Fire extinguishing system suitable for quadruped robot

Abstract

The invention belongs to the technical field of fire-fighting quadruped robots, and particularly relates to a fire-fighting fire extinguishing system suitable for a quadruped robot, which comprises a quadruped robot, a double-layer mounting frame is arranged on the upper part of the quadruped robot, and an industrial personal computer, an edge computer and a voltage stabilizer are mounted on the first layer of the double-layer mounting frame; a direct-current power source, a switch, a positioning camera and a fire extinguisher are installed on the second layer of the double-layer installation frame, a supporting frame is further installed at the end of the second layer of the double-layer installation frame, a laser radar is arranged at the upper end of the supporting frame, and a binocular depth camera is installed on the side of the upper end of the supporting frame. The outlet end of the fire extinguisher is connected with a first pipeline, the end of the first pipeline penetrates through the partition plate of the double-layer mounting frame to be connected with a pressure stabilizer, and the output end of the pressure stabilizer is connected with a spray pipe. The unmanned aerial vehicle can keep excellent maneuverability and stability, can stably work in a high-temperature environment, effectively resists smoke interference, and easily deals with various complex terrains.

Description

Technical Field

[0001] The invention belongs to the technical field of fire-fighting quadruped robots, and in particular relates to a fire-fighting extinguishing system suitable for quadruped robots. Background Art

[0002] With the acceleration of urbanization, the number of high-rise buildings and complex structures is increasing. Traditional firefighting equipment and methods are inadequate in the face of complex fire environments. With its excellent mobility and stability, quadruped robots have shown great application potential in search and rescue and reconnaissance. However, existing quadruped robots still have shortcomings in fire source identification, smoke interference prevention, and adaptation to complex terrain, making it difficult to fully meet the high standards of firefighting and rescue.

[0003] In order to break through this bottleneck, the present invention is committed to developing a new type of quadruped robot, which can not only maintain excellent mobility and stability, but also work stably in high temperature environment, effectively resist smoke interference, and easily cope with various complex terrains. The advent of this robot will bring revolutionary progress to the field of fire rescue, greatly improve rescue efficiency and ensure the safety of rescuers. Summary of the invention

[0004] The purpose of the present invention is to provide a fire extinguishing system suitable for a quadruped robot, which can maintain excellent maneuverability and stability, work stably in a high temperature environment, effectively resist smoke interference, and easily cope with various complex terrains.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A fire-fighting extinguishing system suitable for a quadruped robot comprises a fire-fighting robot and a control system, wherein the fire-fighting robot comprises a quadruped robot, a double-layer mounting frame is provided on the upper part of the quadruped robot, an industrial computer, an edge computer and a voltage stabilizer are installed on the first layer of the double-layer mounting frame, a DC power supply, a switch, a positioning camera and a fire extinguisher are installed on the second layer of the double-layer mounting frame, a support frame is also installed on the end of the second layer of the double-layer mounting frame, a laser radar is provided on the upper end of the support frame, and a binocular depth camera is installed on the side of the upper end of the support frame.

[0007] Preferably, an image transmission device is fixedly installed on the fire extinguisher, the outlet end of the fire extinguisher is connected to a first pipe, the end of the first pipe passes through the double-layer mounting frame partition and is connected to the voltage stabilizer, and the output end of the voltage stabilizer is connected to a nozzle.

[0008] Preferably, a first fixing ring is fixedly connected to the double-layer mounting frame, the nozzle passes through the first fixing ring, an electric first telescopic rod is provided on the side of the double-layer mounting frame, an electric second telescopic rod is provided at the output end of the electric first telescopic rod, a sleeve is connected to the output end of the electric second telescopic rod, and the sleeve is sleeved on the nozzle.

[0009] Preferably, the first electric telescopic rod and the second electric telescopic rod are perpendicular to each other, and the collar is located on one side of the first fixing ring.

[0010] Preferably, the industrial computer is used for calculation of the control algorithm and communicates with the edge computer.

[0011] Preferably, the binocular depth camera identifies the fire source at the fire scene through the edge computer, and the edge computer adjusts the nozzle angle through the first electric telescopic rod and the second electric telescopic rod according to the location of the fire source.

[0012] Preferably, the laser radar performs mapping and positioning through the edge computer.

[0013] Preferably, the positioning camera performs calculations through the industrial computer to obtain the global positioning of the quadruped robot.

[0014] Preferably, the control system includes a perception system, a communication system, a software system and a hardware system.

