Fire rescue emergency disposal system based on fire-fighting robot

Abstract

The invention discloses a fire rescue emergency disposal system based on a fire-fighting robot, which is characterized in that a fire-fighting monitoring system is arranged in each plant in a plant area, data of the fire-fighting monitoring systems are transmitted to a fire-fighting early warning central control room, the fire-fighting early warning central control room monitors the safety condition of the plant area in real time and judges whether a dangerous case occurs in the plant area; the fire-fighting early warning central control room sends an instruction to control the intelligent fire-fighting robot to execute a fire extinguishing task; the fire-fighting early-warning central control room plans an inspection area of the intelligent fire-fighting robot, the intelligent fire-fighting robot receives an instruction of the fire-fighting early-warning central control room, autonomously inspects a factory area, checks whether a fire hazard exists in the factory area or not, disposes the fire hazard when the fire hazard is detected, and reports the fire hazard to the fire-fighting early-warning central control room; the method has the advantages that the fire-fighting early warning capability and the fire-fighting rescue emergency disposal capability are improved, and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of firefighting and rescue, and in particular to a firefighting and rescue emergency response system based on a firefighting robot. Background Art

[0002] Traditional fire monitoring systems usually rely on fixed facilities and manual inspections, and are unable to achieve real-time fire risk monitoring, accurate risk assessment, and timely risk handling. Once a fire occurs, the response speed is slow, which greatly delays the rescue opportunity and easily leads to missing the golden time for risk handling.

[0003] Therefore, how to achieve real-time monitoring and rapid linkage response for fire rescue emergency disposal is a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies in the prior art and to provide a firefighting robot-based firefighting rescue emergency response system that improves firefighting early warning capabilities and firefighting rescue emergency response capabilities.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A fire rescue emergency response system based on a fire robot, characterized in that:

[0007] Each factory building in the factory is equipped with a fire monitoring system. The data of the fire monitoring system is transmitted to the fire early warning control room. The fire early warning control room monitors the safety of the factory in real time and determines whether there is any danger in the factory. When a danger occurs, the fire early warning control room sends instructions to control the intelligent fire-fighting robot to perform the fire-fighting task;

[0008] And / or the fire warning control room plans the inspection area of ​​the intelligent fire-fighting robot. The intelligent fire-fighting robot receives the instructions from the fire warning control room, autonomously inspects the factory area, and checks whether there are any fire hazards in the factory area. If any fire hazards are detected, they can be handled and reported to the fire warning control room;

[0009] The use of intelligent fire-fighting robots can reduce or avoid the danger of firefighters entering the fire scene to perform fire-fighting tasks. The cooperation between the fire monitoring system and the fire warning control room can achieve early warning of dangerous situations in the factory area. When the monitoring parameters are abnormal, the intelligent fire-fighting robots can be mobilized in time to go to the abnormal area to deal with the dangerous situation. At the same time, through regular autonomous inspections, fire hazards can be discovered in time and dealt with at the first time to avoid the spread of dangerous situations. The fire warning capability and fire rescue emergency response capability are improved to ensure the safety of the factory area.

[0010] The present invention is also provided with a robot preparation room, which uses perception and recognition technology to automatically replenish power and water for the intelligent fire-fighting robot after it completes daily inspection work or performs fire-fighting tasks; to ensure that the intelligent fire-fighting robot has sufficient power supply and fire-fighting water source when performing tasks, to ensure that it does not affect the fire-fighting of the factory area.

[0011] After receiving the command from the fire warning control room, the intelligent fire-fighting robot of the present invention quickly plans the best path through the intelligent driving system of the intelligent fire-fighting robot, arrives at the rescue site, accurately determines the fire source and activates the fire-fighting system to extinguish the fire, thereby realizing rapid control of dangerous situations in the factory area.

[0012] The intelligent firefighting robot of the present invention plans the inspection path, and the planning method is:

[0013] Step S1: After the intelligent firefighting robot performs multi-sensor fusion positioning and builds a map in the firefighting scene, a high-precision local map and a detailed global map are obtained;

[0014] Step S2: Navigate the map to achieve overall autonomous navigation;

[0015] Step S2.1: transferring the inspection target point to the drawn map;

[0016] Step S2.2: Draw the planned global path according to the target point and the starting point. After planning the global path, construct the local trajectory optimization in the local map;

[0017] Step S2.3: The scene within the sensor range is learned through the scene perception model, the passability of the road surface is judged in detail, and motion control planning is performed in combination with the kinematic characteristics of the vehicle body. The intelligent fire-fighting robot performs autonomous navigation according to the planned motion control instructions.

