Remotely-controlled autonomous rescue operation robot arm

Abstract

The invention provides a remotely-controlled autonomous rescue operation robot arm, and relates to the field of household kitchens. The remote-control autonomous rescue operation robot arm comprises a movable base, a mechanical arm, a spraying pipe, a camera shooting assembly and a control part, and the control part integrates a data acquisition module, a data processing and analyzing module, a decision judgment module and a control instruction output module. Multi-source data acquisition and analysis are carried out on the space volume, the temperature characteristic and the color characteristic of a target rescue area, so that comprehensive judgment on the rescue environment state is realized; and intelligent decision-making control is carried out in combination with environmental changes before and after spraying in the spraying operation process, so that the spraying process has staged and continuous feedback capability. And meanwhile, a remote control mode is used for being matched with collaborative operation of the movable base and the mechanical arm, flexible adjustment and accurate operation of the equipment in a complex environment are achieved, and therefore the safety, reliability and adaptability of rescue operation are improved, and the risk that personnel directly enter a dangerous environment is reduced.

Description

Technical Field

[0001] This invention relates to the field of home kitchen technology, specifically to a remotely controlled autonomous rescue robot. Background Technology

[0002] Existing emergency rescue or initial fire suppression systems in kitchens and homes are mostly manually operated or semi-automatic. Typically, personnel, upon discovering a fire or dangerous situation, enter the scene with fire extinguishers, water spray devices, and other tools to observe, assess the target area, and then carry out spraying or rescue operations. In some scenarios, fixed sprinklers or simple remote-controlled equipment are used to cool or extinguish fires by remotely activating the sprayers. However, these operations usually rely on single visual judgments or human experience for control, lacking a systematic perception and comprehensive analysis of the rescue space's condition. In these processes, the equipment typically performs only a single spraying action; the spray volume and duration are mostly preset or determined manually in real-time. There is a lack of continuous monitoring and feedback mechanisms for post-spray environmental changes, resulting in a linear "discovery-spraying-end" workflow.

[0003] Existing technologies often lack comprehensive collection and analysis of multi-dimensional status information of the target area, making it difficult to accurately assess the actual scale and changes of fire sources or high-temperature areas, resulting in insufficient precision in spray control. Furthermore, the lack of continuous assessment of temperature and environmental characteristics after a single spraying operation increases the risk of reignition, making timely intervention impossible. In addition, existing equipment has limited capabilities in remote operation and autonomous decision-making, relying heavily on human intervention during operations, making it difficult to achieve stable, efficient, and safe rescue operations in complex or hazardous environments. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a remotely controlled autonomous rescue robot, which solves the problem.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a remotely controlled autonomous rescue robot, comprising a mobile base, a connecting pipe installed on the outer wall of the rear end of the mobile base, a spray pipe installed on the top of the mobile base, a telescopic hose connected to one end of the spray pipe, a robotic arm disposed on the left side of the spray pipe and connected to the telescopic hose, a control component electrically connected to the rear end of the robotic arm and installed on the top rear end of the mobile base, and a camera component electrically connected to the right side of the control component and installed on the top right side of the mobile base; The control components include a data acquisition module, a data processing and analysis module, a decision-making module, and a control command output module.

[0006] Preferably, the data acquisition module is used to collect multi-source data from the target rescue space during the rescue process, and the collected data includes: Three-dimensional spatial volume data of the target area; Temperature data for the target area; Color feature data of the target region; Temperature change data in the target area after setting a safety threshold and stopping the first spraying; Color change data of the target area after setting a safety threshold and stopping the first spray.

[0007] Preferably, the data processing and analysis module is used to perform mathematical modeling and analysis on the collected multidimensional data, including rescue space volume analysis, temperature feature analysis, color feature analysis, temperature change rate analysis, and color change rate analysis.

[0008] Preferably, the data processing and analysis module performs time window averaging on the continuously collected temperature and color data to obtain smoothed effective data, thereby improving the reliability of subsequent water spraying decisions.

[0009] Preferably, the rescue space volume analysis obtains the spatial volume information of the area to be rescued by performing three-dimensional reconstruction on the image data collected by the camera component, which is used to assess the size of the fire source or high-temperature area, and thus serves as the basis for calculating the water spray volume.

[0010] Preferably, the rescue space volume analysis obtains the spatial volume information of the area to be rescued by performing three-dimensional reconstruction on the image data collected by the camera component, which is used to assess the size of the fire source or high-temperature area, and thus serves as the basis for calculating the water spray volume.

