Automatic fire extinguishing device for fire rescue quadruped robot and fire extinguishing method of automatic fire extinguishing device

Abstract

The invention belongs to the technical field of fire rescue equipment, and particularly relates to an automatic fire extinguishing device for a fire rescue quadruped robot and a fire extinguishing method of the automatic fire extinguishing device, which are combined with a flexible moving system of the quadruped robot, realize accurate injection and effectively control fire spreading through real-time detection of fire source position information by a visual identification module. Compared with a traditional manual fire extinguishing mode, the device can automatically execute the fire extinguishing task in the dangerous environment, the risk of firefighters is remarkably reduced, and the rescue safety is improved. And quick response to a fire source and efficient fire extinguishing are realized. Through the communication part, communication with an external terminal is kept in real time, an instruction is received, image information collected by the visual identification module is returned, and efficient unmanned fire extinguishing is achieved. The overall structural design is compact, operation is easy and convenient, good environment adaptability is achieved, fire extinguishers of different sizes are supported, efficient operation can be conducted in various complex fire-fighting scenes, and therefore the safety and efficiency of the fire extinguishing task are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of firefighting and rescue equipment, and in particular relates to an automatic fire extinguishing device for a firefighting and rescue quadruped robot and a fire extinguishing method thereof. Background Art

[0003] Traditional fire extinguishing devices and methods usually lack flexibility and adaptability, making it difficult to perform effective fire extinguishing operations in a changing fire environment. In the early stages of a fire, it is often impossible to respond in time, causing the fire to expand and cause greater losses.

[0004] In recent years, firefighting robots have gradually played a role in emergency rescue, especially quadruped robots, which can move flexibly in collapsed, tilted or obstacle-filled environments with their good terrain adaptability. However, the quadruped robots currently used for firefighting mostly have reconnaissance and search and rescue functions, but lack effective integrated devices for fire extinguishing, making it impossible to deal with the fire source in time, affecting the overall rescue efficiency.

[0005] Therefore, a new type of fire extinguishing device is urgently needed, which can combine the flexibility and intelligent control of quadruped robots to realize the fire source identification and positioning and the automatic switch function of fire extinguishers to complete the automatic fire extinguishing task. This will improve the efficiency of fire extinguishing, reduce the risk of life of firefighters, and be able to flexibly respond to fires in various complex environments. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic fire extinguishing device for a quadruped robot for firefighting and rescue, so as to improve the efficiency and accuracy of firefighting, reduce manpower input, and reduce the risk of life of firefighters. The flexibility and good passability of the quadruped robot are used to ensure that it can adapt to a variety of complex terrains and environments; at the same time, by combining visual recognition technology, the automation of the fire extinguisher switch is realized and the accuracy of the extinguishing work is improved.

[0007] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0008] In some embodiments of the present application, an automatic fire extinguishing device and a fire extinguishing method for a fire rescue quadruped robot are provided, including:

[0009] A moving component, wherein a central control module is provided inside the moving component;

[0010] A supporting component, which is arranged on the top of the moving component and is detachably fixedly connected to the moving component;

[0011] A fire extinguishing component, wherein the fire extinguishing component is fixed on the supporting component through a connecting component;

[0012] A control component, which is arranged on the output end of the fire extinguishing component, is electrically connected to the central control module by signal, and is fixedly connected to the supporting component;

[0013] A communication module, which is arranged on the supporting component and is connected to the central control component by electrical signals and is connected to an external terminal by wireless signals;

[0014] A visual recognition module is arranged on the moving component and is electrically signal-connected to the central control module.

[0015] In some embodiments of the present application, a plurality of adjustment components are provided on the moving end of the moving component, and the adjustment components are electrically connected to the central control module through signals, and are used to adjust the position and posture of the moving component.

[0016] In some embodiments of the present application, the connecting component is a combined structure, including:

[0017] A fixing assembly, wherein the fixing assembly is arranged on the supporting component and is fixedly connected to the supporting component;

[0018] A flexible component, one end of which is connected to the supporting component, and the other end of which is detachably connected to the fixed component, and the fire extinguishing component is arranged between the flexible component and the supporting component.

[0019] In some embodiments of the present application, the control component is a combined structure, including:

[0020] A support assembly, wherein the support assembly is arranged on the output end of the fire extinguishing component and is detachably fixedly connected to the fire extinguishing component;

[0021] A drive assembly, wherein the drive assembly is disposed on the support assembly and is fixedly connected to the support assembly, and an output end of the drive assembly is connected to an output end of the fire extinguishing component;

[0022] The control component is fixed on the support component and is respectively connected with the drive component and the central control module by electrical signals.

