Automatic fire searching system of fire-fighting robot

Abstract

The invention provides an automatic fire searching system of a fire-fighting robot, which integrates an infrared thermal imaging technology, laser ranging and an intelligent control algorithm, and can realize autonomous detection, accurate positioning and automatic fire extinguishing of a fire source. The system comprises a fire-fighting robot body, an infrared thermal imaging camera, a laser range finder, a water cannon system, a controller and a communication module. The robot scans the environment temperature through an infrared thermal imaging camera, calculates the three-dimensional coordinates of a fire source in combination with a laser range finder, and adjusts the horizontal rotation angle, the pitch angle and the water spraying flow of a water cannon according to the position of the fire source by adopting an intelligent water cannon control algorithm, so that the fire extinguishing precision is ensured. The system adopts a self-adaptive water spraying flow adjusting strategy, dynamically controls a water spraying mode according to the fire behavior, and improves the fire extinguishing efficiency. The communication module supports 4G / 5G remote monitoring, can transmit video data in real time, and supports manual intervention. The system also has fire data storage and analysis functions, can record fire extinguishing task data, and provides support for subsequent optimization.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting robots, and in particular to an automatic fire-finding system for fire-fighting robots. Background Art

[0002] Fire is one of the most common and destructive disasters worldwide, especially in high-risk areas such as chemical plants, warehouses, forests, and underground garages. Once a fire breaks out, it can easily lead to massive property damage and casualties. Currently, traditional firefighting methods mainly include manual firefighting and fixed sprinkler systems. Manual firefighting requires firefighters to carry equipment into the fire scene to extinguish the fire. Due to personnel safety factors, its response speed and firefighting efficiency are greatly limited. Especially in environments with high temperatures, thick smoke, and toxic gases, firefighters find it difficult to approach the fire source for precise extinguishing. While fixed sprinkler systems can be activated quickly, their spray range is preset and cannot be dynamically adjusted according to the development of the fire, resulting in a waste of firefighting resources and even the inability to effectively extinguish the fire due to restricted water flow direction. These limitations of traditional firefighting methods have prompted the search for more intelligent and efficient firefighting solutions.

[0003] With advances in technology, firefighting robots have gradually become an important auxiliary tool for firefighting and rescue operations. These robots are typically remotely controlled and can perform firefighting tasks in complex environments, reducing the risks to firefighters. However, firefighting robots currently on the market still suffer from issues such as inaccurate fire source detection, unintelligent firefighting control, and a high reliance on remote operation. Some firefighting robots rely on visible light or conventional thermal imaging for fire source detection, making it difficult to accurately identify the coordinates of fire sources in high-temperature, smoky environments, resulting in reduced firefighting accuracy. Furthermore, existing robotic water cannons are mostly controlled by manual remote control and are unable to automatically adjust the spray angle and flow rate based on the location of the fire source. Firefighting efficiency relies on the operator's experience, impacting actual results. Furthermore, most firefighting robots lack comprehensive data analysis and remote collaborative operation capabilities, making them unable to intelligently store and analyze fire information, limiting system optimization and upgrades.

[0004] To address the above issues, the present invention proposes an automatic fire-finding system for firefighting robots based on infrared thermal imaging technology, capable of autonomous fire source detection, precise positioning, and intelligent fire extinguishing. This system combines infrared thermal imaging with laser ranging to calculate the three-dimensional spatial coordinates of the fire source, improving the accuracy of fire source detection. Based on this information, the system employs an intelligent water cannon control algorithm to automatically adjust the cannon's horizontal rotation and elevation angles to ensure precise water delivery to the center of the fire source. Furthermore, the present invention uses adaptive water flow regulation to dynamically adjust the cannon's spray speed and flow rate based on the fire source temperature and fire intensity, improving firefighting efficiency and reducing water waste. Furthermore, the system supports remote monitoring and data storage, enabling real-time remote control via 4G / 5G networks. It also records key data such as fire source location, extinguishing time, and water consumption, supporting subsequent fire analysis and optimization. The application of this invention will significantly enhance the automation level of firefighting robots, reduce operational risks for firefighters, and improve the efficiency and accuracy of firefighting. Summary of the Invention

[0005] Based on the above objectives, the present invention provides an automatic fire-finding system for a fire-fighting robot.

