drawings can be combined with each other arbitrarily, as long as the combined technical features are not contradictory. All feasible feature combinations are technical contents clearly recorded in this article. Any of the multiple sub-features contained in the same sentence can be applied independently, and does not have to be applied together with other sub-features.

[0138] The present invention is further described below in conjunction with specific embodiments:

[0139] As shown in the figure, in some embodiments, the fire-fighting robot includes a fire-fighting robot body 1, a track chassis 2 is installed on the fire-fighting robot body 1, a water tank 3 is installed on the fire-fighting robot body 1, a power supply component 11 is arranged inside the fire-fighting robot body 1, a water cannon 12 is fixedly installed on the fire-fighting robot body 1, the water cannon 12 is connected to a gun barrel 15 through a telescopic tube, three groups of support frames 16 are fixedly installed inside the gun barrel 15, a first delivery pipe 17 is fixedly installed inside the support frame 16, a connector 19 is fixedly installed on the gun barrel 15, and one end of the connector 19 is connected to the first delivery pipe 17, two groups of fire extinguisher tanks are installed inside the fire-fighting robot body 1, and the output end of the fire extinguisher tank is connected to the connector 19 through a four-branch pipe and a delivery pipe.

[0140] In some embodiments, when the fire-fighting robot performs fire-fighting and rescue tasks, the track chassis 2 provides the robot with mobility (a drive motor is provided inside the fire-fighting robot to drive the track chassis 2 to move), and the robot can be moved and manipulated in different terrains and environments. It usually adopts a track structure and has good stability and passability. The water cannon 12 is the core component of the robot, which can launch fire extinguishing agents such as water mist, foam or dry powder to effectively extinguish fires and reduce the risk of fire. The water cannon 12 can rotate and pitch to achieve precise fire-fighting operations. The power supply component 11 provides power to the robot, and batteries can be used to provide energy. The power supply component 11 can meet the working time and power of the robot. In order to meet the demand for rate, a sensor unit is installed in the intelligent fire-fighting robot body 1, which is responsible for sensing the environment and collecting relevant information. It may include smoke sensors, temperature sensors, gas sensors, etc., so as to detect fires and other dangerous situations in time. The control unit is the brain of the robot, which is responsible for processing and analyzing the data collected by the sensor unit and performing corresponding tasks as needed. The positioning and navigation system of the control unit is mainly used to determine the position and direction of the robot in space for precise operation and navigation. Through the combination and collaborative work of modules, the fire-fighting robot can accurately and efficiently perform tasks such as fire fighting, evacuation of personnel, search and rescue, etc., to improve the efficiency and safety of fire fighting and rescue. The power supply component 11 is used for fire fighting. Each functional module of the fire-fighting robot provides the required power supply voltage and current to ensure the normal operation of the fire-fighting robot. The control unit is responsible for centralized processing and calculation of sensor data, as well as control of actuators (such as water cannons), and at the same time formulates the movement path and behavior of the fire-fighting robot. The antenna component adopts outdoor high-precision positioning and navigation technology to realize the trackless navigation movement of the fire-fighting robot. Through the wireless network, the fire-fighting robot can collect data centrally and upload it to the server for intelligent data analysis to provide a basis for decision-making. The nozzle 18 is conical and suitable for the fire-fighting robot on the offshore operating platform. The input end of the water cannon 12 on the fire-fighting robot is connected to the external fire hose through the buckle interface 21. , and then the water source can flow into the interior of the water cannon 12, and the control unit inside the fire-fighting robot controls the switch, left and right rotation, and up and down elevation angles of the water cannon 12 to achieve precise spraying at the fire source. The water source entering the water cannon 12 is sprayed to the water source through the gun barrel 15. When the fire extinguishing medium is replaced according to the fire source, a solenoid valve 29 is provided at the output end of the fire extinguisher tank. The solenoid valve 29 is controlled by the control unit to work, and then the working state of the fire extinguisher tank can be controlled. The output end of the fire extinguisher tank is no longer sealed by the solenoid valve 29, and the dry powder will flow into the interior of the first delivery pipe 17 through the four-branch pipe and the connector 19, and then sprayed to the fire source through the nozzle 18, thereby facilitating the purpose of replacing the fire extinguishing medium.

[0141] Some effects of the present invention:

[0142] 1. A fire-fighting robot of the present invention can realize real-time tracking of fire sources under complex conditions, locate the fire sources, and automatically adjust the posture of the fire-fighting robot's fire cannon to automatically spray and extinguish fires, thereby realizing the purpose of rapid automatic navigation and fire fighting of the fire-fighting robot in a narrow space.