[0023] In some embodiments of the present application, the visual recognition module is a binocular depth camera, which is used to obtain image information in the current environment for the central control module and calculate the position information through the central control module.

[0024] In some embodiments of the present application, an automatic fire extinguishing method for a four-legged fire rescue robot is disclosed, using the automatic fire extinguishing device for a four-legged fire rescue robot, comprising the following steps:

[0025] 1) Startup and control: When a fire occurs, the user starts the automatic fire extinguishing device through the terminal device, and through wireless signal transmission, the automatic fire extinguishing device enters the fire scene according to the terminal command;

[0026] 2) Fire source detection and positioning: After the automatic fire extinguishing device enters the fire scene, it obtains the fire scene image through the visual recognition module, and enables the central control module to calculate based on the image information, determine the precise location of the fire source, and plan a reasonable path;

[0027] 3) Fire extinguishing: When the automatic fire extinguishing device reaches the position close to the fire source, the central control module controls the regulating component to adjust the posture of the automatic component device, and sends instructions to the control component to turn on the fire extinguishing component so that the output end of the fire extinguishing component always corresponds to the position of the fire source;

[0028] 4) Evacuation or replenishment: When the internal reserve of the fire extinguishing components is insufficient during the fire extinguishing process or after a single fire source is extinguished, the automatic fire extinguishing device sends a signal command to the terminal and exits the fire scene. After replacing the fire extinguishing components, it re-enters the fire scene to repeat the previous fire extinguishing action or look for a new fire source until all fire sources are eliminated. During this process, if the automatic fire extinguishing device receives a retreat command issued by the terminal, it will evacuate outside the fire scene.

[0029] Compared with the prior art, the beneficial effect of the present invention is that the present invention takes improving fire-fighting efficiency and reducing the risk of firefighters as the core goal, and realizes precise spraying and effectively controls the spread of fire by combining with the flexible mobile system of the quadruped robot and real-time detection of the fire source location information by the visual recognition module. Compared with the traditional manual fire-fighting method, the present device can automatically perform fire-fighting tasks in dangerous environments, significantly reducing the risk of firefighters and improving the safety of rescue. Rapid response to the fire source and efficient fire-fighting are achieved. The present invention maintains communication with the external terminal in real time through the communication component, receives instructions and returns the image information collected by the visual recognition module, and realizes efficient unmanned fire-fighting. The overall structural design of the present invention is compact, easy to operate, has good environmental adaptability, supports fire extinguishers of different sizes, and can operate efficiently in various complex fire-fighting scenes, thereby improving the safety and efficiency of fire-fighting tasks, and has significant practical value and social significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0031] Figure 1 Schematic diagram of the internal structure of the locking device provided by the embodiment of the present invention at different viewing angles;

[0032] Figure 2 Schematic diagram of the internal structure of the locking device provided by the embodiment of the present invention at different viewing angles;

[0033] Figure 3 A schematic diagram of the external structure of a locking device provided by an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the transmission principle inside the locking device provided by an embodiment of the present invention; DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0037] See attached Figure 1-3 As shown, according to some embodiments of the present application, it includes:

[0038] A mobile component 1, wherein a central control module is arranged inside the mobile component 1; it should be noted that the mobile component 1 is a remote control car, a mobile robot, etc., which can act as a device that follows instructions to move, wherein the central control module is a central processor or an industrial computer, etc., which can collect data, facilitate system integration, and allow different devices to work together. An industrial computer is preferably used. It should be further noted that the corresponding programming and configuration are pre-set in the industrial computer, so that different devices can achieve logical control.

[0039] The support component 3 is a plate or frame-shaped structure, and the support component 3 is arranged on the top of the moving component 1. The support component 3 is detachably fixedly connected to the moving component 1. The support component 3 is arranged on the moving component 1 through a slide rail, and the two are fixed by a connecting piece, so that the support component 3 keeps a constant position on the moving component 1, and the support component 3 provides installation space for other components;

[0040] The fire extinguishing component 5 is a fire extinguisher, and the fire extinguishing component 5 is fixed on the supporting component 3 through the connecting component 44, wherein the specifications of the fire extinguishing component 5 are selected according to actual needs and are not limited here. It should be noted that the connecting component 44 is a combined structure, including:

[0041] The fixing component is a structure such as a buckle or a clamp that can cooperate with the flexible component for locking. The fixing component is arranged on the supporting component 3 and is fixedly connected to the supporting component 3.

