An autonomous fire extinguishing robot and a fire extinguishing method

Abstract

The embodiment of the present specification provides an autonomous fire extinguishing robot and a fire extinguishing method. The autonomous fire extinguishing robot comprises a movement module, a detection module, a fire extinguishing module and a control module; the movement module is used to drive the autonomous fire extinguishing robot to move; the detection module is used to acquire image information and / or sensing information in a target area; the fire extinguishing module is used to spray fire extinguishing agent to a specific direction; the control module is used to determine a fire point position according to the image information and / or sensing information, and control the movement module and the fire extinguishing module to spray the fire extinguishing agent to the fire point position. The autonomous fire extinguishing robot can directly analyze the information collected by the robot itself and perform corresponding fire extinguishing operations, which ensures that the fire point is extinguished at the first time while the fire is discovered in time, avoids the situation that the fire continues to spread and causes greater loss, and reduces the risk of personnel casualties, and has good practical application value.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the technical field of emergency accident handling, and in particular to an autonomous fire extinguishing robot and a fire extinguishing method. BACKGROUND

[0002] Fire is one of the main disasters threatening people's health and safety. When a fire occurs, firemen generally enter the fire scene to extinguish the fire and rescue based on the fire point situation. However, the fire scene is complex, and even experienced firemen still have a certain risk of life when entering the fire scene. Therefore, in view of the above situation, some fire extinguishing robots have been applied.

[0003] However, the current fire extinguishing robots are often controlled by remote control, that is, the fire extinguishing robot is placed at the corresponding position, and then an operator controls the fire extinguishing robot to move according to the image information and other information captured by the fire extinguishing robot, and controls the fire extinguishing robot to extinguish the fire at a specific fire point. Such a fire extinguishing method not only makes it difficult to achieve autonomous adjustment of the robot, but also such robots are often put into the fire scene after the fire occurs, which cannot guarantee the first time to perform the fire extinguishing operation to control the fire. Therefore, there is an urgent need for a robot that can timely and autonomously perform fire extinguishing operations on fire points. SUMMARY

[0004] The purpose of the embodiments of the present specification is to provide an autonomous fire extinguishing robot and a fire extinguishing method to solve the problem of how to use a robot to timely and autonomously perform fire extinguishing operations on fire points.

[0005] To solve the above technical problems, the embodiments of the present specification propose an autonomous fire extinguishing robot, comprising: a motion module, a detection module, a fire extinguishing module and a control module; the motion module is used to drive the autonomous fire extinguishing robot to move; the detection module is used to obtain image information and / or sensing information in a target area; the fire extinguishing module is used to spray fire extinguishing agent in a specific direction; the control module is used to determine the position of a fire point according to the image information and / or sensing information, and control the motion module and the fire extinguishing module to spray the fire extinguishing agent towards the position of the fire point.

[0006] In some embodiments, the motion module comprises a wheel set and a motor module; the motor module comprises a hub motor and a steering motor; the hub motor is used to control the rotation speed of the wheel set; the steering motor is used to control the steering of the wheel set.

[0007] In some embodiments, the detection module comprises a visual detection system; the visual detection system comprises at least one of a camera, an infrared camera and a fill light; the visual detection system adjusts the detection direction under the drive of the motor.

[0008] In some embodiments, the detection module comprises a sensing detection system; the sensing detection system comprises at least one of a flammable gas sensor, a toxic and harmful gas sensor, a flame monitoring sensor, an ultrasonic radar, and a laser radar.

[0009] In some embodiments, the fire extinguishing module comprises a fire extinguishing agent releasing system and a fire extinguishing execution system; the fire extinguishing agent releasing system stores fire extinguishing agent and controls the release of the fire extinguishing agent; the fire extinguishing execution system comprises a fire extinguishing nozzle and a driving mechanism; the fire extinguishing agent is sprayed out of the fire extinguishing nozzle; and the driving mechanism is used to adjust the orientation of the fire extinguishing nozzle.

[0010] Based on the foregoing embodiments, the driving mechanism comprises an up-down tilting mechanism and a left-right rotating mechanism; the up-down tilting mechanism is fixed above the left-right rotating mechanism and is fixedly connected to the fire extinguishing nozzle; the left-right rotating mechanism is used to drive the fire extinguishing nozzle to rotate; and the up-down tilting mechanism is used to adjust the spraying orientation of the fire extinguishing nozzle.

[0011] Based on the foregoing embodiments, the fire extinguishing execution system further comprises a nozzle positioning camera; the nozzle positioning camera is used to shoot a nozzle view angle image corresponding to the orientation of the fire extinguishing nozzle, so that the control module determines the orientation of the fire extinguishing nozzle according to the nozzle view angle image.

[0012] Based on the foregoing embodiments, the control module is used to adjust the position of the fire extinguishing nozzle according to the coincidence degree of the nozzle view angle image and the image information shot by the detection module.

[0013] In some embodiments, the autonomous fire extinguishing robot further comprises a wireless charging module; the wireless charging module comprises a battery and a wireless charging receiver; and the wireless charging receiver is used to supply power to the battery through wireless charging.

[0014] In some embodiments, the control module further comprises an inertial measurement unit and / or a GPS module; the inertial measurement unit is used to determine the motion state of the autonomous fire extinguishing robot; and the GPS module is used to determine the spatial position of the autonomous fire extinguishing robot.

[0015] Based on the foregoing embodiments, the control module is used to control the motion module to move the autonomous fire extinguishing robot to a specific distance according to the fire point position and the spatial position of the autonomous fire extinguishing robot, and then control the fire extinguishing module to spray fire extinguishing agent toward the fire point position.

[0016] In some embodiments, the control module is further used to determine the real-time fire extinguishing condition through the detection module and adjust the fire extinguishing module according to the real-time fire extinguishing condition.