[0015] The technical effects achieved by the present invention are:

[0016] The present invention proposes a fire-fighting quadruped robot system designed specifically for fire-fighting and rescue scenarios, aiming to significantly improve the rescue efficiency at the fire scene and ensure the safety of rescuers. The fire-fighting quadruped robot has a high degree of autonomy by integrating a series of advanced sensors and artificial intelligence algorithms. It can navigate independently, accurately identify the source of fire and toxic gases, and intelligently select and execute the most effective fire-fighting strategy according to the fire situation. These functions not only improve the efficiency of fire-fighting, but also reduce the dependence on firefighters, thereby reducing their risks when performing dangerous tasks. In addition, the fire-fighting quadruped robot of the present invention is also equipped with a series of special tools and equipment designed specifically for fire-fighting and rescue. The fire-fighting quadruped robot can carry a fire extinguisher and suppress the fire through precise spraying. In order to further improve the rescue efficiency, the fire-fighting quadruped robot of the present invention also has the ability to work in coordination with other rescue equipment. It can maintain real-time contact with the command center and other rescue robots through a wireless communication system, share key information, and dynamically adjust the rescue strategy according to the on-site situation.

[0017] The firefighting robot proposed by the present invention can work stably in a high temperature and smoky environment, and can adapt to various complex terrains to perform tasks such as fire source identification, fire source extinguishing and material transportation. At the same time, the present invention also provides a system for controlling the quadruped robot, so that it can intelligently adjust its action strategy according to the fire scene environment to improve rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of a quadruped robot for fire fighting in a fire extinguishing system suitable for a quadruped robot according to the present invention;

[0019] Figure 2 It is a schematic diagram of the main structure of a quadruped robot for fire fighting in a fire extinguishing system suitable for a quadruped robot according to the present invention;

[0020] Figure 3 It is a structural framework diagram of a fire extinguishing system suitable for a quadruped robot according to the present invention.

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0022] 1. Quadruped robot; 2. Double-layer mounting frame; 3. Industrial computer; 4. Edge computer; 5. Voltage stabilizer; 6. DC power supply; 7. Switch; 8. Positioning camera; 9. Fire extinguisher; 10. Support frame; 11. LiDAR; 12. Binocular depth camera; 13. Image transmission; 14. First tube; 15. Nozzle; 16. First fixing ring; 17. Electric first telescopic rod; 18. Electric second telescopic rod; 19. Ring. DETAILED DESCRIPTION

[0023] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0024] like Figure 1 As shown, a fire-fighting system suitable for a quadruped robot includes a fire-fighting robot and a control system, wherein the fire-fighting robot includes a quadruped robot 1, a double-layer mounting frame 2 is provided on the upper part of the quadruped robot 1, an industrial computer 3, an edge computer 4 and a voltage stabilizer 5 are installed on the first layer of the double-layer mounting frame 2, a DC power supply 6, a switch 7, a positioning camera 8 and a fire extinguisher 9 are installed on the second layer of the double-layer mounting frame 2, a support frame 10 is also installed at the end of the second layer of the double-layer mounting frame 2, a laser radar 11 is provided on the upper end of the support frame 10, and a binocular depth camera 12 is installed on the side of the upper end of the support frame 10.

[0025] Preferably, a video transmitter 13 is fixedly mounted on the fire extinguisher 9, an outlet end of the fire extinguisher 9 is connected to a first pipe 14, an end of the first pipe 14 passes through the partition of the double-layer mounting frame 2 and is connected to the voltage regulator 5, and an output end of the voltage regulator 5 is connected to a nozzle 15.

[0026] Preferably, a first fixing ring 16 is fixedly connected to the double-layer mounting frame 2, and the nozzle 15 passes through the first fixing ring 16. An electric first telescopic rod 17 is provided on the side of the double-layer mounting frame 2, and an electric second telescopic rod 18 is provided at the output end of the electric first telescopic rod 17. A ring 19 is connected to the output end of the electric second telescopic rod 18, and the ring 19 is sleeved on the nozzle 15; the electric first telescopic rod 17 and the electric second telescopic rod 18 are perpendicular to each other, and the ring 19 is located on one side of the first fixing ring 16.

[0027] Preferably, the industrial computer 3 is used for calculating the control algorithm and communicating with the edge computer 4 .

[0028] Preferably, the binocular depth camera 12 identifies the fire source at the fire scene through the edge computer 4, and the edge computer 4 adjusts the angle of the nozzle 15 through the first electric telescopic rod 17 and the second electric telescopic rod 18 according to the location of the fire source.

[0029] In actual use, the edge computer 4 drives the output end of the first electric telescopic rod 17 to slide horizontally or drives the output end of the second electric telescopic rod 18 to slide horizontally to adjust the position of the collar 19, and cooperates with the first fixed ring 16 to change the angle of the nozzle 15, thereby adjusting the angle of the fire extinguishing agent to achieve high-precision fire extinguishing. Specifically, the fire source image is processed and positioned to adjust the fire extinguishing angle.

[0030] Preferably, the laser radar 11 performs mapping and positioning through the edge computer 4 .

