Intelligent unmanned fire extinguishing system and method for large warehouse

Abstract

The invention provides an intelligent unmanned fire extinguishing system and method for a large warehouse. The fire extinguishing system comprises a handheld terminal, a plurality of flame detectors and an intelligent fire extinguishing robot, and the flame detectors are evenly distributed at the top end of the warehouse; the plurality of flame detectors monitor whether flames exist in the warehouse or not in real time by collecting optical image information in the warehouse, and send the flame range and the flame position to the intelligent fire extinguishing robot and the handheld terminal; the handheld terminal checks images of the flame detector and the intelligent fire extinguishing robot in real time; after receiving fire information sent by the flame detector, the intelligent fire extinguishing robot plans a path to automatically drive to a fire place, identifies the accurate position of flame by using images, and automatically and accurately extinguishes fire in a short distance. Through cooperation of the handheld terminal, the multiple flame detectors and the intelligent fire extinguishing robot, flames can be rapidly recognized, fire in a warehouse can be detected, and accurate and automatic fire extinguishing can be achieved at the initial stage of the fire.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire protection, and in particular relates to an intelligent unmanned fire extinguishing system and method for a large warehouse. Background Art

[0002] In recent years, with the rapid development of logistics, the number of large warehouses has increased. While providing convenience for people's lives, it has also increased the risk of large-scale fires. Once a fire occurs, due to the presence of a large number of flammable materials such as packaging boxes in the warehouse, the fire will spread rapidly, causing huge casualties and economic losses. Therefore, a reliable intelligent unmanned fire extinguishing system is needed in the warehouse to quickly and accurately extinguish the fire in the early stage of the fire. Most of the current warehouses use traditional fire extinguishing systems, which use water cannons, sprinkler nozzles, etc. for automatic fire extinguishing. The fire alarm response is slow, and the fire source cannot be accurately extinguished. There are shortcomings such as weak targeting of the fire source and unfavorable property preservation. On the other hand, with the rapid development of computer and micro-electromechanical systems, artificial intelligence and wireless communication technology, the foundation has been laid for the emergence of new intelligent unmanned fire extinguishing systems.

[0003] In the related art, the published Chinese patent application No. 201810967144.2 discloses an efficient warehouse fire extinguishing system, which uses two methods: water spraying and foam extinguishing. It has the disadvantages of weak targeting of fire sources and is not conducive to the preservation of property; the published Chinese patent application No. 202311052425.2 discloses an intelligent mobile fire extinguishing device and an uninterrupted monitoring intelligent mobile fire extinguishing system, but the system does not consider the controllability of the fire extinguishing process by people. Therefore, it is urgent to design an intelligent unmanned fire extinguishing system for large warehouses to solve the problems of weak targeting of fire sources and weak controllability of the fire extinguishing process in the warehouse fire extinguishing system in the prior art. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent unmanned fire extinguishing system for a large warehouse to overcome the above-mentioned technical problems existing in the prior art.

[0005] Another object of the present invention is to provide an intelligent unmanned fire extinguishing method for large warehouses, which can detect fires in time at the early stage of the fire and automatically extinguish the fire quickly and accurately.

[0006] To this end, the technical solution provided by the present invention is as follows: An intelligent unmanned fire extinguishing system for a large warehouse, comprising a handheld terminal, multiple flame detectors and an intelligent fire extinguishing robot, wherein the multiple flame detectors are arranged on the top of the warehouse; The multiple flame detectors collect optical image information in the warehouse, monitor the presence of flames in the warehouse in real time, and send the flame range and flame position to the intelligent fire-fighting robot and the handheld terminal; the handheld terminal views the image images of the flame detector and the intelligent fire-fighting robot in real time, and controls the intelligent fire-fighting robot; after receiving the fire information sent by the flame detector, the intelligent fire-fighting robot plans a path and automatically drives quickly to the fire location, uses images to identify the exact location of the flame, and automatically and accurately extinguishes the fire at close range. The flame detector includes an optical camera, an image processing board, a shell and a wireless self-organizing network transmission component. The optical camera is installed in the shell, the image processing board is installed on the rear side of the optical camera, and the two antennas of the wireless self-organizing network transmission component are respectively installed on both sides of the shell.

[0007] The intelligent fire-fighting robot comprises a chassis and an upper body, wherein the upper body is arranged on the chassis, and the upper body comprises a mechanical arm, a camera arranged on the mechanical arm, and a hose nozzle; The chassis includes a vehicle body, front and rear binocular cameras arranged at the front and rear ends of the vehicle body, a driving component, a walking and follower wheel component, a laser radar arranged in front of the vehicle body, a wireless transmission component, a driving record component, a battery and power management component, a main control computer, and a fire extinguisher carried at the rear of the vehicle body.