[0018] In step S2.2 of the present invention, the key location of the factory area is used as the inspection target point and the necessary place of the inspection route. * The algorithm finds the shortest route from the starting point to the destination by evaluating the path;

[0019] Improved A * The algorithm uses the obstacle ratio P of the local map a Weight the heuristic function, increase the weight coefficient of the heuristic function, and add the anti-collision distance function;

[0020] f(n)=g(n)+w·P a ×h(m)+c(n)

[0021]

[0022] Where f(n) is the estimated cost from the starting point through the current node to the target point, g(n) is the actual cost from the current node to the target point, and P a represents the obstacle ratio of the local map, h(m) is the heuristic function, c(n) is the anti-collision distance function, N wallpercent represents the number of obstacles, w represents the weight coefficient of the obstacle ratio in the local map, (x s ,y s ) is the starting point coordinate, (x z ,y z ) is the coordinate of the end point, α is the anti-collision coefficient, d is the distance from the nearest obstacle to the current node, R xray is the number of obstacle grids around the radar when the scanning radius is r.

[0023] The present invention is provided with a plurality of intelligent fire-fighting robots, and the plurality of intelligent fire-fighting robots are distributed near different factory areas. When the fire warning control room obtains the location of the fire, the intelligent fire-fighting robots near the fire factory area are commanded to arrive at the fire scene to perform fire-fighting tasks; further ensuring that the time for the intelligent fire-fighting robots to arrive at the fire scene is shortened to avoid the spread of dangerous situations.

[0024] The fire monitoring system of the present invention includes a fire identification camera, a visual smoke detection camera, a combustible gas detector, a smoke alarm, and a fire alarm. The detection data will be sent to the fire warning control room in real time;

[0025] The fire warning control room receives data fed back by the fire monitoring system and processes the data, compares it with historical feedback data, and analyzes the current fire safety status of the factory. When the fire warning control room receives an alarm signal or determines that a dangerous situation has occurred, it will obtain the location and level of the dangerous situation, and send instructions to control the intelligent fire-fighting robot to perform fire-fighting tasks. The fire alarm in the factory will immediately sound an alarm to alert the factory staff and flee the scene of the dangerous situation to avoid casualties.

[0026] The present invention sets the danger level to level N, and the danger level is determined by the fire warning central control room based on the information collected by the fire monitoring system;

[0027] According to the level of danger, the fire warning control room will assign different numbers of intelligent firefighting robots to perform firefighting tasks nearby to ensure effective firefighting.

[0028] The present invention is also provided with an intelligent fire control platform, which adopts digital twin technology to monitor each factory area in real time and conduct dynamic simulation analysis.

[0029] The intelligent fire-fighting robot of the present invention is equipped with a water tank, a large water cannon, a small water cannon, a vehicle-mounted pan / tilt platform and an intelligent driving system;

[0030] Large and small water cannons can handle different levels of fire situations;

[0031] The vehicle-mounted gimbal is equipped with a thermal imaging camera, a zoom camera, and a wide-angle camera to observe the surrounding environment of the firefighting robot and provide real-time feedback to the fire monitoring system;

[0032] The intelligent driving system can achieve autonomous navigation, autonomous obstacle avoidance, and fire source identification;

[0033] The intelligent firefighting robot can autonomously plan routes, autonomously navigate to the fire scene, identify the location coordinates of the fire point, and autonomously activate large and / or small water cannons to extinguish the fire according to the size of the fire source;

[0034] The external water port of the intelligent fire-fighting robot can be connected to an external water hose, which can directly supply water to the large water cannon or add water to the water tank. An automatic release mechanism is provided at the external water port, and the external water hose can be automatically released by controlling the automatic release mechanism.

[0035] The intelligent fire-fighting robot adopts a diesel engine. While the diesel engine is working, it can charge the on-board battery to ensure the power supply of the fire-fighting robot.