[0143] 2. A fire-fighting robot of the present invention switches the fire-extinguishing medium to extinguish the fire according to the identified fire source conditions. The input end of the water cannon is connected to the external fire hose through a snap-on interface, so that the water source can flow into the interior of the water cannon. The control unit inside the fire-fighting robot controls the switch, left and right rotation, and up and down elevation of the water cannon to achieve precise spraying at the fire source. The water source entering the water cannon is sprayed toward the water source through the gun barrel. When the fire-extinguishing medium is replaced according to the fire source, an electromagnetic valve is provided at the output end of the fire extinguisher. The operation of the electromagnetic valve is controlled by the control unit, so that the working state of the fire extinguisher can be controlled. The output end of the fire extinguisher is no longer sealed by the electromagnetic valve, and the dry powder will flow into the interior of the first delivery pipe through the four-branch pipe and the connector, and then sprayed toward the fire source through the nozzle, thereby facilitating the purpose of replacing the fire extinguishing medium.

[0144] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0145] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire-fighting robot, applied to an offshore operating platform, characterized in that: include: Actuators and control units; The actuator comprises: a fire-fighting robot body (1), a crawler chassis (2), a camera (10), a water cannon (12), a cannon tube (15), a first delivery pipe (17) and a fire extinguisher assembly (20); The control unit is arranged in the fire-fighting robot body (1); the crawler chassis (2) for movement are respectively installed on both sides of the bottom of the fire-fighting robot body (1), and the camera (10) is installed on the top of the fire-fighting robot body (1); The gun barrel (15) is installed on the head of the fire-fighting robot body (1) through the water monitor (12); the first delivery pipe (17) is inserted into the gun barrel (15); a liquid pipeline is formed between the gun barrel (15) and the first delivery pipe (17); the water inlet end of the gun barrel (15) is connected to the water outlet end of the water monitor (12); and the water inlet end of the water monitor (12) is used to connect a fire hose; The nozzle (18) of the first delivery pipe (17) faces the water outlet end of the gun tube (15), and the connector (19) of the first delivery pipe (17) passes through the peripheral wall of the gun tube (15) and is connected to the fire extinguisher assembly (20) arranged at the rear of the fire-fighting robot body (1); The control unit is communicatively connected with the actuator to control the actuator, perform centralized processing and calculation on data, and formulate the movement path and behavior of the fire-fighting robot.

2. The fire-fighting robot according to claim 1, characterized in that: The actuator further comprises: a support frame (16); The support frame (16) is arranged between the gun barrel (15) and the first delivery pipe (17), and is used to support and fix the first delivery pipe (17) in the gun barrel (15).

3. The fire-fighting robot according to claim 1, characterized in that: The actuator also includes: a telescopic tube and an electric push rod (14); The gun barrel (15) is connected to the water monitor (12) via the telescopic tube, the fixed end of the electric push rod (14) is fixed to the outer peripheral wall of the water monitor (12), and the free end of the electric push rod (14) is connected to the gun barrel (15).

4. The fire-fighting robot according to claim 1, characterized in that: The actuator also includes: a high-precision vehicle-mounted antenna (4) and an ultrasonic wind speed transmitter (5) arranged on the top of the fire-fighting robot body (1).

5. The fire-fighting robot according to claim 1, characterized in that: The actuator also includes: an antenna assembly; The antenna assembly comprises: a remote control receiving antenna (6), a base station communication antenna (7) and a 4G antenna (8) all arranged on the fire-fighting robot body (1); The remote control receiving antenna (6), the base station communication antenna (7) and the 4G antenna (8) are all electrically connected to the control unit.

6. The fire-fighting robot according to claim 1, characterized in that: The actuator also includes: an audible and visual alarm light (9) installed on the top of the fire-fighting robot body (1).

7. The fire-fighting robot according to claim 1, characterized in that: The actuator further comprises: an air pump (13) mounted on the outer peripheral wall of the water monitor (12), and the output end of the air pump (13) extends to the interior of the water monitor (12).

8. The fire-fighting robot according to claim 1, characterized in that: The actuator further comprises: a buckle interface (21) arranged at the tail of the fire-fighting robot body (1); The water inlet end of the water monitor (12) extends to the rear of the fire-fighting robot body (1) and is connected to one end of the buckle interface (21); the other end of the buckle interface (21) is used for buckling the fire-fighting water hose.