[0006] An automatic fire-finding system for a fire-fighting robot, the system comprising:

[0007] The firefighting robot body, including the drive system, power unit and protective structure, is capable of moving in complex environments and adapting to high-temperature operations;

[0008] Infrared thermal imaging camera, installed on the water cannon system, is used to collect environmental thermal imaging data in real time and detect the highest temperature point of the fire source;

[0009] Laser rangefinder, used to measure the distance between the fire source and the robot, and realize the three-dimensional spatial positioning of the fire source;

[0010] A water monitor system that can move horizontally and vertically and has the ability to adjust the spray angle, flow rate and spray pattern;

[0011] The controller is used to process infrared thermal imaging data, calculate the coordinates of the fire source, control the water cannon to aim at the fire source, and adjust the fire extinguishing parameters;

[0012] The communication module is used to transmit data with the remote control center and supports remote monitoring and manual intervention.

[0013] Furthermore, the infrared thermal imaging camera has a temperature measurement range of -40°C to 1000°C, a resolution of no less than 640×512 pixels, and detects the highest temperature point through a temperature gradient analysis algorithm.

[0014] Furthermore, the three-dimensional coordinates of the fire source X f , T f , Zf Calculated by the following formula:

[0015] X f =d·cos(θ)·cos(φ)

[0016] Y f =d·sin(θ)·cos(φ)

[0017] Z f =d·sin(φ)

[0018] Where d is the distance to the fire source measured by the laser rangefinder, θ is the horizontal angle of the robot relative to the fire source, and φ is the pitch angle of the fire source measured by the infrared camera.

[0019] Furthermore, the horizontal rotation angle and pitch angle of the water monitor system are calculated by the following formula:

[0020]

[0021] Among them, Z0 is the height of the water cannon outlet, X f , Y f , Z f The coordinates of the fire source.

[0022] Furthermore, the water flow range R of the water cannon is calculated by the following formula:

[0023]

[0024] Among them, v0 is the initial injection velocity of the water cannon, g is the acceleration of gravity (9.81m / s 2 ), α is the elevation angle of the water cannon.

[0025] Furthermore, the initial velocity v0 required for water cannon injection is calculated by the following formula:

[0026]

[0027] Among them, R is the horizontal distance between the fire source and the water monitor, g is the acceleration of gravity, and α is the pitch angle of the water monitor.

[0028] Furthermore, the water spray flow rate Q of the water monitor is calculated by the following formula:

[0029] Q=Av0

[0030] Among them, v0 is the water cannon jet velocity, and A is the cross-sectional area of the water cannon nozzle.

[0031] Furthermore, the system detects the temperature drop of the fire source through closed-loop control. If the temperature of the fire source does not drop below 50°C within 30 seconds, it continues to spray water and dynamically adjusts the angle and flow of the water cannon until the fire source is extinguished.

[0032] Furthermore, the communication module supports 4G / 5G networks and communicates with the remote control center through either MQTT or Modbus protocols to achieve real-time video transmission and manual intervention.

[0033] Furthermore, the controller records the parameters of the fire extinguishing task, including the location of the fire source, the extinguishing time, the water spray flow data, and generates a task report for subsequent analysis and optimization.

[0034] Beneficial effects of the present invention: This invention provides an automatic fire-finding system for firefighting robots based on infrared thermal imaging technology, enabling rapid fire source detection, precise location, and autonomous fire extinguishing. This system combines infrared thermal imaging with laser ranging to ensure high-precision calculation of fire source coordinates. Intelligent algorithms automatically adjust the spray angle and flow rate of water monitors to improve firefighting efficiency. The system features remote monitoring and data storage, supports manual intervention, and supports task retrospective analysis, thereby enhancing the firefighting robot's operational autonomy and responsiveness. It is particularly suitable for high-risk fire environments, improving the safety and reliability of firefighting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 Schematic diagram of the system structure of an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a fire source location calculation process according to an embodiment of the present invention;

[0038] Figure 3 Schematic diagram of the automatic aiming and fire extinguishing process of a water cannon according to an embodiment of the present invention;

[0039] Figure 4 Schematic diagram of remote monitoring and data storage according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. It is also noted that, to provide a more detailed description, the following embodiments are best and preferred embodiments, and those skilled in the art may employ alternative methods for implementing certain known technologies. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention.

[0041] It should be noted that references in the specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not every embodiment necessarily includes such specific features, structures, or characteristics. In addition, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0042] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0043] This invention relates to an automatic fire-finding system for firefighting robots based on infrared thermal imaging technology. This system combines a robotic water cannon with an intelligent control algorithm to automatically detect fire sources and precisely extinguish them. Its primary application areas are high-risk fire environments, such as chemical plants, warehouses, forest fire prevention areas, underground garages, and other flammable and explosive locations.