[0036] The beneficial effects of the present invention are: the use of intelligent fire-fighting robots can reduce or avoid the danger of firefighters entering the fire scene to perform fire-fighting tasks. The cooperation between the fire monitoring system and the fire warning control room can achieve early warning of dangerous situations in the factory area. When the monitoring parameters are abnormal, the intelligent fire-fighting robots can be mobilized in time to go to the abnormal area to deal with the dangerous situation. At the same time, through regular autonomous inspections, fire hazards can be discovered in time and dealt with at the first time to avoid the spread of dangerous situations, thereby improving the fire warning capability and fire rescue emergency response capability, and ensuring the safety of the factory area. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the plant area distribution and the coordination of the intelligent fire-fighting robot of the present invention.

[0038] Figure 2 It is a transmission diagram of the fire early warning central control room and the fire monitoring system of the present invention.

[0039] Figure 3 It is a data transmission flow chart of the present invention.

[0040] Figure 4 It is a schematic diagram of the intelligent fire-fighting robot of the present invention.

[0041] Description of the drawings: intelligent fire-fighting robot-1, large water cannon-101, small water cannon-102, vehicle-mounted pan-tilt head-103; fire monitoring system-2. DETAILED DESCRIPTION

[0042] The present invention is described below in conjunction with the accompanying drawings and embodiments.

[0043] As shown in the attached figure, a fire rescue emergency response system based on a fire fighting robot includes a fire warning control room, a fire monitoring system 2, a robot preparation room and an intelligent fire fighting robot 1.

[0044] The fire monitoring system 2 includes a fire identification camera, a visual smoke detection camera, a combustible gas detector, a smoke alarm, and a fire alarm. The detection data will be sent to the fire warning control room in real time. In this embodiment, each factory building in the factory is equipped with a fire monitoring system; the setting of the fire monitoring system realizes real-time monitoring of the factory environment, grasps the safety situation of the factory, and improves the accuracy of fire monitoring and the efficiency of fire alarm.

[0045] The intelligent fire-fighting robot 1 can perform fire-fighting tasks and daily inspections. The intelligent fire-fighting robot is equipped with a water tank, a large water cannon, a small water cannon, a vehicle-mounted pan / tilt platform, and an intelligent driving system;

[0046] The large water cannon and the small water cannon can deal with different levels of fire situations. The small water cannon is supplied with water through the water tank on the intelligent fire-fighting robot. The large water cannon can be supplied with water through the water tank or through the external water inlet. In this embodiment, the external water inlet is connected to the large water cannon through a water outlet pipeline and is connected to the water tank through a water inlet pipeline. Control valves are provided on the water outlet pipeline and the water inlet pipeline. Control valves are also provided on the connecting pipelines between the water tank and the large water cannon and on the connecting pipelines with the small water cannon. The external water inlet of the intelligent fire-fighting robot can be connected to an external water hose, which can directly supply water to the large water cannon or add water to the water tank. An automatic release mechanism is provided at the external water inlet, and the automatic release mechanism is controlled to realize the automatic release of the external water hose. When the fire hazard is serious and fire rescue personnel are required to arrive at the scene, the fire rescue personnel only need to combine the fire truck or the fire hose with the robot after arriving at the scene, without redeploying the scene, which greatly shortens the rescue time and maximizes the role of fire rescue. In this embodiment, the automatic release mechanism is controlled by an electromagnetic valve, and the operator can separate the automatic release mechanism from the external water inlet by remote operation.

[0047] The vehicle-mounted gimbal is equipped with a thermal imaging camera, a zoom camera, and a wide-angle camera to observe the surrounding environment of the firefighting robot and provide real-time feedback to the fire monitoring system;

[0048] The intelligent driving system can realize functions such as autonomous navigation, autonomous obstacle avoidance, high temperature anomaly recognition, fire source recognition and tracking;

[0049] The intelligent fire-fighting robot adopts a diesel engine, which can charge the on-board battery while the diesel engine is working, thus ensuring the power supply of the fire-fighting robot;

[0050] The intelligent firefighting robot can autonomously plan routes, autonomously navigate to the fire scene, identify the location coordinates of the fire point, and autonomously activate large and / or small water cannons to perform firefighting operations according to the size of the fire source; the use of intelligent firefighting robots can reduce or avoid the danger of firefighters entering the fire scene to perform firefighting tasks.

