Intelligent numerical control fire-fighting early warning automatic fire extinguishing robot dog

Abstract

The invention relates to the technical field of fire-fighting equipment, and discloses an intelligent numerical control fire-fighting early warning automatic fire extinguishing robot dog which comprises a body. The bionic movement module is mounted at the bottom end of the body and used for driving the body to move; the positioning module is installed on the body and used for generating an environment map, planning a path through the calculation module and controlling the bionic motion module to move based on the planned path; the fire extinguishing module is mounted at the top end of the body, and the fire extinguishing module is loaded with a plurality of different types of fire extinguishing agents; and the multi-mode sensing module is installed on the body and used for sensing the surrounding environment information and determining the fire hazard type based on the environment information so as to control the fire extinguishing agent to spray the fire extinguishing agent of the corresponding type. Through collaborative design of the bionic movement mechanism and the intelligent decision-making system, the functions of environment sensing, autonomous navigation, intelligent fire extinguishing and the like are integrated, rescue operation of traditional fire fighting equipment in a complex fire scene environment is replaced, the fire extinguishing efficiency is improved, the casualty risk is reduced, and technical progress and practical value are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting equipment, and in particular to an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog. Background Art

[0002] Traditional fire-fighting equipment (such as fire trucks and hand-held fire extinguishers) has obvious deficiencies when dealing with scenarios such as high-rise buildings, underground spaces, and chemical factories. For example, due to space limitations, it is difficult to approach the fire source in narrow areas; there is a lag in response, relying on manual discovery of the fire, delaying the rescue time; and the safety is low, as firefighters need to be in close contact with high-temperature and toxic environments.

[0003] Existing robotic fire-fighting equipment mostly uses wheeled or tracked chassis, with poor terrain adaptability and a lack of the ability to identify fire types through multi-sensor fusion.

[0004] Therefore, there is an urgent need for an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above purpose, the present invention provides the following solution: The present invention provides an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog, including:

[0007] A body;

[0008] A bionic motion module, installed at the bottom end of the body, for driving the body to move;

[0009] A positioning module, installed on the body, for generating an environmental map, planning a path through a calculation module, and controlling the movement of the bionic motion module based on the planned path;

[0010] A fire extinguishing module, installed at the top end of the body, and the fire extinguishing module is loaded with multiple different types of fire extinguishing agents;

[0011] A multi-modal perception module, installed on the body, for perceiving surrounding environmental information and determining the fire type based on the environmental information to control the fire extinguishing agent to spray the corresponding type of fire extinguishing agent.

[0012] According to the intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the bionic motion module includes an attitude monitoring module and a plurality of hydraulically driven mechanical legs. The plurality of hydraulically driven mechanical legs are respectively installed at the bottom end of the body, and the attitude monitoring module is installed on the body for correcting the movement trajectory of the hydraulically driven mechanical legs.

[0013] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the positioning module includes a binocular camera and a lidar. The binocular camera is installed at the front end of the body, and the lidar is installed at the bottom end of the body.

[0014] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the multimodal perception module includes a sensor group installed at the front end of the body. The sensor group includes a temperature sensor, a laser smoke sensor, and a gas detection sensor.

[0015] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the fire extinguishing module includes a fire extinguishing device. The fire extinguishing device includes a number of fire extinguishing agent storage tanks, and different types of fire extinguishing agents are stored in the fire extinguishing agent storage tanks respectively. The fire extinguishing agent storage tanks are connected to a nozzle through a pipeline, and a valve is installed on the pipeline.

[0016] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the fire extinguishing agent includes dry powder fire extinguishing agent, carbon dioxide fire extinguishing agent, and water-based foam fire extinguishing agent.

[0017] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention further includes a control module provided on the body. The control module includes a wireless communication module and a GPS module. The wireless communication module and the GPS module are respectively installed on the body and are connected to a remote operation terminal and a command center through the wireless communication module.