[0011] Preferably, the color feature analysis involves analyzing the color features of the target area image to extract color information reflecting the flame or high-temperature area, which is used to assist in determining whether there is still an open flame or a risk of reignition.

[0012] Preferably, after the first spraying stops, the temperature change rate analysis system continuously collects the temperature change data of the target area and determines whether there is a reignition trend by calculating the temperature change rate.

[0013] Preferably, the decision-making module intelligently judges the amount of water sprayed based on the spatial volume, temperature, color and their changes, distinguishing between primary water spray volume and secondary water spray volume.

[0014] Preferably, the control command output module outputs the corresponding control command to the decision-making module based on the calculation result of the decision-making module. A movable base for adjusting the position; A robotic arm used to adjust posture; Spray pipes and media supply devices are used to precisely control the spray volume and spraying time.

[0015] This invention provides a remotely controlled autonomous rescue robot. It has the following advantages: 1. This invention collects multi-source information such as spatial volume, temperature characteristics, and color characteristics of the target rescue area by setting up a data acquisition module, and continuously acquires environmental change data before and after spraying, enabling the equipment to fully perceive the state changes of the rescue area. Through the data processing and analysis module, the above information is modeled and analyzed to achieve a comprehensive judgment on the scale of the fire source, thermal distribution, and potential risks, thereby avoiding the misjudgment problem caused by relying on only a single perception information.

[0016] 2. By averaging temperature and color data over a time window, this invention effectively reduces the impact of environmental interference and instantaneous fluctuations on decision-making results, making spray control more stable and reliable. The decision-making module controls the spraying process in stages based on multi-dimensional analysis results. After the first spraying is completed, it can still determine whether further operations are needed based on changes in the environment, thereby achieving a spray control process that better meets actual rescue needs.

[0017] 3. This invention combines remote control with autonomous decision-making, enabling rescue equipment to complete operations without personnel directly entering dangerous environments, thus reducing personnel safety risks. At the same time, the coordinated operation of the mobile base, robotic arm, and spraying system allows the equipment to flexibly adjust its position and operating posture according to the site conditions, adapting to the needs of different rescue scenarios and improving the overall controllability and reliability of rescue operations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the control component of the present invention; Figure 3 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 4 This is a schematic diagram of the information interaction process between modules in this invention.

[0019] The components include: 1. a movable base; 2. control components; 3. connecting pipes; 4. camera assembly; 5. spray pipes; 6. telescopic hoses; and 7. a robotic arm. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1-3 As shown, this embodiment of the invention provides a remotely controlled autonomous rescue robot, including a mobile base 1. A connecting pipe 3 is installed on the outer wall of the rear end of the mobile base 1. A spray pipe 5 is installed on the top of the mobile base 1. One end of the spray pipe 5 is connected to a telescopic hose 6. A robotic arm 7 is arranged on the left side of the spray pipe 5 and is connected to the telescopic hose 6. A control component 2 is electrically connected to the rear end of the robotic arm 7 and is installed on the top rear end of the mobile base 1. A camera component 4 is electrically connected to the right side of the control component 2 and is installed on the top right side of the mobile base 1.

[0022] Remote operators send control commands through a remote control terminal. After receiving the commands, the control unit 2 drives the mobile base 1 to move to the target rescue area. The camera component 4 collects and transmits images of the scene. Based on the image information, the operator controls the robotic arm 7 to adjust its posture. At the same time, the medium is delivered to the spray pipe 5 through the medium supply device connected to the connecting pipe 3. The medium is delivered to the corresponding position of the robotic arm 7 through the telescopic hose 6. With the movement of the robotic arm 7, it is accurately sprayed to the target area to realize rescue operations such as fire extinguishing, cooling, and replenishment. At the same time, the robotic arm 7 can complete operations such as rescuing trapped personnel and clearing obstacles through the end effector.

[0023] The control unit 2 includes a data acquisition module, a data processing and analysis module, a decision-making module, and a control command output module.

[0024] The data acquisition module is used to collect multi-source data from the target rescue space during the rescue process. The collected data includes: Three-dimensional spatial volume data of the target area; Temperature data for the target area; Color feature data of the target region; Temperature change data in the target area after setting a safety threshold and stopping the first spraying; Color change data of the target area after setting a safety threshold and stopping the first spray.

[0025] The above data provides a foundation for subsequent intelligent analysis and water control decisions.

[0026] The data processing and analysis module is used to perform mathematical modeling and analysis on the collected multidimensional data, including rescue space volume analysis, temperature feature analysis, color feature analysis, temperature change rate analysis, and color change rate analysis.