[0017] In some embodiments, the control module is further configured to control the movement module to move the autonomous fire extinguishing robot along a fixed route in the absence of detection of a fire.

[0018] The embodiments of the present specification also provide a fire extinguishing method based on an autonomous fire extinguishing robot, including: obtaining image information and / or sensing information in a target area based on a detection module; determining whether a fire occurs in the target area according to the image information and / or sensing information; if a fire occurs, determining a fire point position based on the image information and / or sensing information; controlling a movement module to move to a fire extinguishing position corresponding to the fire point position; and controlling a fire extinguishing module to spray a fire extinguishing agent towards the fire point position.

[0019] As can be seen from the technical solutions provided by the embodiments of the present specification, the autonomous fire extinguishing robot in the embodiments of the present specification obtains image information and / or sensing information in a target area through a detection module, and then determines a fire point position based on the image information and / or sensing information, and then controls a movement module to move the autonomous fire extinguishing robot itself, and controls a fire extinguishing module to spray a fire extinguishing agent in a specific direction, thereby achieving the extinguishing of a fire point in the target area. Through the autonomous fire extinguishing robot described above, without additional human control, the robot can directly analyze the information collected by itself and perform corresponding fire extinguishing operations, thereby ensuring that a fire is discovered in time and extinguished at the first time, avoiding the spread of the fire and causing greater losses, and reducing the risk of personnel casualties, and having good practical application value. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present specification, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 FIG. 1 is a schematic diagram of a front view structure of an autonomous fire extinguishing robot according to an embodiment of the present specification;

[0022] Figure 2 FIG. 2 is a schematic diagram of a side view structure of an autonomous fire extinguishing robot according to an embodiment of the present specification;

[0023] Figure 3 FIG. 3 is a schematic diagram of a side view structure of an autonomous fire extinguishing robot according to an embodiment of the present specification;

[0024] Figure 4 FIG. 4 is a schematic diagram of an up-down tilting mechanism according to an embodiment of the present specification;

[0025] Figure 5 A schematic diagram of a left-right rotation mechanism for an embodiment of the present specification;

[0026] Figure 6 A schematic diagram of the picture effect of an optical camera and an infrared camera for an embodiment of the present specification;

[0027] Figure 7 A schematic diagram of a gray scale image of a fire shot image for an embodiment of the present specification;

[0028] Figure 8 A schematic diagram of an identified flame profile for an embodiment of the present specification;

[0029] Figure 9 A schematic diagram of a fire extinguishing method flow based on an autonomous fire extinguishing robot for an embodiment of the present specification;

[0030] Figure 10 A schematic diagram of a fire extinguishing method flow based on an autonomous fire extinguishing robot for an embodiment of the present specification.

[0031] BRIEF DESCRIPTION OF THE DRAWINGS: 1. Autonomous fire extinguishing robot; 2. Front box; 3. Rear box; 4. Control module; 5. Wheel set; 6. In-wheel motor; 7. Steering motor; 8. Optical camera; 9. Infrared camera; 10. Light supplement lamp; 11. Camera holder; 12. Attitude stabilization control device; 13. LED spotlight; 14. Sound and light alarm; 15. Combustible gas sensor; 16. Toxic and harmful gas sensor; 17. Flame monitoring sensor; 18. Ultrasonic radar; 19. Laser radar; 20. Fire extinguishing execution system; 21. Circular pipe; 22. Up-down pitching mechanism; 23. Left-right rotation mechanism; 24. Fire extinguishing hose; 25. Spray line slot; 26. Quick connector; 27. Rudder; 28. Flange pad; 29. Nozzle positioning camera; 30. Fire extinguishing agent release system; 31. Quick pull hatch; 32. Hinge type hinge; 33. Fixed buckle; 34. Electric telescopic rod; 35. Upper handle; 36. Double-head spring hook steel wire rope; 37. Battery; 38. Wireless charging receiver. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present specification will be described clearly and completely in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments of the present specification, not all. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative labor should be within the scope of protection of the present specification.

[0033] To solve the above technical problems, the embodiment of the present specification proposes an autonomous fire extinguishing robot 1. The autonomous fire extinguishing robot comprises a motion module, a detection module, a fire extinguishing module and a control module. The overall structure of the autonomous fire extinguishing robot can be as shown in Figure 1 The different modules can be placed in the robot's box. For example, as shown in Figure 1 The front box 2 and the rear box 3 are provided, and two modules are placed in different boxes.

[0034] Specifically, the modules are designed in a pry-mounted and split type to avoid interference between the lines of different modules. The modules are connected by knurled hand screws, and the shell is connected and positioned by sheet metal parts for modular loading. The electrical equipment is connected by modified aviation plugs, which facilitates long-distance split transportation and rapid loading of the robot.

[0035] Figure 2 and Figure 3 are a side view and a side view of the autonomous fire extinguishing robot, respectively. The specific structure description can be combined with the overall structure introduction of Figure 1 and the subsequent detailed introduction.

[0036] The motion module is mainly used to drive the autonomous fire extinguishing robot to move. On the one hand, the area managed by the autonomous fire extinguishing robot can be large, and real-time detection of fire conditions needs to be achieved by patrolling the area. On the other hand, when extinguishing fire, the distance between the robot and the fire point also needs to be controlled to achieve better fire extinguishing effect. Therefore, based on the above needs, the autonomous fire extinguishing robot can better achieve the corresponding fire extinguishing effect by configuring the motion module on the autonomous fire extinguishing robot.

[0037] The motion module can include a wheel set 5 and a motor module. The wheel set can include a chassis and a hub disposed on the chassis. As shown in Figure 1 In some specific examples, the wheel set can be a 6-wheel bionic chassis to better control the motion direction and path of the robot.