[0018] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the gas detection sensor is a multi-gas detection sensor for detecting CO, CO2, H2, and S gases.

[0019] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the hydraulic drive mechanical leg has a degree of freedom ≥ 3, a maximum obstacle crossing height of 30 cm, and a climbing slope ≤ 45°.

[0020] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention, the vertical adjustment angle of the nozzle is 0° - 90°, the spraying distance is 1 - 5 m, and the flow accuracy is ±5%.

[0021] Compared with the prior art, the present invention has the following advantages and technical effects:

[0022] An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog provided by the present invention drives the body to move through a set bionic motion module, generates an environmental map through a set positioning module, senses the surrounding environment through a set multi-modal perception module, and extinguishes fires according to different fire situations through a set fire extinguishing module. The type of fire extinguishing agent is automatically switched according to the characteristics of the fire source, and the robot dog is remotely controlled through a set control module. Through the collaborative design of the bionic motion mechanism and the intelligent decision-making system, the present invention integrates functions of environmental perception, autonomous navigation, intelligent fire extinguishing and remote interaction, and is used to replace traditional fire-fighting equipment in rescue operations in complex fire field environments, significantly improving the fire extinguishing efficiency and reducing the risk of casualties, breaking through the terrain adaptability limitations of traditional fire-fighting equipment, realizing rapid response and accurate fire extinguishing in the fire field, and having significant technological progress and practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a working flow chart of the positioning module of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the fire extinguishing device of the present invention;

[0027] Figure 4 It is a schematic diagram of the remote control framework of the present invention;

[0028] Among them, 1. Body; 2. Hydraulic drive mechanical leg; 3. Sensor group; 4. Fire extinguishing device; 5. Nozzle; 6. LiDAR; 7. Binocular camera; 8. Attitude monitoring module; 9. Central processing unit; 10. Fire extinguishing agent storage tank; 11. Pipeline; 12. Valve; 13. Wireless communication module; 14. Remote operation terminal; 15. Command center; 16. GPS module; 17. Charging port. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0030] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Referring to Figures 1 - 4 , the present invention provides an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog, including:

[0032] A body 1;

[0033] A bionic motion module, installed at the bottom of the body 1, for driving the body 1 to move;

[0034] A positioning module, installed on the body 1, for generating an environmental map, planning a path through a calculation module, and controlling the motion of the bionic motion module based on the planned path;

[0035] A fire extinguishing module, installed at the top of the body 1, and the fire extinguishing module is loaded with multiple different types of fire extinguishing agents;

[0036] A multi-modal perception module, installed on the body 1, for perceiving surrounding environmental information, determining the fire category based on the environmental information, and controlling the fire extinguishing agent to spray the corresponding type of fire extinguishing agent.

[0037] In an embodiment of the present application, the bionic motion module is set to drive the body 1 to move, the positioning module is set to generate an environmental map, the multi-modal perception module is set to perceive the surrounding environment, the fire extinguishing module is set to extinguish fires in different fire situations, the type of fire extinguishing agent is automatically switched according to the characteristics of the fire source, and the robot dog is remotely controlled through the set control module.

[0038] Specifically, it further includes a central processor 9 for processing relevant data, a charging port 17 for charging the robot dog. The central processor 9 has a built-in fire type recognition model, analyzes the flame image features through a convolutional neural network (CNN), and the classification accuracy rate is ≥95%.

[0039] In a further optimized solution, the bionic motion module includes an attitude monitoring module 8 and multiple hydraulic drive mechanical legs 2. The multiple hydraulic drive mechanical legs 2 are respectively installed at the bottom of the body 1, and the attitude monitoring module 8 is installed on the body 1 for correcting the motion trajectory of the hydraulic drive mechanical legs 2.

[0040] In an embodiment of the present invention, the body 1 is driven to move by the hydraulic drive mechanical legs 2. The attitude monitoring module 8 selects an inertial measurement unit to collect three-axis acceleration / angular velocity data and correct the motion trajectory of the hydraulic drive mechanical legs 2 in real time.