[0008] The handheld terminal comprises a key rocker assembly, a screen display assembly, a mainboard assembly and a wireless ad hoc network assembly, a double antenna is arranged on the top, and the key rocker assembly is arranged on both sides of the screen display assembly.

[0009] The number of flame detectors is adjusted according to the detection range of the flame detector and the area of ​​the warehouse. The flame detector detects vertically downward, and the detection range is a rectangular area. The detection area is based on the warehouse height H and the actual field of view of the optical camera. To calculate, the length of the rectangle , rectangle width , spray or paste marking blocks on the ground at the four vertices of the flame detector detection range as the warehouse area and flame positioning coordinate reference, and perform position calibration and real-time calibration on the warehouse plane, among which, is the horizontal field of view, is the vertical field of view.

[0010] The driving assembly includes a motor driver and two motors, and the walking and following wheel assembly includes two rear walking wheels and two front following wheels, which are symmetrically mounted on both sides of the vehicle body; The driving component is used to drive and control the walking and follower wheel components to realize the forward, backward and turning of the intelligent fire-fighting robot; the motor driver drives the motor according to the motion instructions transmitted from the bus by the main control computer, each motor drives a walking wheel, and the intelligent fire-fighting robot turns according to the differential speed of the two rear walking wheels.

[0011] The front and rear binocular cameras and the laser radar are used to obtain environmental information around the intelligent fire-fighting robot, including obstacle information and ground marking information; The driving recording component is electrically connected to the front and rear binocular cameras and the camera on the robotic arm, and is used to record the video images of the front and rear binocular cameras and the camera on the robotic arm, and transmit the images of the front and rear binocular cameras and the camera on the robotic arm to the handheld terminal through the wireless transmission component.

[0012] The screen display component is used to display the fire alarm signal of the flame detector received by the handheld terminal through the wireless ad hoc network component, as well as the scale and location information of the fire, and can display and view the fire record of the flame detector and the flame detector screen in real time; and view the front and rear binocular cameras of the chassis and the camera of the mechanical arm of the intelligent fire-fighting robot in real time through the wireless ad hoc network; The button remote sensing component is used to remotely control the intelligent fire-fighting robot. Relying on the wireless self-organizing network component, it can control the movement of the intelligent fire-fighting robot in real time, control the expansion and folding of the robotic arm, and control the drive of the fire extinguisher bottle.

[0013] An intelligent unmanned fire extinguishing method for a large warehouse comprises the following steps: Step 1) The flame detector collects optical image information in the warehouse in real time. When a flame is detected in the warehouse, the flame range and location are extracted and sent to the intelligent fire-fighting robot and handheld terminal; Step 2) After the intelligent fire-fighting robot receives the fire information sent by the flame detector, the main control computer automatically plans the path according to the stored detailed map data of the warehouse, obtains the shortest path to the destination, and sends motion instructions to the drive component through the bus in combination with the positioning and orientation function of the intelligent fire-fighting robot, and automatically controls the intelligent fire-fighting robot to drive automatically in the warehouse along the planned path; During the movement of the intelligent fire-fighting robot, the main control computer obtains the obstacle information of the intelligent fire-fighting robot's surrounding environment in real time based on the images of the front and rear binocular cameras and the data processed by the laser radar, and automatically controls and adjusts the movement of the intelligent fire-fighting robot to bypass the obstacles; Step 3) After the intelligent fire-fighting robot reaches the location of the flame, the main control computer transmits motion instructions to the robotic arm from the bus, controls the operation of each joint, and adjusts the position and angle of the camera and hose nozzle on the robotic arm in real time, so that the hose nozzle is aimed at the root of the flame and drives the fire extinguisher to extinguish the fire; During this process, the handheld terminal can remotely view the images of the flame detector and the intelligent fire-fighting robot in real time. It can also remotely control the movement of the intelligent fire-fighting robot in real time through the wireless self-organizing network components, control the deployment and folding of the robotic arm, and control the drive of the fire extinguisher bottle to achieve controllable fire-fighting process.

[0014] The specific process of the positioning and orientation function of the intelligent fire-fighting robot in step 2) is as follows: The main control computer identifies the ground markings of the warehouse roads based on the images from the front and rear binocular cameras and the point cloud information from the lidar, and obtains the position information of the intelligent fire-fighting robot relative to the ground markings. When the intelligent fire-fighting robot appears in the camera image of the flame detector, the main control computer assists in positioning and orientation, thereby achieving precise positioning and orientation of the intelligent fire-fighting robot in the warehouse.