[0051] The robot preparation room uses perception and recognition technology to automatically replenish power and water for the intelligent fire-fighting robot after it completes daily inspection work or performs fire-fighting tasks; the setting of the robot preparation room ensures that the intelligent fire-fighting robot has sufficient power supply and fire-fighting water source when performing tasks, ensuring that it does not affect the fire-fighting in the factory area and realizing unmanned operation and maintenance.

[0052] In this embodiment, several intelligent firefighting robots are provided. There are multiple factory buildings in each factory area. One or more intelligent firefighting robots are configured near each factory building, or one intelligent firefighting robot is configured for several adjacent factory buildings. The specific number of intelligent firefighting robots is set according to the usage scenario.

[0053] When a fire occurs in the factory, the intelligent fire-fighting robot performs the following operations to extinguish the fire:

[0054] Step S1: The data of the fire monitoring system in each factory building is transmitted to the fire early warning control room, which monitors the safety of the factory area in real time and determines whether there is any danger in the factory area;

[0055] The specific method for the fire early warning control room to judge the occurrence of dangerous situations is that the fire early warning control room receives the data fed back by the fire monitoring system and processes the data, compares it with the historical feedback data, and analyzes the current fire safety status of the factory area;

[0056] Step S2: When the fire early warning control room receives an alarm signal from a fire alarm or determines that a dangerous situation has occurred, it will obtain the location and level of the dangerous situation. The fire early warning control room will command the intelligent fire-fighting robot near the fire plant to arrive at the fire scene based on the acquired fire location. The fire alarm in the plant area will sound an alarm to alert the plant staff to flee from the dangerous situation to avoid casualties. The intelligent driving system of the intelligent fire-fighting robot can quickly plan the best path to arrive at the rescue site. The planning of the best path can achieve rapid control of the dangerous situation in the plant area, further ensuring that the time for the intelligent fire-fighting robot to arrive at the fire scene is shortened to avoid the spread of the dangerous situation.

[0057] Step S3: The intelligent firefighting robot accurately determines the fire source through automatic fire point recognition technology and activates large water cannon and / or small water cannon to extinguish the fire;

[0058] Step S4: According to the danger level, if the level is high, the fire warning control room will also call fire rescue personnel, organize fire trucks and intelligent fire robots to cooperate and jointly carry out fire rescue work;

[0059] Step S5: After the fire is extinguished, the fire warning control room controls the intelligent fire-fighting robot to leave the factory through the intelligent driving system.

[0060] When the intelligent fire-fighting robot is on standby in the robot preparation room, once a dangerous situation occurs in the factory area, the intelligent early warning control room can also assign the intelligent fire-fighting robot in the robot preparation room to deal with the situation according to the planned route.

[0061] Through the cooperation between the fire monitoring system and the fire warning control room, early warning of dangerous situations in the factory area can be achieved. When the monitoring parameters are abnormal, the intelligent fire-fighting robots can be mobilized in time to the abnormal area to deal with the dangerous situation, thereby improving the fire warning capability and fire rescue emergency response capability to ensure the safety of the factory area.

[0062] In this embodiment, the intelligent fire-fighting robot can send longitude and latitude coordinates to the fire warning control room in real time. The fire warning control room can assign the nearest intelligent fire-fighting robot to the fire scene based on the location of the fire point fed back by the fire monitoring system.

[0063] The danger level is set to N. The danger level is determined by the fire warning control room based on the information collected by the fire monitoring system. According to the danger level, the fire warning control room will assign different numbers of intelligent firefighting robots to perform firefighting tasks nearby to ensure effective firefighting.