[0041] In a further optimized solution, the positioning module includes a binocular camera 7 and a lidar 6. The binocular camera 7 is installed at the front end of the body 1, and the lidar 6 is installed at the bottom of the body 1.

[0042] In one embodiment of the present invention, the binocular camera 7 supports a 1080P@30fps video stream and generates an environmental map with centimeter-level accuracy in combination with the lidar 6.

[0043] In a further optimized solution, the multi-modal perception module includes a sensor group 3 installed at the front end of the body 1. The sensor group 3 includes a temperature sensor, a laser smoke sensor, and a gas detection sensor.

[0044] In one embodiment of the present invention, the sensor group 3 includes a temperature sensor, a laser smoke sensor, and a gas detection sensor. The temperature sensor has a measurement range of -20°C - 1000°C and is used to detect temperature. The laser smoke sensor has a sensitivity of 0.1% obs / m and is used to detect smoke. The gas detection sensor is used to detect gas.

[0045] In a further optimized solution, the fire extinguishing module includes a fire extinguishing device 4. The fire extinguishing device 4 includes a number of fire extinguishing agent storage tanks 10. Different types of fire extinguishing agents are stored in the number of fire extinguishing agent storage tanks 10 respectively. The fire extinguishing agent storage tanks 10 are connected to a nozzle 5 through a pipeline 11, and a valve 12 is installed on the pipeline 11.

[0046] In one embodiment of the present invention, a fire extinguishing agent is stored in the fire extinguishing agent storage tank 10 and is sprayed out through the pipeline 11 and the nozzle 5 for fire extinguishing treatment.

[0047] In a further optimized solution, the fire extinguishing agents include dry powder fire extinguishing agents, carbon dioxide fire extinguishing agents, and water-based foam fire extinguishing agents.

[0048] In one embodiment of the present invention, different types of fire extinguishing agents are set to adapt to different fire situations.

[0049] In a further optimized solution, it further includes a control module installed on the body 1. The control module includes a wireless communication module 13 and a GPS module 16. The wireless communication module 13 and the GPS module 16 are respectively installed on the body 1 and are connected to a remote operation terminal 14 and a command center 15 through the wireless communication module 13.

[0050] In one embodiment of the present invention, the wireless communication module 13 is a 4G / 5G wireless communication module, which supports instruction transmission and video backhaul, with a delay ≤ 200ms; the remote operation terminal 14 and the command center 15 share the fire field coordinates in real time, and the positioning error of the GPS module 16 ≤ 1.5m.

[0051] In a further optimized solution, the gas detection sensor is a multi-gas detection sensor and is used to detect CO, CO2, H2, and S gases.

[0052] In one embodiment of the present invention, the gas in the surrounding environment is detected by the provided gas detection sensor.

[0053] For the further optimized solution, the hydraulic-driven robotic leg has 2 degrees of freedom ≥ 3, the maximum obstacle-crossing height is 30 cm, and the climbing gradient ≤ 45°.

[0054] In one embodiment of the present invention, the hydraulic-driven robotic leg 2 is equipped with 3 degrees-of-freedom servo motors, and the maximum load ≥ 50 kg.

[0055] Specifically, the calculation module integrates SLAM, simultaneous localization and mapping, and A* path planning, with a response time ≤ 0.5 seconds.

[0056] For the further optimized solution, the vertical adjustment angle of the nozzle 5 is 0° - 90°, the spraying distance is 1 - 5 m, and the flow accuracy is ±5%.

[0057] In one embodiment of the present invention, the nozzle 5 automatically aims at the fire center according to the thermal imaging data. The single spraying duration is 3 - 8 seconds. The nozzle 5 is equipped with a pressure feedback module to dynamically adjust the spraying pressure according to the distance from the fire source, which is 0.3 - 2.5 MPa.