[0027] In actual rescue environments, due to smoke, flame fluctuations, and environmental interference, the collected temperature and color data may experience instantaneous fluctuations or outliers.

[0028] To improve the stability of data analysis, the control unit 2 performs filtering on the collected raw data in the data processing and analysis module to reduce the impact of occasional interference on control decisions.

[0029] The data processing and analysis module performs time window averaging on the continuously collected temperature and color data to obtain smoothed effective data, thereby improving the reliability of subsequent water spraying decisions.

[0030] Let the temperature data collected within the time window be T1, T2, ..., T r The filtered temperature value is:

[0031] in: T f This is the filtered temperature value; r represents the number of data points within the time window.

[0032] The filtered data is used in subsequent analysis modules and is not directly involved in the output of control commands.

[0033] The rescue space volume analysis obtains the spatial volume information of the area to be rescued by performing three-dimensional reconstruction on the image data collected by the camera component. This information is used to assess the size of the fire source or high-temperature area, and thus serves as the basis for calculating the water spray volume.

[0034] Assume the volume of the space to be rescued is:

[0035] in: V represents the total spatial volume of the area awaiting rescue; v i Let be the spatial volume corresponding to the i-th voxel unit; n is the total number of voxel units.

[0036] The temperature characteristic analysis involves statistically analyzing the temperatures of multiple sampling points within the target area to obtain the average temperature level of the area, which is used to determine the intensity of the fire and the effectiveness of fire suppression.

[0037] If a total of m temperature sampling points are collected within the target area, then the average temperature of the area is:

[0038] in: T avg The average temperature of the target area; T j Let j be the temperature value of the j-th sampling point; m represents the number of temperature sampling points.

[0039] The color feature analysis analyzes the color features of the target area image to extract color information reflecting the flame or high temperature area, which is used to help determine whether there is still an open flame or a risk of reignition.

[0040] If color features are represented by a single color intensity index, then the average color feature value of the target region is:

[0041] in: C avg The average color feature value of the target region; C p Let p be the color feature value of the p-th pixel. k represents the number of pixels involved in the analysis.

[0042] The temperature change rate analysis involves continuously collecting temperature changes in the target area after the first spraying stops, and calculating the temperature change rate to determine whether there is a tendency for reignition.

[0043] Let the average temperatures collected at times t1 and t2 after spraying stop be T, respectively. avg (t1) and T avg (t2), then the rate of temperature change is:

[0044] in: ΔC represents the change in color characteristics.

[0045] The decision-making module intelligently judges the amount of water sprayed based on the spatial volume, temperature, color and their changes, distinguishing between primary water spray and secondary water spray.

[0046] The amount of water sprayed at one time is related to the volume of the target area and the degree to which the temperature exceeds the limit, and the calculation formula is as follows:

[0047] in: Q1 is the water volume sprayed in one cycle; α is an empirical coefficient; T safe This is the set safe temperature threshold.

[0048] When ΔT>0 and ΔC>C are satisfied th Under any of these conditions, it is determined that a second water spraying is required; The formula for calculating the secondary spray volume is: Q2=β⋅V⋅ΔT in: Q2 represents the secondary water spray volume; β is the secondary water control adjustment coefficient; C th This is the color change threshold.

[0049] The control command output module outputs the corresponding control command to the decision-making module based on the calculation result of the decision-making module. Movable base 1, used for adjusting position; Robotic arm 7, used for posture adjustment; The spray pipe 5 and the media supply device are used to precisely control the spray volume and spray time.

[0050] To avoid misjudgment due to single sampling error, the control component (2) performs multiple sampling consistency judgments on key data before executing the decision to stop or re-spray water, thereby further improving the system's security.

[0051] When all s consecutive samples meet the safety conditions, the control unit (2) determines that the rescue area has reached a stable and safe state.

[0052] The consistency determination criteria are expressed as follows:

[0053] in: T avg (u) Let be the average temperature of the u-th sample.

[0054] When the above conditions are met, the control unit (2) outputs a stop spraying command.

[0055] After the water spraying operation is completed, the control unit (2) will not immediately end the rescue process, but will re-inspect the target area after a preset delay time to further prevent reignition.

[0056] Let the delay time be t. d After the water spraying ended, t d After a period of time, temperature and color data of the target area are collected again, and temperature change rate and color change analysis are performed again.

[0057] The rescue operation is considered complete when the following conditions are met: ΔT≤0 and ΔC≤Cth Otherwise, control component (2) re-enters the secondary water spraying process.