[0042] The flexible component is a line or belt structure such as a rope, cable, chain, etc., and its material is selected according to actual needs, preferably a high temperature resistant material. One end of the flexible component is connected to the support component 3, and the other end is detachably connected to the fixed component, and the fire extinguishing component 5 is arranged between the flexible component and the support component 3;

[0043] In other words, the fire extinguishing component 5 is bound to the supporting component 3 by the cooperation of the flexible component and the fixed component, so that the fire extinguishing component 5 will not move. The split structure is not only easy to replace, but also applicable to fire extinguishing components 5 of various specifications.

[0044] It should be further explained that, in order to facilitate rapid replacement of the fire extinguishing component 5, a quick-release connection is adopted between the flexible component and the fixed component.

[0045] It should be further explained that, in order to facilitate the central control module and the terminal to connect to the internal stock of the fire extinguishing component 5 in real time, a pressure detection sensor is provided inside the fire extinguishing component 5, and the pressure detection sensor is electrically connected to the central control module.

[0046] The control component 4 is arranged on the output end of the fire extinguishing component 5, is electrically connected to the central control module, and is fixedly connected to the support component 3. The control component 4 is a device capable of controlling the opening or closing of the fire extinguishing component 5, and opens or closes the fire extinguishing component 5 by receiving instructions from the central control module;

[0047] The communication module 6 is a wireless communication device, which is arranged on the supporting component 3. It is connected to the central control component by electrical signals, and is connected to the external terminal by wireless signals. Through the communication module 6, the terminal can send action instructions to the central control module outside the fire scene, and the central control module can transmit signals to the terminal, so that the terminal equipment outside the fire scene can connect and obtain fire scene information in real time;

[0048] The visual recognition module 2 is arranged on the mobile component 1 and is electrically connected to the central control module. The visual recognition module 2 is a binocular depth camera, which is used to obtain image information in the current environment for the central control module and calculate the position information through the central control module.

[0049] The technical effects produced by the above technical solution in the embodiment of the present application are:

[0050] The external terminal sends instructions to the central control module through the communication module 6, so that the central control module controls the mobile component 1 to enter the fire scene, and cooperates with the visual recognition module 2 to quickly locate the fire source, and draws a route that can reach the vicinity of the fire source according to the location of the fire source. After the mobile component 1 is controlled to reach the vicinity of the fire source, the central control module sends instructions to the control component 4, so that the fire extinguishing component 5 starts working to perform fire extinguishing operations. The remote control method is used to avoid personnel entering the fire scene to extinguish the fire, thereby improving the safety of fire extinguishing. By using the visual recognition module 2, the fire source can be quickly located, thereby achieving accurate and rapid fire extinguishing operations, providing a basis for improving fire extinguishing efficiency and accuracy and reducing the risks of firefighters.

[0051] In some embodiments of the present application, the above-mentioned technical solution is adopted, wherein a plurality of adjustment components are provided on the moving end of the movable component 1, and the adjustment components are electrically connected to the central control module through signals, and are used to adjust the position and posture of the movable component 1.

[0052] In other words, the movement at this time is a quadruped robot, that is, the moving part 1 has at least four driving legs with transformable shapes, and the adjusting part is a device or structure that can deform the driving legs, such as a servo motor that can perform angle-controlled rotation, etc. After receiving the instruction from the central control module, the adjusting part adjusts the driving legs (moving end) to make the overall shape of the moving part 1 in a preset state, so that the output end of the fire extinguishing part 5 can always correspond to the position of the fire source.

[0053] Through the above technical solution, the technical effects produced in the embodiments of the present application are:

[0054] The central control module controls the adjusting component to adjust the shape of the moving end of the moving component 1 so that the whole reaches a preset position, thereby facilitating the fire extinguishing component 5 to always be aligned with the fire source position, thereby improving the accuracy of fire extinguishing and thus improving the fire extinguishing efficiency.