[0015] The beneficial effects of the present invention are: The intelligent unmanned fire extinguishing system for large warehouses provided by the present invention can quickly identify flames, detect the occurrence of fire in the warehouse, and accurately and automatically extinguish the fire in the early stage of the fire through the cooperation of a handheld terminal, multiple flame detectors and an intelligent fire extinguishing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a composition diagram of an intelligent unmanned fire extinguishing system provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a flame detector provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a combined detection area of ​​a flame detector provided in an embodiment of the present invention; Figure 4 is a schematic diagram of an intelligent fire-fighting robot provided by an embodiment of the present invention; Figure 5 is a schematic diagram of a handheld terminal provided by an embodiment of the present invention; Figure 6 It is a workflow diagram of the intelligent unmanned fire extinguishing system provided by an embodiment of the present invention.

[0017] The markings in the attached figure are as follows: 1. Flame detector; 11. Optical camera; 12. Shell; 13. Wireless self-organizing network transmission component; 2. Intelligent fire-fighting robot; 21. Vehicle body; 22. Front and rear binocular cameras; 23. Walking and follow-up wheel components; 24. LiDAR; 25. Fire extinguisher bottle; 26. Wireless transmission component; 27. Robotic arm; 28. Camera on the robot arm; 29. ​​Hose nozzle; 3. Handheld terminal; 31. Key joystick component; 32. Screen display component; 33. Wireless self-organizing network component; 4. Marking block. DETAILED DESCRIPTION

[0018] The following is an explanation of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0019] The exemplary embodiments of the present invention are now described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.

[0020] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0021] Example 1 The present invention provides an intelligent unmanned fire extinguishing system for large warehouses, such as Figure 1 As shown, it includes a handheld terminal 3, multiple flame detectors 1 and an intelligent fire-fighting robot 2, and the multiple flame detectors 1 are evenly distributed on the top of the warehouse; The multiple flame detectors 1 collect optical image information in the warehouse, monitor the presence of flames in the warehouse in real time, and send the flame range and flame position to the intelligent fire-fighting robot 2 and the handheld terminal 3; the handheld terminal 3 views the image screens of the flame detector 1 and the intelligent fire-fighting robot 2 in real time, and can also be used to control the intelligent fire-fighting robot 2; after the intelligent fire-fighting robot 2 receives the fire information sent by the flame detector 1, it plans a path to automatically drive quickly to the fire location, uses images to identify the exact location of the flame, and automatically and accurately extinguishes the fire at close range. The intelligent unmanned fire extinguishing system for large warehouses provided by the present invention can quickly identify flames, detect the occurrence of fire in the warehouse, and accurately and automatically extinguish the fire in the early stage of the fire through the cooperation of the handheld terminal 3, multiple flame detectors 1 and the intelligent fire extinguishing robot 2.

[0022] Example 2 Based on Example 1, this example provides an intelligent unmanned fire extinguishing system for a large warehouse, such as Figure 2 As shown, the flame detector 1 includes an optical camera 11, an image processing board, a shell 12 and a wireless self-organizing network transmission component 13. The optical camera 11 is installed in the shell 12, the image processing board is installed on the rear side of the optical camera 11, and the two antennas of the wireless self-organizing network transmission component 13 are respectively installed on both sides of the shell 12.

[0023] The optical camera 11 is used to obtain real-time images in the warehouse. Light can enter the camera through the curved glass to ensure sufficient field of view. A flat protective glass is added to the front end of the dual-field lens of the optical camera 11. The glass surface is coated with an infrared cutoff film to filter out near-infrared light and improve the display image quality.

[0024] The image processing board is used to perform image processing to identify flames and extract information such as the range and position of the flames. During operation, the image processing board reads the image of the optical camera 11 in real time, performs image preprocessing on the obtained image, performs algorithmic operations on the extracted three-channel matrix data, extracts the static and dynamic feature data of the flame, and then classifies it through a fusion decision-making method or a support vector machine method to identify the flame; after identifying the presence of a flame in the picture, the regional information of the flame is extracted to obtain the coordinate range information of the flame in the picture, and the plane position of the flame in the place can be calculated in combination with the site location calibration, and then the flame range and flame position are sent to the intelligent fire-fighting robot 2 and the handheld terminal 3 through the wireless ad hoc network transmission component 13.

[0025] The image processing board can store and record fire images at regular intervals and provide them to the handheld terminal 3 for review. When receiving a picture viewing instruction from the handheld terminal 3, the real-time picture is transmitted to the handheld terminal 3 through the wireless ad hoc network transmission component 13 for real-time display.

[0026] The flame detector 1 has a self-checking function, which periodically checks the status of various components such as the power supply, the optical camera 11, the image processing board, the wireless ad hoc network transmission component 13, and transmits the self-checking result to the handheld terminal 3 in real time.

[0027] The flame detector 1 will alarm within 3 seconds for a 10cm*10cm flame and send the fire information to the intelligent fire-fighting robot 2 and the handheld terminal 3. The positioning accuracy of the flame center , , can quickly and accurately detect the occurrence of fire. Among them, is the horizontal deviation, is the vertical deviation.