[0058] Through the above methods, intelligent and precise water control can be achieved throughout the entire rescue operation process, ensuring firefighting effectiveness while avoiding water waste.

[0059] In summary, the remotely controlled autonomous rescue robot provided in this solution has undergone systematic optimization and integration in terms of overall structural design, functional configuration, and operational processes. The device achieves flexible overall position adjustment via the movable base 1, enabling rapid entry into the target work area. The multi-degree-of-freedom movement of the robotic arm 7, combined with the end effector, achieves precise operation of the rescue target or work area. Simultaneously, the inclusion of the spray pipe 5, telescopic hose 6, and connecting pipe 3 ensures a more stable and reliable media delivery process, meeting the operational needs of various rescue scenarios. The collaborative work of the camera component 4 and the control unit 2 allows remote operators to obtain real-time on-site information and dynamically adjust the equipment's operating status based on feedback, thereby effectively improving the overall controllability and safety of the rescue operation.

[0060] In practical applications, this solution, through its rational structural layout and modular design, allows each functional unit to cooperate while remaining relatively independent, facilitating maintenance, repair, and future upgrades and expansions. Simultaneously, the device can complete multiple rescue operations with minimal direct human intervention, helping to reduce the operational risks for personnel in high-temperature, smoke-filled, or other hazardous environments, thus possessing significant practical value and application potential. Furthermore, the solution operates stably and is highly adaptable, capable of flexible adjustments to meet the requirements of various complex environments.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A remotely controlled autonomous rescue robot, comprising a mobile base (1), characterized in that: A connecting pipe (3) is installed on the outer wall of the rear end of the mobile base (1). A spray pipe (5) is installed on the top of the mobile base (1). One end of the spray pipe (5) is connected to a telescopic hose (6). A mechanical arm (7) is provided on the left side of the spray pipe (5), and the mechanical arm (7) is connected to the telescopic hose (6). A control component (2) is electrically connected to the rear end of the mechanical arm (7), and the control component (2) is installed on the top of the rear end of the mobile base (1). A camera component (4) is electrically connected to the right side of the control component (2), and the camera component (4) is installed on the top right side of the mobile base (1). The control unit (2) includes a data acquisition module, a data processing and analysis module, a decision-making module, and a control command output module.

2. The remotely controlled autonomous rescue robot arm according to claim 1, characterized in that: The data acquisition module is used to collect multi-source data from the target rescue space during the rescue process. The collected data includes: Three-dimensional spatial volume data of the target area; Temperature data for the target area; Color feature data of the target region; Temperature change data in the target area after setting a safety threshold and stopping the first spraying; Color change data of the target area after setting a safety threshold and stopping the first spray.

3. The remotely controlled autonomous rescue robot arm according to claim 1, characterized in that: The data processing and analysis module is used to perform mathematical modeling and analysis on the collected multidimensional data, including rescue space volume analysis, temperature feature analysis, color feature analysis, temperature change rate analysis, and color change rate analysis.

4. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The data processing and analysis module performs time window averaging on the continuously collected temperature and color data to obtain smoothed effective data, thereby improving the reliability of subsequent water spraying decisions.

5. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The rescue space volume analysis obtains the spatial volume information of the area to be rescued by performing three-dimensional reconstruction on the image data collected by the camera component. This information is used to assess the size of the fire source or high-temperature area, and thus serves as the basis for calculating the water spray volume.

6. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The temperature characteristic analysis involves statistically analyzing the temperatures of multiple sampling points within the target area to obtain the average temperature level of the area, which is used to determine the intensity of the fire and the effectiveness of fire suppression.

7. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The color feature analysis analyzes the color features of the target area image to extract color information reflecting the flame or high temperature area, which is used to help determine whether there is still an open flame or a risk of reignition.

8. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The temperature change rate analysis involves continuously collecting temperature changes in the target area after the first spraying stops, and calculating the temperature change rate to determine whether there is a tendency for reignition.

9. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The decision-making module intelligently judges the amount of water sprayed based on the spatial volume, temperature, color and their changes, distinguishing between primary water spray and secondary water spray.

10. The remotely controlled autonomous rescue robot according to claim 1, characterized in that: The control command output module outputs the corresponding control command to the decision-making module based on the calculation result of the decision-making module. Movable base (1) for adjusting position; Robotic arm (7) is used to adjust posture; The spray pipe (5) and the medium supply device are used to precisely control the spray volume and spray time.

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