Robot system and method for automatic butt joint of fire hose and fire hydrant

Abstract

The invention discloses a robot system for automatic butt joint of a fire hose and a fire hydrant. The system comprises a robot body, a mechanical arm, an image acquisition device and a control system. The robot body has autonomous navigation and positioning functions and can reach the fire hydrant position; the mechanical arm is used for grabbing and operating a fire hose connector and has multiple degrees of freedom so as to flexibly adjust the position and the angle. The image acquisition device realizes three-dimensional positioning and posture recognition of the fire hydrant interface through a laser radar and / or a visible light camera; and the control system plans the motion path of the mechanical arm according to the image data and realizes accurate butt joint. The method comprises the steps of identifying the position and posture of the fire hydrant connector, driving the mechanical arm to move, clamping and adjusting the position angle of the water hose connector, and finally completing butt joint. The method is suitable for a complex environment, has the characteristics of high efficiency, accuracy and safety, and can be widely applied to the field of fire rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting equipment, and specifically refers to a robot system and method for automatically docking a fire hose with a fire hydrant. Background Art

[0002] In fire-fighting and rescue work, quickly and accurately docking a fire hose with a fire hydrant is a crucial link, and its docking efficiency and accuracy directly affect the effect of fire extinguishing.

[0003] However, there are many problems with the traditional manual docking method. On the one hand, at the fire scene, harsh environments such as high temperature, thick smoke, and toxic and harmful gases pose a great threat to the personal safety of firefighters. When manually docking a fire hose, firefighters need to be exposed to the dangerous environment, increasing the risk of injury or even sacrifice.

[0004] On the other hand, the efficiency of manual docking is relatively low. In emergency situations, due to factors such as operational errors and nervousness, the docking may be untimely or not firm, affecting the fire extinguishing process.

[0005] In addition, for some complex terrains or difficult-to-reach locations, it is even more difficult to manually dock a fire hose.

[0006] Therefore, there is an urgent need for a technology or device that can automatically, quickly, and accurately dock a fire hose with a fire hydrant in a complex environment to improve the efficiency and safety of fire-fighting and rescue. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the above-mentioned technical defects and provide a robot system and method for automatically docking a fire hose with a fire hydrant.

[0008] To solve the above technical problem, the technical solution provided by the present invention is a robot system for automatically docking a fire hose with a fire hydrant, including:

[0009] A robot body, which has an autonomous navigation and positioning function and can reach the position of the fire hydrant;

[0010] A robotic arm, which is installed on the robot body and is used to grab and operate the fire hose connector;

[0011] An image acquisition device, which is installed at the end of the robotic arm or on the robot body and is used to identify the position and posture of the fire hydrant interface;

[0012] A control system, which is connected to the image acquisition device and the robotic arm, and is used to control the movement of the robotic arm according to the information obtained by the image acquisition device to achieve precise docking of the fire hose connector with the fire hydrant interface.

[0013] Further, the robotic arm is a multi - degree - of - freedom robotic arm, capable of flexibly adjusting the position and angle of the fire hose connector.

[0014] Further, the image acquisition device includes a lidar and / or a visible - light camera, which is used for three - dimensional positioning and attitude recognition of the fire hydrant interface.

[0015] Further, a high - precision sensor and a fixture are installed at the end of the robotic arm. The high - precision sensor is used to detect the relative position and angle between the fire hose connector and the fire hydrant interface in real time, and the fixture is used to clamp the fire hose connector.

[0016] Further, the control system includes:

[0017] An image - processing module, which is used to process the image data obtained by the image acquisition device and identify the position and attitude of the fire hydrant interface;

[0018] A motion - planning module, which is used to plan the motion path of the robotic arm according to the position and attitude of the fire hydrant interface;

[0019] A control module, which is used to control the motion of the robotic arm according to the planning result of the motion - planning module.

[0020] Further, the robot body adopts a four - wheel drive or crawler - type design, with good passability and stability.

[0021] The second object of the present invention is to provide a method for automatically docking a fire hose to a fire hydrant, including the following steps:

[0022] Identify the position and attitude of the fire hydrant interface through the image acquisition device;

[0023] The control system drives the robotic arm to move the fire hose connector near the fire hydrant interface according to the information obtained by the image acquisition device;

[0024] The fixture at the end of the robotic arm clamps the fire hose connector, and the position and angle of the connector are adjusted in real time through the high - precision sensor;

[0025] The control system controls the robotic arm to insert the fire hose connector into the fire hydrant interface and complete the docking.

[0026] Further, the image acquisition device includes a lidar and / or a visible - light camera, and the image - processing module performs three - dimensional positioning and attitude recognition of the fire hydrant interface through image recognition technology.

[0027] Further, the control system adjusts the motion path of the robotic arm in real time according to the information obtained by the image acquisition device to ensure the precise docking of the fire hose connector and the fire hydrant interface.

[0028] Furthermore, the clamp at the end of the robotic arm completes the docking of the fire hose connector and the fire hydrant interface by rotation or other means.

[0029] The advantages of the present invention compared with the prior art are as follows:

[0030] 1) The robotic system of the present invention can complete the docking of the fire hose and the fire hydrant without manual operation, enabling firefighters not to be exposed to dangerous fire scenes, greatly reducing the casualty risk of firefighters, and ensuring the life safety of firefighters.

[0031] 2) The robotic system can quickly and accurately identify the position and attitude of the fire hydrant interface, and through precise motion control, achieve the automatic docking of the fire hose connector. Compared with manual docking, it greatly shortens the docking time, improves the response speed of fire rescue, and gains precious time for fire fighting.