[0028] Example 3 Based on Example 1, this example provides an intelligent unmanned fire extinguishing system for a large warehouse, such as Figure 4 As shown, the intelligent fire-fighting robot 2 includes a chassis and an upper body, wherein the upper body is arranged on the chassis, and the upper body includes a mechanical arm 27, a camera 28 arranged on the mechanical arm, and a hose nozzle 29; The chassis includes a vehicle body 21, front and rear binocular cameras 22 arranged at the front and rear ends of the vehicle body 21, a driving component, a walking and follower wheel component 23, a laser radar 24 arranged in front of the vehicle body 21, a wireless transmission component 26, a driving record component, a battery and power management component, a main control computer, and a fire extinguisher bottle 25 carried at the rear of the vehicle body 21.

[0029] The driving assembly includes a motor driver and two motors, and the walking and following wheel assembly 23 includes two rear walking wheels and two front following wheels, which are symmetrically mounted on both sides of the vehicle body 21; The driving component is used to drive and control the walking and follower wheel component 23 to realize the forward, backward and turning movement of the intelligent fire-fighting robot 2; the motor driver drives the motor according to the motion instructions transmitted from the bus by the main control computer, each motor drives a walking wheel, and the intelligent fire-fighting robot 2 turns according to the differential speed of the two rear walking wheels.

[0030] The front and rear binocular cameras 22 and the laser radar 24 are used to obtain environmental information around the intelligent fire-fighting robot 2, including obstacle information and ground marking information; The driving recording component is electrically connected to the front and rear binocular cameras 22 and the camera 28 on the robotic arm, and is used to record the video images of the front and rear binocular cameras 22 and the camera 28 on the robotic arm, and transmit the images of the front and rear binocular cameras 22 and the camera on the robotic arm 27 to the handheld terminal 3 through the wireless transmission component 26.

[0031] The main frame of the vehicle body 21 adopts a structure that is welded after wire-cut aluminum plates are spliced ​​together. The vehicle body 21 supports the overall structure through the main frame and provides installation interfaces or mounting seats for various components. The installation of some components requires that the mounting seats be bolted to the main frame first, and then the components are bolted on.

[0032] The main control computer receives the fire information transmitted by the flame detector 1 through the wireless transmission component 26, controls the intelligent fire-fighting robot 2 to go to the fire site, and accurately extinguishes the fire at close range. At the same time, it can receive and execute the movement commands of the intelligent fire-fighting robot 2, the control commands of the robotic arm 27 and the driving instructions of the fire extinguisher bottle 25 transmitted by the handheld terminal 3.

[0033] The main control computer can detect and identify the flame in real time and determine the position of the flame root according to the image of the camera 28 on the robot arm. According to the image of the camera 28 on the robot arm, the robot arm 27 is controlled by the bus to adjust the angle in real time, aim the hose nozzle 29 on the robot arm 27 at the flame root, and drive the fire extinguisher bottle 25 to complete the fire extinguishing. The fire extinguisher bottle 25 can select the fire extinguishing agent according to the warehouse goods. Dry powder fire extinguishing agent can be used in warehouses storing solid materials of object fire, foam fire extinguishing agent can be used in warehouses storing liquid materials, and carbon dioxide fire extinguishing agent can be used in warehouses storing valuables such as books. The fire extinguisher bottle 25 is installed in a box specially reserved for the chassis, and there is a special mechanical structure to ensure the stability of the fire extinguisher bottle 25. The mouth of the fire extinguisher bottle 25 is connected by a special quick-connect interface, and leads to the nozzle at the end of the robot arm 27 through a hose fixed on the robot arm 27.

[0034] The motor is a brushless DC motor, which can rotate forward and reverse within a certain speed range to realize the forward and backward functions of the intelligent fire-fighting robot 2. The laser radar 24 is a 32-line laser radar 24, which can obtain environmental characteristics within a range of 100m around, and the number of lines can be changed according to the complexity of the specific warehouse environment.

[0035] The intelligent fire-fighting robot 2 is powered by a 26V DC power supply. The battery and power management components divide the output into coarse power and fine power. The coarse power and fine power are isolated from each other. The high-power power of the drive component and the robotic arm 27 goes through the coarse power line, and the remaining control circuits and digital circuits go through the fine power line.

[0036] The intelligent fire-fighting robot 2 is equipped with charging piles in the warehouse. The charging piles are located at fixed stops on both sides of the warehouse. After completing the fire-fighting task, the intelligent fire-fighting robot 2 automatically plans a path to return to the charging pile, and automatically charges by magnetic attraction. When the set power is reached, the charging will automatically stop. The number of intelligent fire-fighting robots 2 is determined according to the warehouse area.

[0037] Example 4 Based on Example 1, this example provides an intelligent unmanned fire extinguishing system for a large warehouse. The handheld terminal 3 includes a key rocker component 31, a screen display component 32, a mainboard component and a wireless ad hoc network component 33. A dual antenna is provided on the top. The key rocker component 31 is provided on both sides of the screen display component 32. Figure 5 shown.