[0064] In this embodiment, the danger level is divided into four levels, and the level is mainly determined based on the information collected by each fire monitoring system, including temperature, smoke concentration, combustible gas concentration, flame, etc.; for example, if it is detected that the temperature somewhere in the factory exceeds the temperature threshold, the smoke concentration does not exceed the preset concentration, the combustible gas concentration does not exceed the preset concentration, and no flame is found, then a level one alarm is triggered; if it is detected that the temperature somewhere in the factory exceeds the temperature threshold, the smoke concentration exceeds the preset concentration, the combustible gas concentration does not exceed the preset concentration, and no flame is found, then a level two alarm is triggered; if it is detected that the temperature exceeds the temperature threshold, the smoke concentration exceeds the preset concentration, the combustible gas concentration exceeds the preset concentration, and no flame is found, then a level three alarm is triggered; if it is detected that the temperature exceeds the temperature threshold, the smoke concentration exceeds the preset concentration, the combustible gas concentration exceeds the preset concentration, and no flame is found, then a level three alarm is triggered; if it is detected that the temperature exceeds the temperature threshold, the smoke concentration exceeds the preset concentration, the combustible gas concentration exceeds the preset concentration, and an obvious flame is found, then a level four alarm is triggered; the specific levels of danger are set according to the fire protection needs of the factory area.

[0065] In this embodiment, after receiving the first and second level alarms, the fire warning control room dispatches an intelligent fire-fighting robot nearby for on-site detection and emergency firefighting; after receiving the third level alarm, the fire warning control room dispatches two intelligent fire-fighting robots nearby to the scene, and evacuates the factory staff in time; after receiving the fourth level alarm, the fire warning control room promptly dispatches all idle intelligent fire-fighting robots in the factory to the scene, and promptly requests support from firefighters, and evacuates the factory staff.

[0066] In this embodiment Figure 3 As shown, the information collected by the fire monitoring system is processed by the fire alarm controller, and the processed data of the fire alarm controller is sent to the fire alarm server in the fire early warning control room.

[0067] In this embodiment, the fire warning control room also includes an intelligent fire control platform and a CRT display platform. The intelligent fire control platform uses digital twin technology to monitor each factory area in real time and perform dynamic simulation analysis. The intelligent fire control platform helps to build a fire linkage mechanism, and can reasonably mobilize personnel and allocate resources, and remotely assign intelligent firefighting robots to extinguish fires, ensuring that the fire can be effectively controlled, improving emergency response effects, and also facilitating staff to monitor the fire safety status in the factory area in real time.

[0068] In this embodiment, after the intelligent fire-fighting robot enters the fire scene, the thermal imaging camera of the vehicle-mounted pan / tilt platform 103 is used to detect high-temperature points on the front visual interface, the wide-angle camera observes the overall environmental conditions in the maximum range in the forward direction, and the zoom camera can observe clearer local environmental conditions by changing the focal length. The intelligent driving system tracks the location of the fire source, and when the intelligent fire-fighting robot reaches the fire source, the fire warning control room controls the large water cannon 101 and / or small water cannon 102 to start extinguishing the fire.

[0069] According to the location of the fire and the level of danger, choose to use large water cannon 101 and / or small water cannon 102 to spray water to extinguish the fire. When using the large water cannon 101 to extinguish the fire, the firefighter can insert the external water hose at the external water inlet in advance, and the fire early warning control room controls the control valve to open the water outlet pipeline, disconnect the water inlet pipeline, and start the fire pump of the large water cannon 101. The external water source is sprayed from the large water cannon 101 through the external water hose and the water outlet pipeline in turn; when using the small water cannon 102 to extinguish the fire, control the control valve on the connecting pipeline between the water tank and the small water cannon 102 to open, and start the fire pump of the small water cannon 102. The water in the water tank is sucked out by the fire pump and sprayed from the small water cannon 102. When the fire is large, the large water cannon 101 and the small water cannon 102 can be used at the same time to spray water to extinguish the fire.

[0070] The operation method of the intelligent fire-fighting robot to perform daily inspection tasks is as follows:

[0071] The fire warning control room plans the inspection area for the intelligent fire-fighting robot. The intelligent fire-fighting robot receives instructions from the fire warning control room, and autonomously inspects the factory area to check whether there are fire hazards in the factory area. Once a fire hazard is detected, the intelligent fire-fighting robot activates a large water cannon and / or a small water cannon to deal with it, and reports it to the fire warning control room. Through regular autonomous inspections, fire hazards can be discovered in time and dealt with in the first time to avoid the spread of the dangerous situation.