[0044] See Figures 1 to 4

[0045] The system consists of the following hardware and software modules:

[0046] Hardware composition:

[0047] Firefighting robot's main drive system: It adopts electric crawler or wheel drive, supports on-the-spot rotation, and adapts to complex terrain. Power unit: It uses lithium battery pack or fuel generator set to ensure long-term operation.

[0048] Protective structure: Made of high temperature resistant and corrosion resistant materials, such as stainless steel, aluminum alloy and composite heat resistant materials. Infrared thermal imaging camera:

[0049] Sensor type: Uncooled focal plane detector, operating in the 8-14μm band.

[0050] Resolution: 640×512 pixels, ensuring high-precision thermal imaging detection.

[0051] Temperature measurement range: -40℃ to 1000℃, suitable for different fire environments.

[0052] Temperature measurement accuracy: ±2°C or 2% of reading.

[0053] Water monitor system:

[0054] Water monitor type: electronically controlled fire water monitor with pitch and horizontal rotation capabilities.

[0055] Spray flow rate: 20L / s to 40L / s, the flow rate can be adjusted according to the size of the fire source.

[0056] Range: ≥50m, ensuring long-range fire extinguishing capability.

[0057] Rotation range: horizontal 0°360°, pitch -45°+90°.

[0058] Controller:

[0059] Core processor: ARM Cortex-A72 architecture, main frequency 1.8GHz, supports deep learning computing. Storage unit: 8GB DDR4 memory, 256GB SSD storage.

[0060] Interface: Support CAN bus, RS485, Ethernet, WiFi, 4G / 5G wireless communication.

[0061] Communication module:

[0062] Data transmission protocol: supports MQTT, HTTP, and Modbus protocols, and is suitable for industrial networks.

[0063] Remote monitoring support: integrated 4G / 5G module, with remote video transmission and control capabilities.

[0064] Auxiliary sensor system

[0065] Temperature sensor: The temperature measurement range is -50℃ to 1200℃, used for ambient temperature monitoring.

[0066] Photoelectric sensor: used for flame identification and smoke detection.

[0067] Laser rangefinder: ranging from 0.5m to 100m, with an accuracy of ±1mm, ensuring precise positioning of the fire source.

[0068] Specific implementation steps

[0069] Step 1. Robot cruising and environmental monitoring

[0070] The robot enters the preset patrol area and activates the infrared thermal imaging camera.

[0071] Thermal imaging data were acquired at a frame rate of 10 Hz, and temperature anomalies were extracted using a temperature gradient analysis algorithm.

[0072] The temperature threshold is set to 85°C. When the temperature in a certain area exceeds this value, the point is marked as a candidate fire source point.

[0073] Step 2. Fire source location and coordinate calculation

[0074] See Figure 2

[0075] Using triangulation, combined with an infrared thermal imaging camera and a laser rangefinder, the spatial coordinates (X, Y, Z) of the fire source are calculated;

[0076] The calculation principle of the fire source coordinates is as follows: the infrared thermal imaging camera is used in combination with the laser rangefinder to determine the three-dimensional spatial position of the fire source in the robot coordinate system. The robot's own position is set as the origin. The fire source coordinates are measured by the rangefinder and camera. The horizontal angle θ is used to calculate the X f and Y f Component, vertical angle φ calculates the height offset of the fire source in the Z-axis direction, and uses trigonometric functions to decompose the relative position of the fire source; the calculation method is as follows:

[0077] X f =d·cos(θ)·cos(φ)

[0078] Y f =d·sin(θ)·cos(φ)

[0079] Z f =d·sin(φ)

[0080] X f , Y f , Z f is the three-dimensional coordinate of the fire source in the robot coordinate system (unit: m).

[0081] d is the distance to the fire source measured by the laser rangefinder (unit: m).

[0082] θ is the horizontal angle of the robot relative to the fire source (unit: °, range: 0° to 360°).

[0083] φ is the pitch angle of the fire source measured by the infrared camera (unit: °, range: -90° to +90°).

[0084] Coordinate filtering algorithms are used to eliminate misjudged targets, such as high-temperature mechanical equipment or sunlight reflection areas.

[0085] The coordinates of the fire source are recorded and stored in the controller memory, and its location is continuously updated.