[0055] In some embodiments of the present application, the above technical solution is adopted, wherein the control component 4 is a combined structure, including:

[0056] The support assembly 43 is a frame structure, and the support assembly 43 is arranged on the output end of the fire extinguishing component 5, and is detachably fixedly connected to the fire extinguishing component 5, and is used to provide installation space for other components;

[0057] The driving assembly 41 is a servo motor, and the driving assembly 41 is arranged on the supporting assembly 43, and is fixedly connected to the supporting assembly 43. A rocker arm 42 is arranged on the output end of the driving assembly 41, and is connected to the output end of the fire extinguishing component 5 through the rocker arm 42;

[0058] The control component 43 is a single-chip microcomputer minimum development board, which is fixed on the support component 43 and is electrically connected to the drive component 41 and the central control module respectively. In other words, the single-chip microcomputer minimum development board receives the control signal of the central control module through serial port communication, and controls the servo motor to drive the rocker arm 42 to switch the output end of the fire extinguishing component 5.

[0059] It should be noted that in order to improve the safety of the automatic fire extinguishing device, a thermal insulation cover is provided on each component to ensure the normal operation of each component.

[0060] Through the above technical solution, the technical effects produced in the embodiment itself are:

[0061] The control component 43 receives the command signal of the central control module, so that the driving component 41 is turned on or off, thereby turning on or off the output end of the fire extinguishing component 5. The signal transmission method is adopted to realize automatic operation and reduce manual operation, thereby further improving the fire extinguishing efficiency and reducing waste.

[0062] See attached Figure 4 As shown, an automatic fire extinguishing method for four groups of firefighting and rescue robots, using any of the automatic fire extinguishing devices for firefighting and rescue quadruped robots described in the above embodiments, comprises the following steps:

[0063] 1) Startup and control: When a fire occurs, the user starts the automatic fire extinguishing device through the terminal device, and through wireless signal transmission, the automatic fire extinguishing device enters the fire scene according to the terminal command;

[0064] It should be noted that when a fire occurs, the user assembles the automatic fire extinguishing device according to the corresponding connection relationship and issues a command to the automatic fire extinguishing device through the terminal device. At this time, after receiving the command from the terminal device, the communication module 6 transmits the signal command to the central control module, so that the central control module receives the image information of the visual recognition module 2, locates the fire scene, and issues a command to the mobile component 1 to make the automatic fire extinguishing device enter the fire scene;

[0065] 2) Fire source detection and positioning: After the automatic fire extinguishing device enters the fire scene, it obtains the fire scene image through the visual recognition module 2, and enables the central control module to calculate based on the image information, determine the precise location of the fire source, and plan a reasonable path;

[0066] It should be noted that when the automatic fire extinguishing device enters the fire scene, the visual recognition module 2 quickly scans the fire scene image, thereby obtaining the fire scene image information for the central control module, so that the central control module can quickly determine the location of the fire source according to the fire scene image information, and draw a forward route map according to the fire source location information and the fire scene terrain information, and the mobile component 1 can move according to the forward route map. At the same time, the central control module sends the fire scene image information and the location information of the automatic fire extinguishing device to the terminal through the communication module 6.

[0067] 3) Fire extinguishing: When the automatic fire extinguishing device reaches the position close to the fire source, the central control module controls the regulating component to adjust the posture of the automatic component device, and sends a command to the control component 4 to turn on the fire extinguishing component 5 so that the output end of the fire extinguishing component 5 always corresponds to the position of the fire source;

[0068] It should be noted that when the automatic fire extinguishing device reaches a position near the fire source, the central control module sends a command to the adjusting component, so that the moving end of the moving component 1 sends a shape and posture change until it reaches the target state. Then the central control module sends a command to the control component 4 to turn on the drive component 41 and the output end of the fire extinguishing component 5. At the same time, the output end of the fire extinguishing component 5 should always correspond to the position of the fire source. When an offset occurs, the central control module issues a command to the adjusting component for fine-tuning to accurately extinguish the fire.

[0069] 4) Evacuation or replenishment: When the automatic fire extinguishing device is in the process of extinguishing a fire or after extinguishing a single fire source, if the internal reserve of the fire extinguishing component 5 is insufficient, the automatic fire extinguishing device sends a signal command to the terminal, and exits the fire scene, replaces the fire extinguishing component 5, and then re-enters the fire scene to repeat the previous fire extinguishing action or look for a new fire source until all fire sources are eliminated. During this process, if the automatic fire extinguishing device receives a retreat command issued by the terminal, the automatic fire extinguishing device evacuates outside the fire scene.