[0038] The handheld terminal 3 is used to view the images of the flame detector 1 and the intelligent fire-fighting robot 2 in real time, and can switch to a manual control mode to remotely control the intelligent fire-fighting robot 2.

[0039] The screen display component 32 is used to display the fire alarm signal of the flame detector 1 received by the handheld terminal 3 through the wireless ad hoc network component 33, as well as the scale and location information of the fire, and can display and view the fire record of the flame detector 1 and the image of the flame detector 1 in real time; and view the images of the front and rear binocular cameras 22 of the chassis and the camera of the mechanical arm 27 of the intelligent fire-fighting robot 2 in real time through the wireless ad hoc network; The button remote sensing component is used to remotely control the intelligent fire-fighting robot 2. Relying on the wireless ad hoc network component 33, it can control the movement of the intelligent fire-fighting robot 2 in real time, control the expansion and folding of the mechanical arm 27, and control the drive of the fire extinguisher bottle 25.

[0040] Example 5 Based on Example 1, this embodiment provides an intelligent unmanned fire extinguishing system for a large warehouse. The number of flame detectors 1 is adjusted according to the detection range of the flame detector 1 and the area of ​​the warehouse. The flame detector 1 detects vertically downward, and the detection range is a rectangular area. The detection area is adjusted according to the warehouse height H and the actual field of view of the optical camera 11. To calculate, the length of the rectangle , rectangle width , at the ground of the four vertices of the detection range of the flame detector 1, spray or paste the marking block 4 as the warehouse area and the flame positioning judgment coordinate reference, and perform position calibration and real-time calibration on the warehouse plane, wherein, is the horizontal field of view, is the vertical field of view. Figure 3 shown.

[0041] The flame detectors 1 are evenly arranged on the top of the warehouse to detect vertically downward. The number of the flame detectors 1 is adjusted according to the detection range of the flame detectors 1 and the area of ​​the warehouse, and the requirement that the detection range of all flame detectors 1 covers the entire warehouse should be met.

[0042] Example 6 This embodiment provides an intelligent unmanned fire extinguishing method for a large warehouse, comprising the following steps: Step 1) The flame detector 1 collects optical image information in the warehouse in real time. When a flame is detected in the warehouse, the flame range and position are extracted and sent to the intelligent fire-fighting robot 2 and the handheld terminal 3; Step 2) After the intelligent fire-fighting robot 2 receives the fire information sent by the flame detector 1, the main control computer automatically plans the path according to the stored detailed map data of the warehouse, obtains the shortest path to the destination, and sends motion instructions to the drive component through the bus in combination with the positioning and orientation function of the intelligent fire-fighting robot 2, and automatically controls the intelligent fire-fighting robot 2 to drive automatically in the warehouse along the planned path; Figure 6 As shown; During the movement of the intelligent fire-fighting robot 2, the main control computer obtains obstacle information of the intelligent fire-fighting robot 2 in real time based on the images of the front and rear binocular cameras 22 and the data processed by the laser radar 24, and automatically controls and adjusts the movement of the intelligent fire-fighting robot 2 to bypass the obstacles; Step 3) After the intelligent fire-fighting robot 2 reaches the location of the flame, the main control computer transmits motion instructions to the robotic arm 27 from the bus, controls the operation of each joint, and adjusts the position and angle of the camera 28 and the hose nozzle 29 on the robotic arm in real time, so that the hose nozzle 29 is aimed at the root of the flame, and drives the fire extinguisher bottle 25 to extinguish the fire; During this process, the handheld terminal 3 can remotely view the images of the flame detector 1 and the intelligent fire-fighting robot 2 in real time, and can also remotely control the movement of the intelligent fire-fighting robot 2 in real time through the wireless self-organizing network component 33, control the deployment and folding of the mechanical arm 27, and control the drive of the fire extinguisher bottle 25, so as to realize the controllable fire-fighting process.

[0043] The specific process of the positioning and orientation function of the intelligent fire-fighting robot 2 in step 2) is as follows: The main control computer identifies the ground markings of the warehouse road based on the images of the front and rear binocular cameras 22 and the point cloud information of the laser radar 24, obtains the position information of the intelligent fire-fighting robot 2 relative to the ground markings, and assists in positioning and orientation when the intelligent fire-fighting robot 2 appears in the camera image of the flame detector 1 in combination with the inertial navigation module of the intelligent fire-fighting robot 2, thereby achieving accurate positioning and orientation of the intelligent fire-fighting robot 2 in the warehouse.