[0086] Step 3. Water cannon aiming and fire extinguishing

[0087] See Figure 3

[0088] The controller calculates the water cannon pitch angle α and horizontal rotation angle β to align the center point of the water cannon with the fire source coordinates (X, Y, Z); the water cannon rotation angle (horizontal rotation angle) calculation is that the robot calculates the angle that the water cannon needs to rotate through trigonometric functions to align with the horizontal direction of the fire source, using the inverse tangent function tan -1 Calculate the rotation angle using the following formula:

[0089]

[0090] β is the horizontal angle that the water monitor needs to rotate (unit: °); X d , Y f is the fire source coordinate (unit: m);

[0091] Calculation method for water monitor pitch angle: Calculate the water monitor spray angle to ensure that the water flow can accurately spray to the center of the fire source. Use the inverse tangent function to calculate the water monitor elevation angle to compensate for the height difference. The calculation formula is as follows:

[0092]

[0093] α is the pitch angle of the water monitor that needs to be adjusted (unit: °), Z f is the fire source height coordinate (unit: m), Z0 is the water monitor outlet height (unit: m), X f , Y f is the horizontal coordinate of the fire source (unit: m).

[0094] Calculate the water cannon spray parameters and calculate the water flow range R to ensure that the fire source is covered. Use the parabolic motion formula to calculate the water flow range to ensure that the fire source can be covered. Adjust the initial velocity v0 to match the fire source distance R:

[0095]

[0096] R is the water range (unit: m); v0 is the initial jet velocity of the water cannon (unit: m / s); α is the pitch angle of the water cannon (unit: degrees); g is the acceleration due to gravity, which is 9.81 m / s 2 .

[0097] Calculation of initial water velocity:

[0098]

[0099] The initial water velocity v0 is calculated by the distance R from the fire source to ensure accurate fire extinguishing by the water cannon. In the formula, v0 is the water cannon spray velocity (unit: m / s); R is the distance from the fire source (unit: m); g is the acceleration of gravity (9.81 m / s 2 ); α is the water cannon elevation angle (unit: °)

[0100] Water monitor spray flow rate calculation, using the basic equations of fluid mechanics to calculate the water monitor spray flow rate to meet fire extinguishing needs;

[0101] Q=Av0

[0102] In the formula: Q is the water flow rate (unit: L / s); A is the cross-sectional area of the water monitor nozzle (unit: m 2 ).

[0103] v0 is the water jet velocity (unit: m / s).

[0104] Using PID control algorithm, the water cannon positioning accuracy reaches ±0.5°.

[0105] Automatically adjust the spray flow rate according to the size of the fire:

[0106] Minor fire (temperature < 200°C): water flow rate is set to 20 L / s.

[0107] Medium fire (200℃≤temperature<500℃): set the water flow rate to 30L / s.

[0108] High-intensity fire (temperature ≥500°C): Set the water flow rate to 40L / s and enable foam fire extinguishing mode.

[0109] The spraying duration should be no less than 15 seconds. The temperature of the fire source should be checked at intervals. If the temperature does not drop below 50°C, continue spraying.

[0110] Examples of applications of the above calculations:

[0111] Assume the following parameters:

[0112] The fire source distance meter measured d=30.

[0113] The horizontal angle between the robot and the fire source is θ = 45°.

[0114] The fire source pitch angle φ = 10°.

[0115] Water monitor nozzle diameter D = 0.05m.

[0116] Calculation steps:

[0117] 1. Fire source coordinate calculation

[0118] X f =30×cos(45°)×cos(10°)=20.69m

[0119] Y f =30×sin(45°)×cos(10°)=20.69m

[0120] Z f =30×sin(10°)=5.2m

[0121] 2. Water cannon angle calculation

[0122]

[0123] 3. Calculation of initial water velocity

[0124]

[0125] 4. Calculation of water spray flow

[0126]

[0127] Q = 0.00196 × 15.8 = 0.031 m 3 / s=31 L / s

[0128] The above calculations ensure that the water cannon can extinguish fires accurately, thereby improving the fire-fighting efficiency of the fire-fighting robot.

[0129] Step 4. Feedback and Adjustment

[0130] Adopt closed-loop control and use infrared thermal imaging cameras to detect the fire extinguishing effect in real time.

[0131] If the fire source temperature drops below 50°C within 30 seconds, stop spraying water; otherwise, continue to adjust the water monitor angle and repeat the spraying process.

[0132] Record parameters such as fire extinguishing completion time, water spray flow rate, fire source location, etc. for subsequent analysis and optimization.

[0133] Step 5. Remote Monitoring and Manual Intervention

[0134] See Figure 4

[0135] Upload video streams and temperature data to the remote control center via 4G / 5G network.

[0136] The remote operator can manually adjust the robot's position, modify the firefighting strategy, or directly take over water monitor control.