[0070] It should be noted that during the fire extinguishing process, if the internal stock of the fire extinguishing component 5 is insufficient, the central control module receives an alarm signal from the internal pressure detection sensor of the fire extinguishing component 5, and the central control module closes the control component 4. At the same time, the central control module sends a command signal to the terminal through the communication module 6 to replace the fire extinguishing component 5, so that the external terminal prepares the corresponding fire extinguishing component 5 in advance. The central control module also sends a command to the mobile component 1 to exit the fire scene to replace the fire extinguishing component 5. After the replacement is completed, the central control module re-instructs the mobile component 1 to re-enter the fire source position and extinguish the fire again. When the fire source is eliminated, the central control module learns that the current fire source is eliminated by receiving the image information of the visual recognition module 2. If the terminal evacuation information is not received, the central control module controls the mobile component 1 to enter the next fire source position to extinguish the fire until the fire source is completely eliminated or the evacuation signal of the terminal is received, and the central control module controls the mobile component 1 to exit the fire scene.

[0071] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0073] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0074] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0075] 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. An automatic fire extinguishing device for a fire rescue quadruped robot, characterized in that: include: A moving component, wherein a central control module is provided inside the moving component; A supporting component, which is arranged on the top of the moving component and is detachably fixedly connected to the moving component; A fire extinguishing component, wherein the fire extinguishing component is fixed on the supporting component through a connecting component; A control component, which is arranged on the output end of the fire extinguishing component, is electrically connected to the central control module by signal, and is fixedly connected to the supporting component; A communication module, which is arranged on the supporting component and is connected to the central control component by electrical signals and is connected to an external terminal by wireless signals; A visual recognition module is arranged on the moving component and is electrically signal-connected to the central control module.

2. The automatic fire extinguishing device for a firefighting and rescue quadruped robot according to claim 1, characterized in that: A plurality of adjusting components are arranged on the moving end of the moving component, and the adjusting components are electrically connected to the central control module, and are used to adjust the position and posture of the moving component.

3. The automatic fire extinguishing device for a firefighting and rescue quadruped robot according to claim 1, characterized in that: The connecting component is a combined structure, comprising: A fixing assembly, wherein the fixing assembly is arranged on the supporting component and is fixedly connected to the supporting component; A flexible component, one end of which is connected to the supporting component, and the other end of which is detachably connected to the fixed component, and the fire extinguishing component is arranged between the flexible component and the supporting component.

4. The automatic fire extinguishing device for a firefighting and rescue quadruped robot according to claim 1, characterized in that: The control component is a combined structure, comprising: A support assembly, wherein the support assembly is arranged on the output end of the fire extinguishing component and is detachably fixedly connected to the fire extinguishing component; A drive assembly, wherein the drive assembly is disposed on the support assembly and is fixedly connected to the support assembly, and an output end of the drive assembly is connected to an output end of the fire extinguishing component; The control component is fixed on the support component and is respectively connected with the drive component and the central control module by electrical signals.

5. The automatic fire extinguishing device for a firefighting and rescue quadruped robot according to claim 1, characterized in that: The visual recognition module is a binocular depth camera, which is used to obtain image information in the current environment for the central control module and calculate position information through the central control module.

6. An automatic fire extinguishing method for a four-legged firefighting rescue robot, using the automatic fire extinguishing device for a four-legged firefighting rescue robot as described in any of claims 1 to 5, characterized in that: The following steps are involved: 1) Startup and control: When a fire occurs, the user starts the automatic fire extinguishing device through the terminal device, and through wireless signal transmission, the automatic fire extinguishing device enters the fire scene according to the terminal command; 2) Fire source detection and positioning: After the automatic fire extinguishing device enters the fire scene, it obtains the fire scene image through the visual recognition module, and enables the central control module to calculate based on the image information, determine the precise location of the fire source, and plan a reasonable path; 3) Fire extinguishing: When the automatic fire extinguishing device reaches the position close to the fire source, the central control module controls the regulating component to adjust the posture of the automatic component device, and sends instructions to the control component to turn on the fire extinguishing component so that the output end of the fire extinguishing component always corresponds to the position of the fire source; 4) Evacuation or replenishment: When the internal reserve of the fire extinguishing components is insufficient during the fire extinguishing process or after a single fire source is extinguished, the automatic fire extinguishing device sends a signal command to the terminal and exits the fire scene. After replacing the fire extinguishing components, it re-enters the fire scene to repeat the previous fire extinguishing action or look for a new fire source until all fire sources are eliminated. During this process, if the automatic fire extinguishing device receives a retreat command issued by the terminal, it will evacuate outside the fire scene.

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