[0031] Preferably, the positioning camera 8 performs calculations through the industrial computer 3 to obtain the global positioning of the quadruped robot 1 .

[0032] The working principle of the present invention is as follows: the fire-fighting quadruped robot 1 is modified on the basis of a conventional quadruped robot 1, and its structural diagrams in various directions are as follows: Figure 1 as well as Figure 2 As shown, Figure 1 as well as Figure 2 The components of the fire-fighting quadruped robot 1 are specifically shown; the main structure of the control system can be divided into four parts: including the perception system, communication system, software system and hardware system. The specific structural framework diagram is as follows Figure 3 shown.

[0033] Its perception system consists of a binocular depth camera 12, a laser radar 11 and a T265 positioning camera 8; the system is mainly responsible for identifying and locating the fire scene, wherein the binocular depth camera 12 is used to obtain the depth information of the environment, helping the fire-fighting quadruped robot 1 to accurately perceive the environment and locate the fire source; the laser radar 11 is used to measure the distance and speed of surrounding objects, helping the fire-fighting quadruped robot 1 to perform environmental modeling and obstacle avoidance; the T265 positioning camera 8 is used for the precise positioning and navigation of the fire-fighting quadruped robot 1, including visual odometer and simultaneous localization and mapping (SLAM) functions; these three cooperate with each other to transmit the collected fire scene map information to the edge computer 4 and the upper controller, which integrate the information. In summary, the main task of the perception system is to realize the recognition and positioning of the fire scene.

[0034] The communication system is composed of a PC terminal and a switch 7. The operator can remotely monitor and control the fire-fighting quadruped robot 1 through a computer, and the fire-fighting quadruped robot 1 can also connect different controllers and computing units through a local area network. All internal and external components need to use the internal UDP communication protocol through the switch 7 to ensure reliable data transmission.

[0035] The software system of the fire-fighting quadruped robot 1 is composed of many functional modules, including fire source detection, fire source positioning, autonomous navigation, image transmission 13, path planning, communication protocol, SLAM and sensor configuration. This module contains many sensors and plays a key role in the operation of the fire-fighting quadruped robot 1. After the software system identifies and maps the fire scene through sensors, it can issue instructions to the controller to control the hardware system.

[0036] As for the hardware system, in addition to the joint motor device of the conventional quadruped robot 1, the fire-fighting robot is additionally equipped with a fire extinguisher 9 control device, and the industrial computer 3 controls the voltage stabilizer 5 and the corresponding solenoid valve to control the switch of the fire extinguisher 9.

[0037] The use process of the fire-fighting quadruped robot 1 can be as follows:

[0038] Step 1: Preparation phase:

[0039] Check equipment: Before deploying the fire-fighting quadruped robot 1, check whether all hardware components and sensors are working properly, including the binocular depth camera 12, the laser radar 11, the T265 positioning camera 8, etc.

[0040] Communication test: Test the communication connection between the PC terminal and the fire-fighting quadruped robot 1 to ensure that the local area network and UDP protocol work properly.

[0041] Step 2: Deployment phase:

[0042] Start the fire-fighting quadruped robot 1: turn on the industrial computer 3 and the edge computer 4, and start the software system of the fire-fighting quadruped robot 1.

[0043] Initialize sensors: Start the perception system, including the binocular depth camera 12, the lidar 11, and the T265 positioning camera 8, to perform environmental perception and self-positioning.

[0044] Connecting to a PC terminal: An operator connects to the firefighting quadruped robot 1 via a PC terminal, and is ready to remotely control or monitor the quadruped robot, and to remotely intervene when necessary.

[0045] Step 3: Mission planning phase:

[0046] Mission input: The operator inputs mission instructions through the PC terminal, including target location, fire-fighting strategy and search path.

[0047] Path planning: The upper-level controller plans the best path to the target location based on the input task instructions and sensor data.

[0048] Step 4: Execute the task:

[0049] Autonomous navigation: The fire-fighting quadruped robot 1 starts the joint motors according to the planned path and begins autonomous navigation to the fire source.

[0050] Fire source detection and location: The fire-fighting quadruped robot 1 uses a sensing system to detect the fire source and accurately locate the fire source.

[0051] SLAM mapping: During the movement, the fire-fighting quadruped robot 1 uses SLAM technology for simultaneous positioning and mapping to adapt to environmental changes.

[0052] Step 5: Fire Extinguishing Phase:

[0053] Automatic control of the fire extinguisher 9: After the fire-fighting quadruped robot 1 reaches the fire source, it automatically starts the fire extinguisher 9 to perform the fire extinguishing operation.

[0054] Fire source monitoring: Through the image transmission system 13, the operator can monitor the fire source and the fire-fighting effect of the fire-fighting quadruped robot 1 in real time.