[0137] With the support of the GPS module, the fire-fighting task trajectory is recorded and a backtracking analysis function is provided.

[0138] The above technical features and advantages are as follows:

[0139] Combining infrared thermal imaging and laser ranging to achieve precise positioning within an error range of ±1m;

[0140] An adaptive PID control algorithm ensures a water cannon aiming error of less than ±0.5°. The jet flow rate is dynamically adjusted based on the fire source temperature, improving firefighting efficiency. An uncooled infrared detector ensures normal operation in environments ranging from low temperatures (-40°C) to high temperatures (1000°C). The system achieves an IP67 rating, ensuring dust and water resistance. Remote video transmission and command issuance are enabled via a 5G network. Upon mission completion, the system automatically generates a firefighting data report, providing a reference for subsequent optimization efforts.

[0141] The present invention provides an intelligent and automated fire-fighting solution for fire-fighting robots, which can effectively improve fire response speed, fire-fighting accuracy and on-site safety.

[0142] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0143] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A fire-fighting robot automatic fire-finding system, characterized in that: The system includes: The firefighting robot body, including the drive system, power unit and protective structure, is capable of moving in complex environments and adapting to high-temperature operations; Infrared thermal imaging camera, installed on the water cannon system, is used to collect environmental thermal imaging data in real time and detect the highest temperature point of the fire source; Laser rangefinder, used to measure the distance between the fire source and the robot, and realize the three-dimensional spatial positioning of the fire source; A water monitor system that can move horizontally and vertically and has the ability to adjust the spray angle, flow rate and spray pattern; The controller is used to process infrared thermal imaging data, calculate the coordinates of the fire source, control the water cannon to aim at the fire source, and adjust the fire extinguishing parameters; The communication module is used to transmit data with the remote control center and supports remote monitoring and manual intervention.

2. The automatic fire-fighting robot fire-finding system according to claim 1, characterized in that: The infrared thermal imaging camera has a temperature measurement range of -40°C to 1000°C, a resolution of no less than 640×512 pixels, and detects the highest temperature point through a temperature gradient analysis algorithm.

3. The automatic fire-fighting robot fire-finding system according to claim 1 or 2, characterized in that: Fire source three-dimensional coordinate X f , Y f , Z f Calculated by the following formula: X f =d·cosθ)·cos(φ) Y f =d·sin(θ)·cos(φ) Z f =d·sinφ) Where d is the distance to the fire source measured by the laser rangefinder, θ is the horizontal angle of the robot relative to the fire source, and φ is the pitch angle of the fire source measured by the infrared camera.

4. The automatic fire-fighting robot fire-finding system according to any one of claims 1 to 3, characterized in that: The horizontal rotation angle and pitch angle of the water monitor system are calculated by the following formula: Among them, Z0 is the height of the water cannon outlet, X f , Y f , Z f The coordinates of the fire source.

5. The automatic fire-fighting robot fire-finding system according to any one of claims 1 to 4, characterized in that: The water flow range R of the water cannon is calculated by the following formula: Among them, v0 is the initial injection velocity of the water cannon, g is the acceleration of gravity (9.81m / s 2 ), α is the elevation angle of the water cannon.

6. The automatic fire-fighting robot fire-finding system according to claim 5, characterized in that: The initial velocity v0 required for water cannon injection is calculated by the following formula: Among them, R is the horizontal distance between the fire source and the water monitor, g is the acceleration of gravity, and α is the pitch angle of the water monitor.

7. The automatic fire-fighting robot fire-finding system according to any one of claims 1 to 6, characterized in that: The water spray flow rate Q of the water monitor is calculated by the following formula: Q=Av0 Among them, v0 is the water cannon jet velocity, and A is the cross-sectional area of the water cannon nozzle.

8. The automatic fire-fighting robot fire-finding system according to any one of claims 1 to 7, characterized in that: The system detects the drop in fire source temperature through closed-loop control. If the fire source temperature does not drop below 50°C within 30 seconds, it continues to spray water and dynamically adjusts the angle and flow of the water cannon until the fire source is extinguished.

9. The automatic fire-fighting robot fire-finding system according to any one of claims 1 to 8, characterized in that: The communication module supports 4G / 5G networks and communicates with the remote control center through either MQTT or Modbus protocols to achieve real-time video transmission and manual intervention.

10. The automatic fire-finding system of a fire-fighting robot according to any one of claims 1 to 9, characterized in that: The controller records the parameters of the fire extinguishing task, including the fire source location, fire extinguishing time, and water spray flow data, and generates a task report for subsequent analysis and optimization.

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