[0072] During daily inspections, the intelligent firefighting robot can autonomously plan the inspection route using the following method:

[0073] Step S1: After the intelligent firefighting robot performs multi-sensor fusion positioning and builds a map in the firefighting scene, a high-precision local map and a detailed global map are obtained;

[0074] Step S2: Navigate the map to achieve overall autonomous navigation;

[0075] Step S2.1: transferring the inspection target point to the drawn map;

[0076] Step S2.2: Draw the planned global path according to the target point and the starting point. After planning the global path, construct the local trajectory optimization in the local map;

[0077] The key locations in the factory area are used as the inspection target points. One or more key locations in the factory area can be set as the necessary points for the inspection route. The improved A * The algorithm finds the shortest route from the starting point to the destination by evaluating the path;

[0078] Improved A * The algorithm uses the obstacle ratio P of the local map a Weight the heuristic function, increase the weight coefficient of the heuristic function, and add the anti-collision distance function;

[0079] f(n)=g(n)+w·P a ×h(m)+c(n)

[0080]

[0081] Where f(n) is the estimated cost from the starting point through the current node to the target point, g(n) is the actual cost from the current node to the target point, and P a represents the obstacle ratio of the local map, h(m) is the heuristic function, c(n) is the anti-collision distance function, N wallpercent represents the number of obstacles, w represents the weight coefficient of the obstacle ratio in the local map, (x s ,y s ) is the starting point coordinate, (x z ,y z) is the coordinate of the end point, α is the anti-collision coefficient, d is the distance from the nearest obstacle to the current node, R xray is the number of surrounding obstacle grids when the radar scanning radius is r;

[0082] Step S2.3: The scene within the sensor range is learned through the scene perception model, the passability of the road surface is judged in detail, and motion control planning is performed in combination with the kinematic characteristics of the vehicle body. The intelligent fire-fighting robot performs autonomous navigation according to the planned motion control instructions.

[0083] The intelligent fire-fighting robot of this embodiment is applied to the petrochemical scenario. The petrochemical enterprises involve a large number of flammable, explosive and poisonous high-risk chemical materials and substances in the production process. These characteristics make the related places prone to safety accidents such as fire, explosion and poisoning, which significantly increases the difficulty and complexity of fire safety management. Once an emergency such as a fire occurs, it will cause great losses to the safety of personnel and equipment in the factory. The intelligent fire-fighting robot performs fire-fighting tasks and daily inspections, which greatly improves the fire warning capability and fire rescue emergency response capability of the petrochemical park, and protects the property and life safety of the park. This application is not limited to application in the petrochemical scenario, but is applicable to any scenario with fire risks.

Claims

1. A fire rescue emergency response system based on a fire robot, characterized in that: Each factory building in the factory is equipped with a fire monitoring system. The data of the fire monitoring system is transmitted to the fire early warning control room. The fire early warning control room monitors the safety of the factory in real time and determines whether there is any danger in the factory. When a danger occurs, the fire early warning control room sends instructions to control the intelligent fire-fighting robot to perform the fire-fighting task; And / or the fire warning control room plans the inspection area of ​​the intelligent fire-fighting robot. The intelligent fire-fighting robot accepts the instructions of the fire warning control room, autonomously inspects the factory area, and checks whether there are fire hazards in the factory area. If fire hazards are detected, they can be handled and reported to the fire warning control room.

2. A fire rescue emergency response system based on a fire fighting robot according to claim 1, characterized in that: There is also a robot preparation room, which uses perception and recognition technology to automatically replenish power and water for the intelligent fire-fighting robot after it completes daily inspection work or performs fire-fighting tasks.

3. A fire rescue emergency response system based on a fire fighting robot according to claim 1 or 2, characterized in that: After receiving the command from the fire warning control room, the intelligent fire-fighting robot quickly plans the best path through the intelligent driving system of the intelligent fire-fighting robot, arrives at the rescue site, accurately determines the source of the fire and activates the fire-fighting system to extinguish the fire.

4. A fire rescue emergency response system based on a fire fighting robot according to claim 1 or 2, characterized in that: The intelligent firefighting robot plans the inspection path, and the planning method is: Step S1: After the intelligent firefighting robot performs multi-sensor fusion positioning and builds a map in the firefighting scene, a high-precision local map and a detailed global map are obtained; Step S2: Autonomous navigation Step S2.1: transferring the inspection target point to the drawn map; Step S2.2: Draw the planned global path according to the target point and the starting point. After planning the global path, construct the local trajectory optimization in the local map; Step S2.3: The scene within the sensor range is learned through the scene perception model, the passability of the road surface is judged in detail, and motion control planning is performed in combination with the kinematic characteristics of the vehicle body. The intelligent fire-fighting robot performs autonomous navigation according to the planned motion control instructions.