[0058] The present invention provides an intelligent numerically controlled fire warning and automatic fire extinguishing robot dog. During use, the sensor group 3 continuously monitors the environmental parameters. When the temperature > 80°C and the smoke concentration > 5% obs / m, the central processor 9 triggers an audible and visual alarm, with the volume ≥ 90 dB and the red light flashing frequency of 2 Hz, and pushes a warning message to the remote operation terminal 14 through the wireless communication module 13. The scanning radius of the lidar 6 is 15 m to construct a 3D map of the fire scene; the hydraulic-driven robotic leg 2 automatically switches the gait according to the terrain, crawling / trotting / jumping, with a traveling speed of 0.5 - 1.2 m / s.

[0059] The central processor 9 selects the fire extinguishing agent according to the type of fire source through flame color recognition by the binocular camera 7:

[0060] Open fire, i.e., orange → dry powder spraying;

[0061] Smoldering fire, i.e., dark red → carbon dioxide asphyxiation fire extinguishing;

[0062] Liquid fire → water-based foam coverage.

[0063] After the fire is extinguished, the robot dog automatically returns to the charging pile for charging. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0064] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog, characterized in that, Including: Body (1); Bionic motion module, installed at the bottom of the body (1), for driving the movement of the body (1); Positioning module, installed on the body (1), for generating an environmental map, planning a path through a calculation module, and controlling the movement of the bionic motion module based on the planned path; Fire extinguishing module, installed at the top of the body (1), and the fire extinguishing module is loaded with multiple different types of fire extinguishing agents; Multimodal perception module, installed on the body (1), for perceiving surrounding environmental information, and determining the fire category based on the environmental information to control the fire extinguishing agent to spray the corresponding type of fire extinguishing agent.

2. The intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 1, characterized in that: The bionic motion module includes an attitude monitoring module (8) and multiple hydraulic drive mechanical legs (2). The multiple hydraulic drive mechanical legs (2) are respectively installed at the bottom of the body (1), and the attitude monitoring module (8) is installed on the body (1) for correcting the movement trajectory of the hydraulic drive mechanical legs (2).

3. The intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 1, wherein: The positioning module includes a binocular camera (7) and a lidar (6). The binocular camera (7) is installed at the front end of the body (1), and the lidar (6) is installed at the bottom of the body (1).

4. An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 1, characterized in that: The multimodal perception module includes a sensor group (3), installed at the front end of the body (1), and the sensor group (3) includes a temperature sensor, a laser smoke sensor, and a gas detection sensor.

5. The intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 1, characterized in that: The fire extinguishing module includes a fire extinguishing device (4). The fire extinguishing device (4) includes several fire extinguishing agent storage tanks (10). Different types of fire extinguishing agents are respectively stored in the several fire extinguishing agent storage tanks (10). The fire extinguishing agent storage tanks (10) are connected to nozzles (5) through pipes (11), and valves (12) are installed on the pipes (11).

6. An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 5, characterized in that: The fire extinguishing agents include dry powder fire extinguishing agent, carbon dioxide fire extinguishing agent, and water-based foam fire extinguishing agent.

7. An intelligent numerically controlled fire warning and automatic fire extinguishing robotic dog according to claim 1, characterized in that: It further includes a control module provided on the body (1). The control module includes a wireless communication module (13) and a GPS module (16). The wireless communication module (13) and the GPS module (16) are respectively installed on the body (1), and are connected to a remote operation terminal (14) and a command center (15) through the wireless communication module (13).

8. An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 4, characterized in that: The gas detection sensor is a multi-gas detection sensor for detecting CO, CO2, H2, and S gases.

9. The intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 2, wherein: The hydraulic drive mechanical leg (2) has a degree of freedom ≥ 3, a maximum obstacle crossing height of 30 cm, and a climbing slope ≤ 45°.

10. An intelligent numerically controlled fire warning and automatic fire extinguishing robot dog according to claim 5, characterized in that: The vertical adjustment angle of the nozzle (5) is 0° - 90°, the spraying distance is 1 - 5 m, and the flow accuracy is ±5%.

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