[0055] Adjusting strategy: According to the fire source, the operator can adjust the fire extinguishing strategy, and the fire-fighting quadruped robot 1 operates according to the new instructions.

[0056] Step 6: Mission completion phase:

[0057] Mission evaluation: After the fire is extinguished, the fire-fighting quadruped robot 1 conducts a final detection of the fire source area to ensure that the fire has been completely extinguished.

[0058] Return to base: After the mission is completed, the fire-fighting quadruped robot 1 returns to the base or a designated safe area according to a preset path.

[0059] Step 7: Maintenance and Charging:

[0060] Equipment inspection: Perform a comprehensive inspection on the fire-fighting quadruped robot 1 to ensure that there is no damage and perform necessary maintenance.

[0061] Charging: The fire-fighting quadruped robot 1 is charged to prepare for the next mission.

[0062] During the entire use process, the autonomy of the fire-fighting quadruped robot 1 and the remote control of the operator are combined to ensure the safety and efficiency of performing tasks in dangerous environments.

[0063] The present invention proposes a quadruped robot system design specially designed for firefighting and rescue scenarios, aiming to significantly improve the rescue efficiency at the fire scene and ensure the safety of rescuers. The firefighting quadruped robot 1 has a high degree of autonomy by integrating a series of advanced sensors and artificial intelligence algorithms. It can navigate independently, accurately identify the source of fire and toxic gases, and intelligently select and execute the most effective firefighting strategy according to the fire situation. These functions not only improve the efficiency of firefighting, but also reduce the dependence on firefighters, thereby reducing their risks when performing dangerous tasks. In addition, the firefighting quadruped robot 1 of the present invention is also equipped with a series of special tools and equipment designed specifically for firefighting and rescue. The firefighting quadruped robot 1 can carry a fire extinguisher 9 to suppress the fire through precise spraying. In order to further improve the rescue efficiency, the firefighting quadruped robot 1 of the present invention also has the ability to work in coordination with other rescue equipment. It can maintain real-time contact with the command center and other rescue robots through a wireless communication system, share key information, and dynamically adjust the rescue strategy according to the on-site situation.

[0064] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A fire extinguishing system suitable for a quadruped robot, characterized in that: The invention comprises a fire-fighting robot and a control system, wherein the fire-fighting robot comprises a quadruped robot (1), wherein a double-layer mounting frame (2) is provided on the upper part of the quadruped robot (1), wherein an industrial computer (3), an edge computer (4) and a voltage stabilizer (5) are installed on the first layer of the double-layer mounting frame (2), wherein a direct current power supply (6), a switch (7), a positioning camera (8) and a fire extinguisher (9) are installed on the second layer of the double-layer mounting frame (2), wherein a support frame (10) is also installed at the end of the second layer of the double-layer mounting frame (2), wherein a laser radar (11) is provided on the upper end of the support frame (10), and a binocular depth camera (12) is installed on the side of the upper end of the support frame (10).

2. A fire extinguishing system suitable for a quadruped robot according to claim 1, characterized in that: The fire extinguisher (9) is fixedly provided with an image transmission device (13); the outlet end of the fire extinguisher (9) is connected to a first pipe (14); the end of the first pipe (14) passes through the partition of the double-layer mounting frame (2) and is connected to the voltage regulator (5); the output end of the voltage regulator (5) is connected to a nozzle (15).

3. A fire extinguishing system suitable for a quadruped robot according to claim 2, characterized in that: A first fixing ring (16) is fixedly connected to the double-layer mounting frame (2), and the nozzle (15) passes through the first fixing ring (16). A first electric telescopic rod (17) is provided on the side of the double-layer mounting frame (2), and an electric second telescopic rod (18) is provided at the output end of the first electric telescopic rod (17). A sleeve ring (19) is connected to the output end of the second electric telescopic rod (18), and the sleeve ring (19) is sleeved on the nozzle (15).

4. A fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The first electric telescopic rod (17) and the second electric telescopic rod (18) are perpendicular to each other, and the sleeve ring (19) is located on one side of the first fixing ring (16).

5. The fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The industrial computer (3) is used for calculating the control algorithm and for communicating with the edge computer (4).

6. A fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The binocular depth camera (12) identifies the fire source at the fire scene through the edge computer (4), and the edge computer (4) adjusts the angle of the nozzle (15) through the first electric telescopic rod (17) and the second electric telescopic rod (18) according to the location of the fire source.

7. A fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The laser radar (11) performs mapping and positioning through the edge computer (4).

8. The fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The positioning camera (8) performs calculations through the industrial computer (3), thereby obtaining the global positioning of the quadruped robot (1).

9. A fire extinguishing system suitable for a quadruped robot according to claim 3, characterized in that: The control system includes a perception system, a communication system, a software system and a hardware system.

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