9. The fire-fighting robot according to claim 1, characterized in that: The fire extinguisher assembly (20) comprises: a second delivery pipe (22), a solenoid valve (29) and a fire extinguisher tank (30); The first delivery pipe (17) is connected to the output port of the fire extinguisher tank (30) through the second delivery pipe (22), and the solenoid valve (29) is arranged on the output port of the fire extinguisher tank (30); Wherein, the control unit controls the electromagnetic valve (29) to open or close.

10. The fire-fighting robot according to any one of claims 1 to 9, characterized in that: The actuator also includes: a water mist cooling component; The water mist cooling component comprises: a water tank (3) and a connecting pipe (23), a first cooling pipe (24), a second cooling pipe (25), a high-pressure water pump (28), a first water mist pipe and a second water mist pipe, all of which are located inside the fire-fighting robot body (1); The number of the water tanks (3) is two, and the two water tanks (3) are respectively arranged on both sides of the top of the fire-fighting robot body (1), and the two water tanks (3) are connected through the connecting pipe (23); the middle part of the connecting pipe (23) is connected to the water monitor (12); The first end of the first cooling pipe (24) is connected to one of the two water tanks (3), and the second end is connected to the other of the two water tanks (3); the first cooling pipe (24) is connected to the second cooling pipe (25) through the high-pressure water pump (28); The two water outlet ends of the second cooling pipe (25) are respectively connected to the first water mist pipe and the second water mist pipe, and the first water mist pipe and the second water mist pipe are respectively arranged on both sides of the fire-fighting robot body (1); The first water mist pipe is provided with a first water mist nozzle (26), and the second water mist pipe is provided with a second water mist nozzle (27).

11. A fire extinguishing method using a fire extinguishing robot, using the fire extinguishing robot according to any one of claims 1 to 10, comprising the steps of: The control unit uses the camera (10) to locate the fire source and obtain the location information of the fire source; Based on the positioning information, the control unit controls the crawler chassis (2) to move to the fire source, and switches the fire extinguishing medium according to the type of the fire source to extinguish the fire; if water is used for fire extinguishing, the water inlet end of the water cannon (12) is connected to the fire hose, and the water source is sprayed from the liquid pipeline through the cannon tube (15) to extinguish the fire; if foam or dry powder is used for fire extinguishing, the connector (19) of the first delivery pipe (17) is connected to the fire extinguisher assembly (20), and the foam or dry powder of the fire extinguisher assembly (20) is sprayed from the first delivery pipe (17) through the cannon tube (15) to extinguish the fire.

12. The fire extinguishing method according to claim 11, characterized in that: The control unit uses the camera (10) to locate the fire source, including: The control unit receives a fire source image captured by a camera (10), performs flame recognition based on a preset Faster R-CNN model, and outputs location information of the fire source; The FasterR-CNN model includes at least a color model and a mask RPN, wherein the color model is derived based on color features; the mask RPN is constructed based on a feature map obtained by extracting features from sample fire sources; The process of performing flame recognition based on the preset FasterR-CNN model and outputting the location information of the fire source includes: Preprocess the input fire source image; Generate the original candidate anchor frame of the fire source location using the preprocessed fire source image; Using the color model and the mask RPN to perform constraint processing in the original fire source location candidate anchor frame to obtain a final fire source location candidate anchor frame; Determine the position and confidence information of the flame of the fire source image located in the new fire source position candidate anchor frame; The flame is located according to the position and confidence information of the flame, and the location information of the fire source is obtained and outputted.

13. The fire extinguishing method according to claim 12, characterized in that: The method of using the color model and the mask RPN to perform constraint processing in the original fire source position candidate anchor frame to obtain the final fire source position candidate anchor frame includes: Obtaining a color mask of the original fire source location candidate anchor frame based on the color model; The color mask is used as the input of the mask RPN, and the mask RPN constrains the color mask so that anchors are generated only in the area of ​​interest, and outputs the final candidate anchor frame of the fire source location.

14. The fire extinguishing method according to claim 12, characterized in that: The fire-fighting robot further comprises: an infrared thermal camera arranged on the fire-fighting robot body (1); The infrared thermal camera is used to collect the image to be judged, and the image to be judged is converted into a thermal imaging image; for the high-temperature object in the thermal imaging image, the position is mapped to the visible light image using image recognition and registration technology, and if the Faster R-CNN flame recognition model also detects a flame target at the corresponding position in the visible light image, it is determined that there is a flame at the position.

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