5. A fire rescue emergency response system based on a fire fighting robot according to claim 4, characterized in that: In step S2.2, the key locations of the factory area are taken as the inspection target points and the necessary places for the inspection route. * The algorithm finds the shortest route from the starting point to the destination by evaluating the path; Improved A * The algorithm uses the obstacle ratio P of the local map a Weight the heuristic function, increase the weight coefficient of the heuristic function, and add the anti-collision distance function; f(n)=g(n)+w·P a ×h(m)+c(n) Where f(n) is the estimated cost from the starting point through the current node to the target point, g(n) is the actual cost from the current node to the target point, and P a represents the obstacle ratio of the local map, h(m) is the heuristic function, c(n) is the anti-collision distance function, N wallpercent represents the number of obstacles, w represents the weight coefficient of the obstacle ratio in the local map, (x s ,y s ) is the starting point coordinate, (x z ,y z ) is the coordinate of the end point, α is the anti-collision coefficient, d is the distance from the nearest obstacle to the current node, R xray is the number of obstacle grids around the radar when the scanning radius is r.

6. A fire rescue emergency response system based on a fire fighting robot according to claim 1, 2 or 5, characterized in that: There are several intelligent fire-fighting robots distributed near different factory areas. When the fire warning control room obtains the location of the fire, it commands the intelligent fire-fighting robots near the fire factory area to arrive at the fire scene and perform fire-fighting tasks.

7. A fire rescue emergency response system based on a fire fighting robot according to claim 1, 2 or 5, characterized in that: The fire monitoring system includes a fire identification camera, a visual smoke detection camera, a combustible gas detector, a smoke alarm, and a fire alarm, and the detection data is sent to the fire warning central control room in real time; The fire warning control room receives data fed back by the fire monitoring system and processes the data, compares it with historical feedback data, and analyzes the current fire safety status of the factory. When the fire warning control room receives an alarm signal or determines that a dangerous situation has occurred, it will obtain the location and level of the dangerous situation, send instructions to control the intelligent fire-fighting robot to perform fire-fighting tasks, and the fire alarm in the factory will immediately sound an alarm to alert the factory staff and flee the scene of the dangerous situation.

8. A fire rescue emergency response system based on a fire fighting robot according to claim 7, characterized in that: Set the danger level to N, and the danger level is determined by the fire warning central control room based on the information collected by the fire monitoring system; According to the level of danger, the fire warning control room will assign different numbers of intelligent firefighting robots to perform firefighting tasks nearby.

9. A fire rescue emergency response system based on a fire fighting robot according to claim 1 or 2 or 5 or 8, characterized in that: It also has an intelligent fire control platform that uses digital twin technology to conduct real-time monitoring and dynamic simulation analysis of each factory area.

10. A fire rescue emergency response system based on a fire fighting robot according to claim 1 or 2 or 5 or 8, characterized in that: The intelligent fire-fighting robot is equipped with a water tank, a large water cannon, a small water cannon, a vehicle-mounted pan / tilt platform and an intelligent driving system; Large and small water cannons can handle different levels of fire situations; The vehicle-mounted gimbal is equipped with a thermal imaging camera, a zoom camera, and a wide-angle camera to observe the surrounding environment of the firefighting robot and provide real-time feedback to the fire monitoring system; The intelligent driving system can achieve autonomous navigation, autonomous obstacle avoidance, and fire source identification; The intelligent firefighting robot can autonomously plan routes, autonomously navigate to the fire scene, identify the location coordinates of the fire point, and autonomously activate large and / or small water cannons to extinguish the fire according to the size of the fire source; The external water port of the intelligent fire-fighting robot can be connected to an external water hose, which can directly supply water to the large water cannon or add water to the water tank. An automatic release mechanism is provided at the external water port, and the external water hose can be automatically released by controlling the automatic release mechanism. The intelligent fire-fighting robot adopts a diesel engine, and the diesel engine can charge the vehicle-mounted battery while working.

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