[0044] In this embodiment, the optical camera 11 is a CMOS image sensor device, and the response spectrum is visible light and near infrared light with a wavelength of 400nm to 1000nm. The resolution of the optical camera 11 is 3840*2160, and the pixel size is , the focal length of the objective lens f is 6mm, the frame rate is 30FPS, and when the warehouse height H is 15m, it is calculated that the number of pixels occupied by a 10cm*10cm flame in the horizontal and vertical directions is Where Y is the target flame size, u is the pixel size, and the optical camera 11 parameters meet the requirements of image recognition of 10cm*10cm flames. A flat protective glass is added to the front end of the dual-field lens of the optical camera 11, and an infrared cut-off film is coated on the glass surface to filter out near-infrared light and improve the display image quality.

[0045] Example 7 Based on Example 6, this embodiment provides an intelligent unmanned fire extinguishing method for a large warehouse, comprising the following steps: S1, when a fire occurs, the flame detector 1 first detects the occurrence of the flame, that is, the image processing board of the flame detector 1 processes the image of the optical camera 11 in real time, identifies the flame, and extracts the range and position information of the flame, and sends the fire coordinates and flame range to the intelligent fire-fighting robot 2 and the handheld terminal 3 through the wireless ad hoc network transmission component 13. Specifically, the flame detector 11 alarms within 3s for a 10cm*10cm flame, and the positioning accuracy of the flame center is , , can quickly and accurately detect the occurrence of fire. Among them, is the horizontal deviation, is the vertical deviation.

[0046] Among them, it should be noted that the image processing board processes the image of the optical camera 11 in real time, first performs image preprocessing on the obtained image, performs algorithm operation on the extracted three-channel matrix data, extracts the static and dynamic feature data of the flame, and then classifies it through a fusion decision method or a support vector machine method to identify the flame; after recognizing the presence of a flame in the picture, extracts the regional information of the flame, obtains the coordinate range information of the flame in the picture, and calculates the plane position of the flame in the venue in combination with the venue position calibration.

[0047] S2, after receiving the fire information sent by the flame detector 1, the intelligent fire-fighting robot 2 immediately drives automatically to the fire location. The main control computer of the intelligent fire-fighting robot 2 plans the path according to the detailed map of the stored warehouse, and automatically controls the intelligent fire-fighting robot 2 to move along the planned path in combination with the positioning and orientation function of the intelligent fire-fighting robot 2; during the movement of the intelligent fire-fighting robot 2, the main control computer obtains the obstacle information of the intelligent fire-fighting robot 2 in real time based on the images of the front and rear binocular cameras 22 and the data processed by the laser radar 24, and automatically controls and adjusts the movement of the intelligent fire-fighting robot 2 to bypass obstacles and avoid collisions.

[0048] It should be noted that the intelligent fire-fighting robot 2 integrates multiple information to achieve positioning and orientation in the warehouse. The main control computer identifies the ground markings of the warehouse road based on the images of the front and rear binocular cameras 22 and the point cloud information of the laser radar 24, obtains the position information of the intelligent fire-fighting robot 2 relative to the ground markings, and when the intelligent fire-fighting robot 2 appears in the picture of the optical camera 11 of the flame detector 1, it can assist in positioning the intelligent fire-fighting robot 2, and the position and posture of the intelligent fire-fighting robot 2 in the warehouse are obtained by integrating multiple information.

[0049] It should be further explained that in this embodiment, the intelligent fire-fighting robot 2 starts from a fixed stop and goes to the fire location. The fixed stop is equipped with a charging pile. The intelligent fire-fighting robot 2 automatically charges by magnetic attraction and stops charging automatically when the set power is reached. The number of intelligent fire-fighting robots 2 is determined according to the warehouse area. The number of intelligent fire-fighting robots 2 that go to extinguish the fire is determined according to the scale of the fire sent by the flame detector 1. According to the fire location sent by the flame detector 1, several intelligent fire-fighting robots 2 that are close are selected to go to the fire extinguishing location.

[0050] S3, after the intelligent fire-fighting robot 2 arrives at the fire site, the main control computer controls the mechanical arm 27 to unfold through the bus, detects and identifies the flame in real time based on the image of the camera 28 on the machine, and determines the position of the flame root. According to the preset rules, the intelligent fire-fighting robot 2 is controlled to move to a position a certain distance from the flame, and the mechanical arm 27 is controlled to adjust the angle in real time, and the hose nozzle 29 on the mechanical arm 27 is aimed at the flame root, and the fire extinguisher bottle 25 is driven to extinguish the fire.

[0051] It should be noted that the fire extinguisher bottle 25 can select the fire extinguishing agent according to the warehouse goods. In the warehouse storing solid materials of object fire, dry powder fire extinguishing agent can be used, in the warehouse storing liquid materials, foam fire extinguishing agent can be used, and in the warehouse storing valuables such as books, carbon dioxide fire extinguishing agent can be used. It is highly targeted at the fire source and can effectively protect the property in the warehouse. The fire extinguisher bottle 25 is installed in a box specially reserved for the chassis. There is a special mechanical structure to ensure the stability of the fire extinguisher bottle 25. The mouth of the fire extinguisher bottle 25 is connected by a special quick-connect interface, and leads to the nozzle at the end of the mechanical arm 27 through a hose fixed on the mechanical arm 27.