[0032] 3) The robot body adopts a four-wheel drive or crawler design, with good passability and stability, and can adapt to various complex terrains and environmental conditions. Whether it is on rugged mountain roads, narrow alleys or areas blocked by sundries, it can reach the position of the fire hydrant smoothly and complete the docking task.

[0033] 4) Through the image acquisition device for three-dimensional positioning and attitude recognition of the fire hydrant interface, combined with a multi-degree-of-freedom robotic arm and high-precision sensors, it can achieve high-precision docking of the fire hose connector and the fire hydrant interface, ensure firm connection, avoid problems such as water leakage, and guarantee the smooth progress of fire extinguishing work.

[0034] 5) The robotic system of the present invention has functions such as autonomous navigation, positioning, image recognition, and motion control, and can automatically complete the docking process of the fire hose and the fire hydrant without manual intervention, improving the intelligent level of fire rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of a robotic system and method for automatically docking a fire hose to a fire hydrant according to the present invention.

[0036] As shown in the figure: 1. Robot body, 2. Robotic arm, 3. Control system, 4. Image acquisition device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following further elaborates in detail on a robotic system and method for automatically docking a fire hose to a fire hydrant according to the present invention with reference to the accompanying drawings.

[0038] In specific implementation of the present invention in combination with the accompanying drawings, multiple robot bodies 1 perform autonomous navigation through lidar and IMU and respectively reach the positions of fire hydrants. When the robot body 1 approaches a fire hydrant, the image acquisition device 4 is activated to perform environmental scanning.

[0039] The image acquisition device 4 obtains the three-dimensional position and attitude information of the fire hydrant interface through lidar and visible light cameras. The image processing module processes the acquired image data to identify the position and attitude of the fire hydrant interface.

[0040] The motion planning module plans the motion path of the robotic arm 2 according to the position and attitude of the fire hydrant interface. The control module controls the robotic arm 2 to move the fire hose connector near the fire hydrant interface according to the planning result. The clamp at the end of the robotic arm 2 clamps the fire hose connector. The high-precision sensor real-time detects the relative position and angle between the fire hose connector and the fire hydrant interface, and adjusts the motion of the robotic arm 2 through the control module to ensure precise docking.

[0041] The control system 3 controls the robotic arm 2 to insert the fire hose connector into the fire hydrant interface and complete the docking. After the docking is completed, the robot body 1 returns to the standby position and waits for the next task.

[0042] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative work without departing from the gist of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A robot system and method for automatically docking a fire hose with a fire hydrant, characterized in that Including: A robot body (1) with autonomous navigation and positioning functions, capable of reaching the position of the fire hydrant; A robotic arm (2) installed on the robot body (1) for grasping and operating the fire hose connection; An image acquisition device (4) installed at the end of the robotic arm (2) or on the robot body (1) for identifying the position and posture of the fire hydrant interface; A control system (3) connected to the image acquisition device (4) and the robotic arm (2), for controlling the movement of the robotic arm (2) according to the information obtained by the image acquisition device (4) to achieve precise docking of the fire hose connection with the fire hydrant interface.

2. The robot system for automatically docking a fire hose with a fire hydrant according to claim 1, characterized in that, The robotic arm (2) is a multi-degree-of-freedom robotic arm, capable of flexibly adjusting the position and angle of the fire hose connection.

3. The robot system for automatically docking a fire hose with a fire hydrant according to claim 1, characterized in that, The image acquisition device (4) includes a lidar and / or a visible light camera for three-dimensional positioning and posture recognition of the fire hydrant interface.

4. The robot system for automatically docking a fire hose with a fire hydrant according to claim 1, wherein, A high-precision sensor and a fixture are installed at the end of the robotic arm (2). The high-precision sensor is used to detect the relative position and angle between the fire hose connection and the fire hydrant interface in real time, and the fixture is used to clamp the fire hose connection.

5. The robot system for automatically docking a fire hose with a fire hydrant according to claim 1, wherein The control system (3) includes: An image processing module for processing the image data obtained by the image acquisition device (4) to identify the position and posture of the fire hydrant interface; A motion planning module for planning the motion path of the robotic arm (2) according to the position and posture of the fire hydrant interface; A control module for controlling the movement of the robotic arm (2) according to the planning result of the motion planning module.

6. The robot system for automatically docking a fire hose with a fire hydrant according to claim 1, characterized in that, The robot body (1) adopts a four-wheel drive or crawler design, with good passability and stability.

7. A method for automatically connecting a fire hose to a fire hydrant, characterized in that, Including the following steps: Identifying the position and posture of the fire hydrant interface through the image acquisition device (4); The control system (3) drives the robotic arm (2) to move the fire hose connection near the fire hydrant interface according to the information obtained by the image acquisition device (4); The fixture at the end of the robotic arm (2) clamps the fire hose connection and adjusts the position and angle of the connection in real time through the high-precision sensor; The control system (3) controls the robotic arm (2) to insert the fire hose connection into the fire hydrant interface and complete the docking.

8. The method for automatically docking a fire hose with a fire hydrant according to claim 7, characterized in that, The image acquisition device (4) includes a lidar and / or a visible light camera, and the image processing module performs three-dimensional positioning and posture recognition of the fire hydrant interface through image recognition technology.

9. The method for automatically docking a fire hose with a fire hydrant according to claim 7, characterized in that, The control system (3) adjusts the motion path of the robotic arm (2) in real time according to the information obtained by the image acquisition device (4) to ensure precise docking of the fire hose connection with the fire hydrant interface.

10. The method for automatically docking a fire hose with a fire hydrant according to claim 7, characterized in that, The fixture at the end of the robotic arm (2) completes the docking of the fire hose connection with the fire hydrant interface by rotating or other means.

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