[0038] The motor module is used to provide power for the motion of the wheel set. Specifically, the motor module includes a hub motor 6 and a steering motor 7. The hub motor 6 is used to control the rotation speed of the wheel set, i.e. to provide power for the rotation of the wheel set, and can control the power size to adjust the motion speed of the robot. The steering motor 7 is used to control the steering of the wheel set to adjust the direction of travel of the autonomous fire extinguishing robot. In specific applications, a corresponding motor module can be configured for each wheel, for example, when the wheel set is a 6-wheel bionic chassis, a corresponding hub motor 6 and steering motor 7 can be configured for each of the 6 wheels, or a hub motor 6 and a steering motor 7 can be configured for a specific wheel. This is not limited.

[0039] The detection module is mainly used for collecting information around the autonomous fire extinguishing robot. Through the collection and analysis of the surrounding information, the movement of the autonomous fire extinguishing robot can be assisted, and whether a fire occurs in the surrounding area can be determined to quickly identify the fire situation.

[0040] In some embodiments, the detection module includes a visual detection system. The visual detection system mainly obtains corresponding sensing information through optical sensing. For example, the visual detection system can include at least one of an optical camera 8, an infrared camera 9, and a fill light 10. The optical camera is used to take corresponding image photos for image analysis; the infrared camera mainly generates corresponding infrared images for the temperature of the shooting area, and through the mode of heat sensing, whether a fire occurs and the specific location of the fire point area can be better determined. The fill light is mainly used to provide additional light. When the light in the robot movement area is relatively dim, the fill light can improve the environmental brightness and ensure the quality effect of the shooting image.

[0041] The optical camera 8, the infrared camera 9, and the fill light 10 can be arranged on a camera holder 11. The camera holder 11 can drive the camera and the fill light 10 to move to obtain sensing images of corresponding positions according to requirements. Preferably, the holder can be fixed on a posture stabilization control device 12, and the posture stabilization control device 12 can realize ±45° up and down tilt and ±90° horizontal rotation to realize omnidirectional high-definition video and heat sensing collection during the robot inspection process, and further optimize the information collection effect.

[0042] In addition, the visual detection system can also include an LED spotlight 13 and an audible and visual alarm 14. The LED spotlight 13 is used to provide high-brightness and long-distance lighting, and the audible and visual alarm 14 is used to realize the alarm effect through sound and / or light flickering. Other functional modules can also be configured according to requirements in actual application, which will not be described here.

[0043] In some embodiments, the detection module also includes a sensing detection system. The sensing detection system mainly detects the fire through sensing methods other than optical images. For example, the sensing detection system includes at least one of a flammable gas sensor 15, a toxic and harmful gas sensor 16, a flame monitoring sensor 17, an ultrasonic radar 18, and a laser radar 19. The flammable gas sensor 15 and the toxic and harmful gas sensor 16 can detect whether there is a product after the combustion of an object to determine whether a fire occurs by collecting and detecting air. The flame monitoring sensor 17 can directly detect the flame. The ultrasonic radar 18 and the laser radar 19 mainly detect the environmental conditions to make up for the defects of optical image analysis in mastering the environmental state.

[0044] Other types of sensors can also be configured in the sensing detection system in practical applications, which will not be described here.

[0045] The fire extinguishing module is mainly used for storing corresponding fire extinguishing agents and performing specific fire extinguishing operations. Specifically, the fire extinguishing module can be divided into a fire extinguishing agent release system 30 and a fire extinguishing execution system 20.

[0046] The fire extinguishing agent release system 30 contains a space for storing corresponding fire extinguishing agents. Meanwhile, the fire extinguishing agent release system 30 can also control the release of fire extinguishing agents to spray them towards fire points to extinguish the fire points.

[0047] In a specific example, the fire extinguishing agent release system 30 includes a fire extinguisher taking and placing mechanism, a fire extinguisher quick loading mechanism, and a fire extinguisher automatic opening and closing mechanism, which can be used for the quick taking and placing, loading, and automatic release of dry powder fire extinguishers.

[0048] The fire extinguisher taking and placing mechanism is equipped with a quick pull hatch 31 and a fixed buckle. The connection between the quick pull hatch 31 and the rear box body of the robot is a hinge type hinge 32. The hatch is convenient to open and stable to close after being closed. The fixed buckle 33 is a flexible metal buckle. The inner diameter of the metal buckle is the same as the outer diameter of the dry powder fire extinguisher. When the fire extinguisher is placed in the buckle, the fire extinguisher can be fixed by the elasticity of the metal buckle. When the fire extinguisher is taken out, it can also be twisted and taken out, realizing the quick and flexible taking and placing of the fire extinguisher.

[0049] The fire extinguisher quick loading mechanism is a stainless steel self-locking quick connector female head connected with the fire extinguishing hose threaded interface and a stainless steel self-locking connector male head connected with the fire extinguisher nozzle threaded connection. In the actual fire extinguisher loading process, dry powder filling and pressure charging operations are not required. Only the fire extinguisher self-provided fire extinguishing hose 24 needs to be replaced with the connector male head. The quick connector female head can be quickly plugged with the connector male head, realizing the quick loading of the fire extinguisher.

[0050] The fire extinguisher automatic opening and closing mechanism realizes the automatic opening and closing of the dry powder fire extinguisher by pulling up and down the double-head spring hook steel wire rope 36 connected with the electric telescopic rod 34 and the upper handle 35 of the dry powder fire extinguisher through the electric telescopic rod 34. The electric telescopic rod 34 is fixed on the outer surface of the rear box body bottom plate. One end of the double-head spring hook steel wire rope is connected with the electric telescopic rod 34, and the other end is connected with the upper handle 35 of the dry powder fire extinguisher. The electric telescopic rod 34 is controlled by an electric signal to pull down the double-head spring hook steel wire rope 36 to press the upper handle 35 of the dry powder fire extinguisher, realizing the automatic opening of the dry powder fire extinguisher. The electric telescopic rod 34 is controlled to reset upwards, realizing the automatic closing of the dry powder fire extinguisher.