[0052] S4, during the fire extinguishing process, the intelligent fire extinguishing robot 2 detects the range of the flame through the camera 28 on the robotic arm in real time. When it detects that the flame disappears, the fire extinguishing is completed, the robotic arm 27 is folded, and the intelligent fire extinguishing robot 2 automatically returns to the fixed stop point; when the camera 28 on the robotic arm detects that there is no trend of the flame decreasing, or all the fire extinguisher bottles 25 have been sprayed but the flame still exists, the intelligent fire extinguishing robot 2 calls other intelligent fire extinguishing robots 2 for reinforcement through the wireless transmission component 26 to enhance the fire extinguishing efficiency.

[0053] S5, the handheld terminal 3 can view the fire record of the flame detector 1 at any time through the wireless self-organizing network component 33, view the image of the optical camera 11 of the flame detector 1 on the screen display component 32 in real time, and view the images of the front and rear binocular cameras 22 of the chassis and the camera 28 on the mechanical arm of the intelligent fire-fighting robot 2 in real time; during the automatic driving or automatic fire-fighting process of the intelligent fire-fighting robot 2, when the operator of the handheld terminal 3 finds that there is an abnormality in the automatic process, he can switch to the manual control mode at any time, and remotely control the intelligent fire-fighting robot 2 through the wireless self-organizing network component 33 by operating the button remote sensing component, which can control the movement of the intelligent fire-fighting robot 2 in real time, control the expansion and folding of the mechanical arm 27, and control the drive of the fire extinguisher bottle 25, thereby ensuring the controllability of the fire-fighting process.

[0054] Among them, it should be noted that personnel can check the status of the flame detector 1 at any time through the handheld terminal 3, including whether the optical camera 11, image processing board, wireless ad hoc network transmission component 13 and other components are working normally. At the same time, they can check the status of the intelligent fire-fighting robot 2 at any time, including the power of the power supply battery, whether the images of the front and rear binocular cameras 22 and the camera 28 on the robotic arm are clear, and whether the fire extinguisher bottle 25 is empty and needs to be replaced, thereby increasing the maintainability of the intelligent unmanned fire-fighting system.

[0055] In summary, the embodiment of the present invention provides an intelligent unmanned fire extinguishing system for a large warehouse, which can realize intelligent unmanned fire extinguishing when a fire occurs in the warehouse. The system can quickly detect flames and accurately and automatically extinguish fires through the mutual cooperation between the flame detector 1, the intelligent fire extinguishing robot 2 and the handheld terminal 3. It has the advantages of strong targeting of fire sources and a safe and controllable fire extinguishing process.

[0056] The above examples are merely illustrative of the present invention and do not constitute a limitation on the protection scope of the present invention. All designs that are the same or similar to the present invention fall within the protection scope of the present invention.

Claims

1. An intelligent unmanned fire extinguishing system for large warehouses, characterized by: It includes a handheld terminal, multiple flame detectors and an intelligent fire-fighting robot, wherein the multiple flame detectors are arranged on the top of the warehouse; The multiple flame detectors collect optical image information in the warehouse, monitor the presence of flames in the warehouse in real time, and send the flame range and flame position to the intelligent fire-fighting robot and the handheld terminal; the handheld terminal views the image images of the flame detector and the intelligent fire-fighting robot in real time, and can also be used to control the intelligent fire-fighting robot; after the intelligent fire-fighting robot receives the fire information sent by the flame detector, it plans a path to automatically drive quickly to the fire location, uses images to identify the exact location of the flame, and automatically and accurately extinguishes the fire at close range.

2. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 1 is characterized by: The flame detector includes an optical camera, an image processing board, a shell and a wireless self-organizing network transmission component. The optical camera is installed in the shell, the image processing board is installed on the rear side of the optical camera, and the two antennas of the wireless self-organizing network transmission component are respectively installed on both sides of the shell.

3. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 1 is characterized in that: The intelligent fire-fighting robot comprises a chassis and an upper body, wherein the upper body is arranged on the chassis, and the upper body comprises a mechanical arm, a camera arranged on the mechanical arm, and a hose nozzle; The chassis includes a vehicle body, front and rear binocular cameras arranged at the front and rear ends of the vehicle body, a driving component, a walking and follower wheel component, a laser radar arranged in front of the vehicle body, a wireless transmission component, a driving record component, a battery and power management component, a main control computer, and a fire extinguisher carried at the rear of the vehicle body.

4. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 1 is characterized in that: The handheld terminal comprises a key rocker assembly, a screen display assembly, a mainboard assembly and a wireless ad hoc network assembly, a double antenna is arranged on the top, and the key rocker assembly is arranged on both sides of the screen display assembly.

5. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 1 is characterized by: The number of flame detectors is adjusted according to the detection range of the flame detector and the area of ​​the warehouse. The flame detector detects vertically downward, and the detection range is a rectangular area. The detection area is based on the warehouse height H and the actual field of view of the optical camera. To calculate, the length of the rectangle , rectangle width , spray or paste marking blocks on the ground at the four vertices of the flame detector's detection range as the warehouse area and flame positioning coordinate reference, and perform position calibration and real-time calibration on the warehouse plane; among them, is the horizontal field of view, is the vertical field of view.

6. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 3 is characterized by: The driving assembly includes a motor driver and two motors, and the walking and following wheel assembly includes two rear walking wheels and two front following wheels, which are symmetrically mounted on both sides of the vehicle body; The driving component is used to drive and control the walking and follower wheel components to realize the forward, backward and turning of the intelligent fire-fighting robot; the motor driver drives the motor according to the motion instructions transmitted from the bus by the main control computer, each motor drives a walking wheel, and the intelligent fire-fighting robot turns according to the differential speed of the two rear walking wheels.

7. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 3 is characterized by: The front and rear binocular cameras and the laser radar are used to obtain environmental information around the intelligent fire-fighting robot, including obstacle information and ground marking information; The driving recording component is electrically connected to the front and rear binocular cameras and the camera on the robotic arm, and is used to record the video images of the front and rear binocular cameras and the camera on the robotic arm, and transmit the images of the front and rear binocular cameras and the camera on the robotic arm to the handheld terminal through the wireless transmission component.

8. The intelligent unmanned fire extinguishing system for a large warehouse according to claim 4, characterized in that: The screen display component is used to display the fire alarm signal of the flame detector received by the handheld terminal through the wireless ad hoc network component, as well as the scale and location information of the fire, and can display and view the fire record of the flame detector and the flame detector screen in real time; and view the front and rear binocular cameras of the chassis and the camera of the mechanical arm of the intelligent fire-fighting robot in real time through the wireless ad hoc network; The button remote sensing component is used to remotely control the intelligent fire-fighting robot. Relying on the wireless self-organizing network component, it can control the movement of the intelligent fire-fighting robot in real time, control the expansion and folding of the robotic arm, and control the drive of the fire extinguisher bottle.

9. An intelligent unmanned fire extinguishing method for a large warehouse, using the intelligent unmanned fire extinguishing system of claim 3, characterized in that: The following steps are involved: Step 1) The flame detector collects optical image information in the warehouse in real time. When a flame is detected in the warehouse, the flame range and location are extracted and sent to the intelligent fire-fighting robot and handheld terminal; Step 2) After the intelligent fire-fighting robot receives the fire information sent by the flame detector, the main control computer automatically plans the path according to the stored detailed map data of the warehouse, obtains the shortest path to the destination, and sends motion instructions to the drive component through the bus in combination with the positioning and orientation function of the intelligent fire-fighting robot, and automatically controls the intelligent fire-fighting robot to drive automatically in the warehouse along the planned path; During the movement of the intelligent fire-fighting robot, the main control computer obtains the obstacle information of the intelligent fire-fighting robot's surrounding environment in real time based on the images of the front and rear binocular cameras and the data processed by the laser radar, and automatically controls and adjusts the movement of the intelligent fire-fighting robot to bypass the obstacles; Step 3) After the intelligent fire-fighting robot reaches the location of the flame, the main control computer transmits motion instructions to the robotic arm from the bus, controls the operation of each joint, and adjusts the position and angle of the camera and hose nozzle on the robotic arm in real time, so that the hose nozzle is aimed at the root of the flame and drives the fire extinguisher to extinguish the fire; During this process, the handheld terminal can remotely view the images of the flame detector and the intelligent fire-fighting robot in real time. It can also remotely control the movement of the intelligent fire-fighting robot in real time through the wireless self-organizing network components, control the deployment and folding of the robotic arm, and control the drive of the fire extinguisher bottle to achieve controllable fire-fighting process.

10. The intelligent unmanned fire extinguishing method for a large warehouse according to claim 9, characterized in that: The specific process of the positioning and orientation function of the intelligent fire-fighting robot in step 2) is as follows: The main control computer identifies the ground markings of the warehouse roads based on the images from the front and rear binocular cameras and the point cloud information from the lidar, and obtains the position information of the intelligent fire-fighting robot relative to the ground markings. When the intelligent fire-fighting robot appears in the camera image of the flame detector, the main control computer assists in positioning and orientation, thereby achieving precise positioning and orientation of the intelligent fire-fighting robot in the warehouse.

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