[0051] The fire extinguishing module combined with the autonomous tracking fire extinguishing system can realize the autonomous adjustment of the fire extinguishing hose nozzle angle to the fire source and the autonomous implementation of the fire extinguishing disposal function.

[0052] The fire extinguishing execution system is mainly used for executing specific fire extinguishing operation, including collecting and determining the direction and the situation of the fire extinguishing agent spraying. The fire extinguishing execution system comprises a fire extinguishing nozzle and a driving mechanism. The fire extinguishing agent is sprayed through the fire extinguishing nozzle, and the size of the fire extinguishing nozzle can be set to control the spraying amount and the spraying rate of the fire extinguishing agent. The fire extinguishing nozzle can be connected with the hose in the fire extinguishing agent releasing system, so as to realize the internal transmission of the fire extinguishing agent. The driving mechanism is used for adjusting the orientation of the fire extinguishing nozzle, so as to spray the fire extinguishing agent to the corresponding position according to the fire point position.

[0053] In some embodiments, the driving mechanism can comprise an up-down tilting mechanism 22 and a left-right rotating mechanism 23; the up-down tilting mechanism 22 is fixed above the left-right rotating mechanism 23 and is fixedly connected with the fire extinguishing nozzle; the left-right rotating mechanism 23 is used for driving the fire extinguishing nozzle to rotate; and the up-down tilting mechanism 22 is used for adjusting the spraying orientation of the fire extinguishing nozzle.

[0054] The fire extinguishing execution system can also comprise a nozzle positioning camera 29. The nozzle positioning camera is used for shooting the nozzle view angle image corresponding to the orientation of the fire extinguishing nozzle. Since there is no corresponding relationship between the image shot by the detection system and the pose of the nozzle, the nozzle orientation can be directly determined by setting the nozzle positioning camera, and the fire extinguishing effect can be directly obtained. When the driving mechanism drives the fire extinguishing nozzle to move, the pose of the nozzle positioning camera also changes, so as to obtain better actual application effect.

[0055] The accompanying drawings are incorporated Figure 1 With a specific example, the fire extinguishing execution system 20 is located on the upper part of the front box body 2 of the robot, comprising a fire extinguishing hose 24, an up-down tilting mechanism 22, a left-right rotating mechanism 23 and a nozzle positioning camera 29, which can automatically adjust the optimal spraying angle for the detected initial fire, and the fire extinguishing nozzle can be real-time up-down tilted and left-right rotated to implement all-directional dry powder spraying coverage and realize all-directional three-dimensional fire extinguishing.

[0056] The fire extinguishing execution system adopts two round pipes 21 for support, the round pipes 21 are standard carbon steel round pipes, which are placed in front of the camera holder 11, and the upper part and the lower part of the round pipes are flanges respectively, the upper part is used for installing the up-down tilting mechanism 22, and the lower part is used for connecting the left-right rotating mechanism 23 to realize left-right rotation.

[0057] The fire extinguishing hose 24 is made of polyurethane material, the nozzle head is connected with the up-down tilting mechanism 22, is fixed in the spraying line groove 25 which is formed by the bending of the metal plate on the upper part of the round pipe 21 support, and the other end is a threaded interface which is connected with the quick connector 26 in the automatic fire extinguishing agent releasing system, so as to guide the dry powder sprayed by the fire extinguisher to the fire extinguishing nozzle, and then implement all-directional three-dimensional fire extinguishing through the left-right rotating mechanism, the up-down tilting mechanism and the nozzle positioning camera.

[0058] As shown in Figure 4 The up-down tilting mechanism 22 is arranged on the upper flange of the two circular pipes 21, connected with the spray line groove 25 through the fixed plate formed by bending the sheet metal, rotated by the steering engine 27 fixed on the upper part of the circular pipe 21, and the up-down swinging of the spray line groove 25 is realized by setting the limit of the steering engine 27, so as to realize the up-down tilting spray of the nozzle of the fire extinguishing hose.

[0059] As shown in Figure 5 The left-right rotating mechanism 23 is connected with the lower flange of the two circular pipes 21 through the bolt of the electric rotating table, rotated by the electric rotating table, and the left-right rotation of the circular pipe is realized by setting the limit of the electric rotating table, so as to drive the left-right rotation of the fire extinguishing hose, and realize the left-right rotating spray of the nozzle of the fire extinguishing hose. The electric rotating table is arranged on the inner wall of the upper surface of the front box, connected with the lower flange of the circular pipe in the box, and the flange pad 28 is added on the outer wall of the upper surface of the box to increase the stability of the rotation of the circular pipe. The electric rotating table is composed of a stepping motor and a turbine transmission device, and the stepping motor and the transmission part are connected by a flexible coupling, which eliminates the space error.

[0060] The nozzle positioning camera 29 is arranged on the upper part of the spray line groove and fixed by the camera fixing part, which can collect the visual angle video of the nozzle of the fire extinguishing hose, and can be matched with the image collected by the inspection visual angle video of the camera holder 11 by adjusting the angle of the nozzle of the fire extinguishing hose, so as to achieve the optimal spray angle, and at the same time, the first visual angle can monitor the actual effect of the spray fire extinguishing, and the angle of the nozzle of the fire extinguishing hose can be adjusted in real time and dynamically, so as to achieve the best fire extinguishing effect.

[0061] The control module 4 is a central control module of the motion module, the detection module and the fire extinguishing module. There can be a corresponding communication relationship between the control module 4 and other modules, so as to send corresponding electric signals to other modules, so that other modules can perform corresponding actions according to the pre-set program after receiving the electric signals. For example, the control module 4 can control the speed of the motion of the motion module, acquire the image collected by the detection module, and control the release of the fire extinguishing agent of the fire extinguishing module, etc.

[0062] The control module 4 is pre-provided with a memory and a processor, and the memory can store corresponding program logic. After receiving the image information and / or sensing information transmitted by the detection module, the image information and / or sensing information can be analyzed to determine whether the target area has fire.

[0063] In the present embodiment, the memory can be implemented in any appropriate manner. The memory includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache, a Hard Disk Drive (HDD), a Memory Card, and the like. The processor can be implemented in any appropriate manner. For example, the processor can take the form of, for example, a microprocessor or a processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro)processor, a logic gate, a switch, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, and the like.

[0064] In the case that the detection system comprises both optical camera and infrared camera, the positions of the optical camera and the infrared camera are set so that the images captured by the two cameras have a certain overlapping area, as shown in Figure 6 The optical camera and the infrared camera can capture the image and the infrared image, respectively. By analyzing the overlapping area of the two images, it can be determined whether a fire occurs and the range and contour of the fire. Correspondingly, after detecting the fire source from any image, it can be determined whether the fire source is located in the overlapping area of the image. If not, the pose of the robot or the camera holder can be adjusted so that the fire source corresponds to the overlapping area of the image, ensuring that the fire source can be identified by using the image and the infrared image, and at this time, the robot faces the fire source, which is convenient for subsequent fire extinguishing operation.

[0065] The process of determining whether a fire occurs will be described below by using an example. As shown in Figure 7 , the image of the fire source obtained after image post-processing is subjected to gray scale processing to obtain a gray scale image. After identifying the image, the flame contour image corresponding to the fire source in the image can be obtained, as shown in Figure 8 . By analyzing the area where the flame is located in the flame contour image and the pose of the camera relative to the robot, the position of the robot and the related modules can be adjusted to ensure that the fire source can be effectively extinguished.

[0066] The autonomous fire extinguishing robot can also include an inertial measurement unit and / or a GPS module. The inertial measurement unit is used to determine the motion state of the autonomous fire extinguishing robot, for example, the motion state information of the acceleration, speed, etc. of the robot. The GPS module can be used to determine the spatial position of the autonomous fire extinguishing robot, so that the autonomous fire extinguishing robot can determine the corresponding movement route according to the position of the specific range and its own spatial position when the autonomous fire extinguishing robot is set in the specific range.

[0067] In some embodiments, after the control module 4 detects the fire source according to the image analysis, the motion module can be controlled to move the autonomous robot to a specific position. The specific position can be, for example, a position corresponding to a specific distance from the fire source. The specific distance can be a fixed distance, or a distance that is adaptively adjusted and determined according to the size of the fire source after image analysis.

[0068] In addition, during the process of spraying the fire extinguishing agent, the autonomous fire extinguishing robot can determine the real-time fire extinguishing condition through the detection module. The real-time fire extinguishing condition is determined by the image information / sensing information collected in real time. The robot can adjust the spraying direction, spraying amount, and whether to stop spraying the fire extinguishing agent according to the fire extinguishing condition, so as to achieve better fire extinguishing effect.

[0069] In some embodiments, the autonomous fire extinguishing robot can also include a wireless charging module. Since the autonomous fire extinguishing robot needs to move within a certain range and has a high degree of autonomous control, the wireless charging module is provided so that the autonomous fire extinguishing robot can automatically move to the corresponding wireless charging position for charging, without the need for human charging, thereby ensuring long-term use of the autonomous fire extinguishing robot.

[0070] The wireless charging module includes a battery 37 and a wireless charging receiver 38, which is used to supply power to the battery 37 in a wireless charging manner. Specifically, the battery 37 can be suspended below the robot chassis, and the wireless charging receiver 38 can be mounted on the rear surface of the rear box 3 of the robot, so as to realize corresponding charging operation.

[0071] In some embodiments, the autonomous fire extinguishing robot can move along a fixed route under normal circumstances. During the movement, the autonomous fire extinguishing robot can capture the surrounding picture through the sensor or camera to determine whether a fire occurs, thereby achieving the effect of patrolling the area. The normal condition can be a condition in which no fire is detected, and the fixed route can be set according to the area and the patrol demand, which is not limited.

[0072] Through the introduction of the above examples and scene examples, it can be seen that the above autonomous fire extinguishing robot obtains image information and / or sensing information in the target area through the detection module, and then determines the fire point position based on the image information and / or sensing information, and then controls the movement module to drive the autonomous fire extinguishing robot to move, and controls the fire extinguishing module to spray extinguishing agent in a specific direction, thereby achieving the extinguishing of the fire point in the target area. Through the above autonomous fire extinguishing robot, additional control and operation by humans is not required, and the information collected by the robot itself can be directly analyzed and the corresponding fire extinguishing operation can be performed, thereby ensuring that the fire is extinguished at the first time after the fire is discovered in time, avoiding the situation that the fire continues to spread and causes greater losses, and reducing the risk of personnel casualties, thereby having good practical application value.

[0073] Based on the above autonomous fire extinguishing robot, the embodiment of the present specification also proposes a fire extinguishing method based on the autonomous fire extinguishing robot. The execution subject of the fire extinguishing method based on the autonomous fire extinguishing robot can be the above control module. As shown in the figure, the fire extinguishing method based on the autonomous fire extinguishing robot can include the following specific implementation steps. Figure 9

[0074] S910: Obtain image information and / or sensing information in the target area based on the detection module.

[0075] The detection module is mainly used to realize the collection of information around the autonomous fire extinguishing robot. Through the collection and analysis of the surrounding information, the movement of the autonomous fire extinguishing robot can be assisted, and it can also be judged whether a fire occurs in the surrounding area, so as to realize the rapid identification of the fire.

[0076] In some embodiments, the detection module includes a visual detection system. The visual detection system mainly obtains corresponding sensing information through optical sensing. For example, the visual detection system can include at least one of an optical camera 8, an infrared camera 9, and a fill light 10. The optical camera is used to take corresponding image photos for image analysis; the infrared camera mainly generates corresponding infrared images for the temperature of the shooting area, and through the mode of heat sensing, it can better judge whether a fire occurs and the specific position of the fire point area. The fill light is mainly used to provide additional illumination, and when the light in the movement area of the robot is relatively dim, the fill light can improve the environmental brightness and ensure the quality effect of the shooting image.

[0077] The optical camera 8, the infrared camera 9, and the fill light 10 can be arranged on a camera holder 11. The camera holder 11 can drive the camera and the fill light 10 to move to obtain the sensing image of the corresponding position according to the requirement.

[0078] ​In addition, the visual detection system can further include an LED spotlight 13 for providing high-brightness and long-distance illumination, and an audible and light alarm 14 for achieving an alarm effect through sound and / or light flickering. Other functional modules can also be configured according to requirements in actual applications, which will not be described here.

[0079] In some embodiments, the detection module further includes a sensor detection system. The sensor detection system mainly detects fire through a sensing mode other than an optical image. For example, the sensor detection system includes at least one of a flammable gas sensor 15, a toxic and harmful gas sensor 16, a flame monitoring sensor 17, an ultrasonic radar 18, and a laser radar 19. The flammable gas sensor 15 and the toxic and harmful gas sensor 16 can determine whether there is a product after an object burns to determine whether a fire occurs by collecting air and detecting. The flame monitoring sensor 17 can directly detect the flame. The ultrasonic radar 18 and the laser radar 19 mainly detect the environmental conditions to make up for the defects of the optical image analysis in mastering the environmental state.

[0080] The image information is an image captured by the visual detection system, and the fire condition and the corresponding position can be directly determined according to the image. The sensor image is the sensor information obtained by the sensor detection system. According to the sensor information, it can be directly and effectively determined whether a fire occurs around to avoid ignoring the occurrence of a fire due to a blind spot of shooting.

[0081] S920: determining whether a fire occurs in the target area according to the image information and / or the sensor information.

[0082] The analysis of the image information and / or the sensor information can determine whether a fire occurs in the target area. The control module can be pre-set with a corresponding analysis model, and the analysis model can effectively identify the fire in the image based on training. The process of identifying the fire source in the image can be set according to actual application conditions, which is not limited.

[0083] Through the analysis of the sensor information, it can be effectively determined whether a fire occurs, for example, when toxic and harmful gases are detected, it can be determined that a fire occurs, or when a flame is directly monitored, it can also be effectively determined that a fire occurs.

[0084] The specific process of determining whether a fire occurs can be set according to requirements, which will not be described here.

[0085] S930: if a fire occurs, determining a fire point position based on the image information and / or the sensor information.

[0086] If a fire is detected, the image information and / or the sensor information can be analyzed to determine the fire point position. For example, the autonomous fire extinguishing robot can be controlled to take images of the surrounding environment, and analyzing the taken images and the camera state of the robot itself at the time of taking the images can determine the corresponding fire point position. In determining the fire point position, different cameras and the robot itself can be combined to establish a corresponding coordinate system, and the fire point position can be determined based on a coordinate system conversion process.

[0087] S940: controlling the motion module to move to a fire extinguishing position corresponding to the fire point position.

[0088] After determining the fire point position, the motion module can be controlled to move the robot to a fire extinguishing position corresponding to the fire point position. The fire extinguishing position may, for example, be a position having a certain distance from the fire point position. The certain distance may, for example, be a fixed distance, or a distance adaptively adjusted and determined according to the size of the fire source based on analysis of the images.

[0089] For example, the distance l between the fire source and the robot position can be determined by the host module according to the fire identification and fire positioning general algorithm, and the depth information can be fed back to the host module. The host module controls the robot to move straight (l-2) m to a position 2 m away from the fire source. The distance of 2 m is a buffer area for implementing fire extinguishing, which can achieve efficient coverage of the dry powder extinguishing agent for the fire source, and facilitate the nozzle positioning camera to observe the fire extinguishing effect, so as to adjust the nozzle angle and the robot pose in real time.

[0090] In addition, before controlling the fire extinguishing robot to move or perform the fire extinguishing operation, the robot pose can also be adjusted to ensure that the fire extinguishing robot faces the fire position in the correct direction. Specifically, after the sensor detection system detects a fire in the surrounding environment, the detection signal is transmitted to the host module, and the audible and visual alarm is turned on to alert the crowd. At the same time, the fire source is identified by the optical + infrared binocular camera of the camera holder according to the fire identification and fire positioning general algorithm. The shooting range of the optical camera and the infrared camera included in the camera holder has a binocular camera overlap area, as shown in FIG. 8. The binocular camera overlap area is the middle area. After receiving the observation signal of the detection system, the observation signal is transmitted to the host module, and the host module determines whether the fire source in the taken image is in the binocular camera overlap area. If the fire source is not in the binocular camera overlap area, the current robot is not facing the fire source, and the robot body can be controlled to rotate or translate by the host module to adjust the robot pose in a certain way. In this process, the operation of obtaining the observation signal and determining whether the fire source is in the binocular camera overlap area is repeatedly performed until the fire source appears in the binocular camera overlap area, and at this time, the robot pose is facing the fire source, and the moving or fire extinguishing operation can be performed. Figure 6

[0091] ​S950: The control extinguishing module sprays the extinguishing agent to the fire point position.

[0092] After reaching the extinguishing position, extinguishing can be performed by releasing the extinguishing agent. Specifically, the spray angle of the extinguishing nozzle can be set in advance, so that the extinguishing nozzle sprays according to the spray angle, and the pose of the extinguishing nozzle can also be adjusted to achieve the corresponding extinguishing effect during extinguishing.

[0093] In one specific example, the extinguishing nozzle and the positioning camera above the nozzle operate synchronously, and the spray angle of the extinguishing nozzle is consistent with the angle of view of the positioning camera. The extinguishing nozzle and the positioning cameras above the two nozzles are controlled by the main control module to adjust the angle of the extinguishing nozzle by left and right rotation and up and down pitching, and the two positioning cameras search for the fire source. The image signals of the fire source corresponding to the nozzle positioning image are collected and transmitted to the main control module, and the main control module simultaneously receives the detection and collection images identified by the camera holder. The main control module can first identify the flame range in the nozzle positioning image and the detection and collection image, and then determine the image coincidence degree in the flame range of the two images. The image coincidence degree can be used to represent whether the current direction of the extinguishing nozzle can effectively cover the fire source. Comparing the calculated image coincidence degree with the coincidence degree threshold value can determine whether to perform the extinguishing operation. For example, when the coincidence degree threshold value is 70%, the coincidence degree of the images collected by the positioning camera above the nozzle and the camera holder is calculated. If the coincidence degree is < 70%, the angle of the extinguishing nozzle is adjusted, and the steps of acquiring images, identifying flame ranges, and determining image coincidence degrees are repeated until the coincidence degree is ≥ 70%. The control extinguishing module sprays the extinguishing agent to the fire point position. For example, the main control module can send an opening signal to the automatic extinguishing agent release system to control the electric push rod of the automatic extinguishing agent release system to pull down the double-head spring hook wire rope, press the handle of the dry powder extinguisher, open the dry powder extinguisher, and implement precise extinguishing on the fire source.

[0094] The following will be described in combination with Figure 10 An example of an execution process of the autonomous fire extinguishing robot is introduced. First, the camera holder can be positionally initialized, and the camera holder is adjusted to a horizontal position facing the front of the robot. Then, the robot starts to patrol, and if the sensor detection system detects a fire, the audible and visual alarm can be turned on to alert the crowd and avoid entering the fire scene. At the same time, the binocular camera is used to identify the fire source. It is judged whether the fire source is in the binocular camera overlap area, and the body is rotated until it is located in the overlap area position to ensure that the robot faces the fire point.

[0095] Afterwards, the position l of the fire source from the robot is determined, and the robot is controlled to move to a fire extinguishing buffer position 2m away from the fire source, the angle of the fire extinguishing nozzle is adjusted, and the coincidence degree of the image collected by the nozzle camera and the camera holder is calculated. When the coincidence degree is not less than 70%, a corresponding opening signal is sent to the fire extinguishing agent release system, and the dry powder fire extinguisher is used for fire extinguishing operation.

[0096] It should be noted that the autonomous fire extinguishing robot can be applied to the technical field of emergency accident handling, and can also be applied to other technical fields except the technical field of emergency accident handling, and no limitation is made thereto.

[0097] Although the process flow described above includes a plurality of operations appearing in a specific order, it should be clearly understood that the processes can include more or fewer operations, which can be executed sequentially or in parallel (for example, using a parallel processor or a multi-threaded environment).

[0098] The present application is described with reference to flowcharts and / or block diagrams according to the embodiments of the present specification. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in one or more blocks.

[0099] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including instruction devices, which implement the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in one or more blocks.

[0100] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in one or more blocks.

[0101] Those skilled in the art will appreciate that embodiments of the present specification can be devised for a method, a system, or a computer program product. Accordingly, embodiments of the present specification can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present specification can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage memory etc.) having computer-usable program code embodied in the medium.

[0102] Embodiments of the present specification can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. Embodiments of the present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0103] Embodiments of the present specification are described with progressive manner, and the same or similar parts among the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. Especially, the system embodiments are described simply because they are basically similar to the method embodiments. In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present specification. The illustrative representation of the above terms in the present specification does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0104] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. An autonomous fire extinguishing robot, characterized in that, The application relates to an autonomous fire extinguishing robot. The autonomous fire extinguishing robot comprises a motion module, a detection module, a fire extinguishing module and a control module. The motion module is used for driving the autonomous fire extinguishing robot to move. The detection module is used for acquiring image information and / or sensing information in a target area. The fire extinguishing module is used for spraying fire extinguishing agents to a specific direction. The control module is used for determining a fire point position according to the image information and / or sensing information, and controlling the motion module and the fire extinguishing module to spray the fire extinguishing agents to the fire point position. The fire extinguishing module comprises a fire extinguishing execution system.

2. The autonomous fire extinguishing robot of claim 1, wherein, The fire extinguishing execution system comprises a fire extinguishing nozzle and a nozzle positioning camera on the fire extinguishing nozzle.

3. The autonomous fire extinguishing robot of claim 1, wherein, The nozzle positioning camera is used for shooting a corresponding nozzle visual angle image of the fire extinguishing nozzle, so that the control module determines the orientation of the fire extinguishing nozzle according to the nozzle visual angle image.

4. The autonomous fire extinguishing robot of claim 1, wherein, The control module is also used for determining the coincidence degree of the nozzle visual angle image and the image information shot by the detection module, and adjusting the position of the fire extinguishing nozzle.

5. The autonomous fire extinguishing robot of claim 4, wherein, The motion module comprises a wheel set and a motor module.

6. The autonomous fire extinguishing robot of claim 5, wherein, The motor module comprises a hub motor and a steering motor.

7. The autonomous fire extinguishing robot of claim 4, wherein, The hub motor is used for controlling the rotating speed of the wheel set. The steering motor is used for controlling the steering of the wheel set. The detection module comprises a visual detection system and a sensing detection system. The visual detection system comprises an optical camera, an infrared camera and a light supplement lamp. The visual detection system adjusts the detection direction under the driving of the motor. The sensing detection system comprises a combustible gas sensor, a toxic and harmful gas sensor, a flame monitoring sensor, an ultrasonic radar and a laser radar. The fire extinguishing module further comprises a fire extinguishing agent releasing system. The fire extinguishing agent releasing system stores fire extinguishing agents and is used for controlling the releasing of the fire extinguishing agents. The fire extinguishing execution system further comprises a driving mechanism. The fire extinguishing agents are sprayed out of the fire extinguishing nozzle. The driving mechanism is used for adjusting the orientation of the fire extinguishing nozzle. The driving mechanism comprises an up-down tilting mechanism and a left-right rotating mechanism. The up-down tilting mechanism is fixed above the left-right rotating mechanism and is fixedly connected with the fire extinguishing nozzle. The left-right rotating mechanism is used for driving the fire extinguishing nozzle to rotate. The up-down tilting mechanism is used for adjusting the spraying orientation of the fire extinguishing nozzle. The driving mechanism is also used for controlling the spraying orientation of the fire extinguishing nozzle based on a specific motion mode during the fire extinguishing process. The specific motion mode comprises a mode of controlling the left-right rotating mechanism and / or the up-down tilting mechanism to repeatedly move in a fixed moving range. The fixed moving range comprises a range determined based on a detected flame area. The fire extinguishing agent releasing system comprises a fire extinguisher taking and placing mechanism, a fire extinguisher quick loading mechanism and a fire extinguisher automatic opening and closing mechanism. The fire extinguisher taking and placing mechanism comprises a quick pull cabin door and a fixed buckle. The quick pull cabin door is used for closing a box body in which the fire extinguisher is placed through a hinge type hinge. The fixed buckle is used for fixing the fire extinguisher placed in the box body. The fire extinguisher quick loading mechanism comprises a self-locking connector female head and a self-locking connector male head. The self-locking connector female head is used for being connected with a threaded interface on a fire extinguishing hose connected with the fire extinguishing nozzle. The self-locking connector male head is used for being connected with a nozzle thread of the fire extinguisher. The automatic opening and closing mechanism of the fire extinguisher comprises an electric telescopic rod and a double-end spring hook steel wire sling; the double-end spring hook steel wire sling is used to connect the electric telescopic rod and a release handle on the fire extinguisher; the control module is used to control the extension and retraction of the electric telescopic rod to control the opening and closing of the fire extinguisher through the double-end spring hook steel wire sling.

8. The autonomous fire extinguishing robot of claim 1, wherein, The autonomous fire extinguishing robot further comprises a wireless charging module; the wireless charging module comprises a battery and a wireless charging receiver; the wireless charging receiver is used to supply power to the battery in a wireless charging manner.

9. The autonomous fire extinguishing robot of claim 1, wherein, The control module further comprises an inertial measurement unit and / or a GPS module; the inertial measurement unit is used to determine the motion state of the autonomous fire extinguishing robot; and the GPS module is used to determine the spatial position of the autonomous fire extinguishing robot.

10. The autonomous fire extinguishing robot of claim 9, wherein, The control module is used to control the motion module to move the autonomous fire extinguishing robot to a specific distance according to the fire point position and the spatial position of the autonomous fire extinguishing robot, and then control the fire extinguishing module to spray the fire extinguishing agent towards the fire point position.

11. The autonomous fire extinguishing robot of claim 1, wherein, The autonomous fire extinguishing robot further comprises an audible and visual alarm; the audible and visual alarm is used to alarm through sound information and / or light information when detecting a fire.

12. The autonomous fire extinguishing robot of claim 1, wherein, The control module is further used to determine the real-time fire extinguishing condition through the detection module, and adjust the fire extinguishing module according to the real-time fire extinguishing condition.

13. The autonomous fire extinguishing robot of claim 1, wherein, The control module is further used to control the motion module to move the autonomous fire extinguishing robot along a fixed route when no fire is detected.

14. A fire extinguishing method based on an autonomous fire extinguishing robot, characterized by, Comprise: obtaining image information and / or sensing information in a target area based on a detection module; determining whether a fire occurs in the target area according to the image information and / or sensing information; if so, determining a fire point position based on the image information and / or sensing information; controlling a motion module to move to a fire extinguishing position corresponding to the fire point position; controlling a fire extinguishing module to spray fire extinguishing agent towards the fire point position; wherein the fire extinguishing module comprises a fire extinguishing nozzle and a positioning camera arranged on the fire extinguishing nozzle; the control of the fire extinguishing module to spray fire extinguishing agent towards the fire point position comprises: respectively acquiring a nozzle positioning image captured by the positioning camera and a detection acquisition image captured by the detection module; respectively identifying the flame range in the nozzle positioning image and the detection acquisition image; comparing the flame range in the nozzle positioning image and the detection acquisition image to determine an image coincidence degree; the image coincidence degree is used to indicate whether the current orientation of the fire extinguishing nozzle can effectively cover the fire source; in the case that the image coincidence degree is not less than a coincidence degree threshold, controlling the fire extinguishing module to spray fire extinguishing agent towards the fire point position.

15. The method of claim 14, wherein, The detection module comprises an optical camera and an infrared camera; the shooting range of the optical camera and the infrared camera has a binocular camera overlap area; the control of the motion module to move to a fire extinguishing position corresponding to the fire point position comprises: controlling the motion module to adjust the pose of the autonomous fire extinguishing robot until the captured fire source is located in the binocular camera overlap area.

16. The method of claim 14, wherein, after the comparison of the flame range in the nozzle positioning image and the detection acquisition image to determine the image coincidence degree, further comprising: In the case that the image coincidence degree is less than the coincidence degree threshold, the spray angle of the fire extinguishing nozzle is adjusted, and the steps of acquiring images, identifying the fire range, and determining the image coincidence degree are repeatedly executed until the image coincidence degree is not less than the coincidence degree threshold; The control fire module sprays the fire extinguishing agent to the fire point position.

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