Hose docking robot and automated docking fire extinguishing system

Abstract

To realize fire-fighting rescue work utilizing advanced intelligence and an automated robot.SOLUTION: This invention relates to a hose docking robot and an automated docking fire extinguishing system, the hose docking robot includes a docking robot body, a six axis robot arm, a laser radar, a binocular camera, and a communication antenna. The docking robot is configured to: receive a control instruction and obtain a position of a docking target through the communication antenna; find the position of the docking target by using a two-dimensional scene map constructed by the laser radar; drag a fire hose to reach a docking area; grab a hose joint by using a clip of the six axis robot arm after reaching the docking area; guide the six-axis robot arm to move into a docking pose, and perform docking between the hose joint and a hose docking port.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of firefighting robots, and more particularly to a hose docking robot and an automated docking fire extinguishing system. [Background technology]

[0002] In unmanned power, communications, petrochemical, and other industries, the special working environment and highly automated equipment mean that once a fire breaks out, the risk factor and complexity far exceed those of traditional industries. In these industries, fires often involve explosions, making traditional firefighting systems ineffective. Furthermore, fires in unmanned substations, communications stations, petrochemical pipelines, and other facilities are even more difficult to deal with, due to the large amounts of flammable and explosive materials involved, which, if handled improperly, can lead to unexpected consequences.

[0003] During a fire, docking the firefighting equipment with the hose is one of the key steps. Conventional docking methods usually rely on manual operation, which is not only dangerous but also prone to errors due to psychological stress and operational errors in the tense fire scene environment. Therefore, there is an urgent need to develop a robotic system that can automatically complete the docking process. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the above analysis, the object of the present invention is to provide a hose docking robot and an automated docking fire extinguishing system, which solves the problem of low safety of artificial hose docking in the prior art, and realizes the purpose of using highly intelligent and automated robots to carry out fire rescue work. [Means for solving the problem]

[0005] The present invention discloses a hose docking robot, which includes a docking robot body, a six-axis robot arm, a laser radar, a binocular camera, and a communication antenna.

[0006] The communication antenna is attached to the top cover of the docking robot body and is used to receive control commands and obtain the position of the docking destination.

[0007] The laser radar is attached to the side wall of the docking robot body and is used to construct a two-dimensional scene map including the docking destination position while the docking robot is moving.

[0008] The first end of the six-axis robot arm is fixed to the top cover of the docking robot body, and the second end is provided with a clip for gripping a hose joint.

[0009] The binocular camera is attached to the second end of the robot arm, and the viewing direction of the binocular camera coincides with the direction of the hose joint gripped by the clip.

[0010] The docking robot uses a two-dimensional scene map constructed by laser radar to find the docking location, drags the fire hose to the docking area, and after arriving at the docking area, the docking robot uses a clip to grab the hose joint, uses a binocular camera to recognize the location of the hose docking port at the docking location, and guides the six-axis robot arm to convert into the docking position and posture, thereby docking the hose joint with the hose docking port.

[0011] Furthermore, the top cover of the docking robot body is equipped with a hose installation device for placing a hose joint.

[0012] The hose installation device is made up of three welded parts: a base, a round pipe, and a tapered mouth. The height and inner diameter of the entire hose installation device are compatible with the depth and outer diameter of the installed hose joint, and the cone angle of the tapered mouth is 60°.

[0013] Furthermore, the clip includes a pneumatic wide-type parallel clip claw, the closing width of the clip claw is 106 mm, the opening width is 146 mm, and the total stroke is 40 mm.

[0014] Furthermore, the docking destination is a high altitude work robot.

[0015] The aerial work robot includes an aerial work robot body, a hose docking port, a rotating platform, an aerial mechanical folding arm, and a high-pressure nozzle.

[0016] The aerial work robot body is a four-wheeled robot, and a rotating platform is installed on the top of the robot body. A high-altitude mechanical folding arm is fixed to the rotating platform. A high-pressure nozzle is attached to the end of the high-altitude mechanical folding arm. A hose docking port is installed on the side wall housing of the aerial work robot body, and a high-altitude pressure connected to the nozzle.

[0017] Furthermore, a first ARUCO cord and a second ARUCO cord are installed in parallel on the housing of the aerial work robot on the same side as the hose docking port, and these first ARUCO cord and second ARUCO cord are used to guide the hose docking robot and calculate the relative direction angle with the aerial work robot when the hose is docked.

[0018] A third ARUCO cord is installed directly below the hose docking port, and the distance between the center position of the third ARUCO cord and the center of the hose docking port is the same as the distance between the center of the hose joint gripped by the clip of the docking robot and the center of the field of view of the binocular camera. The third ARUCO cord is used to guide the adjustment of the position and posture of the six-axis robot arm of the hose docking robot, thereby accurately positioning the hose docking port of the aerial work robot.

[0019] Furthermore, the process of using a binocular camera to position and identify the hose docking port to be docked, guiding the six-axis robot arm to convert it into a docking position and posture, and docking the hose joint with the hose docking port includes the following steps S1 to S5.

[0020] Step S1: Docking Area to After arrival, the hose docking robot grasps the hose joint and deploys its six-axis robotic arm to enter the preliminary docking position.

[0021] Step S2: In the preliminary docking position and posture, the relative direction angle between the aerial work robot and the hose docking robot is calculated based on the position image taken by the binocular camera of the hose docking robot, and the hose docking robot is guided to approach the aerial work robot from the front and arrive at the first planned position for positioning.

[0022] Step S3: After arriving at the first predetermined position for positioning, move the field of view of the binocular camera to the hose docking port, and visually position the hose docking port, thereby guiding the six-axis robot arm to convert the center of the camera field of view to the second predetermined position for positioning before it is located at the center position of the hose docking port.

[0023] Step S4: Based on the relative position between the third ARUCO cord and the center of the hose docking port, guide the six-axis robot arm to move the center of the field of view of the binocular camera to the center position of the third ARUCO cord, and obtain the third planned docked positioning position.

[0024] Step S5: After arriving at the third predetermined position, the robot arm moves forward again to insert the hose joint into the hose docking port to achieve reliable docking.

[0025] Furthermore, the relative direction angle ψ of the hose docking robot with respect to the aerial work robot is as follows:

number

[0026] In the formula, x1 and z1 are the X-axis and Z-axis coordinates of the calculated first ARUCO code, and x2 and z2 are the X-axis and Z-axis coordinates of the calculated second ARUCO code.

[0027] Furthermore, after arriving at the first predetermined position for positioning, the docking port is visually positioned using a monocular ranging algorithm to obtain the three-dimensional coordinates of the center of the hose docking port, and the robot arm is controlled to quickly move to the second predetermined position for positioning in front of the hose docking port, and the center of the hose docking port is positioned at the center of the camera image.

[0028] Furthermore, the three-dimensional coordinates (x, y, z) of the visual positioning of the hose docking port are as follows:

[0029]

number

[0030] In the formula, i and j are the pixel coordinates of the calculated center of the hose docking port, d is the depth of the center coordinate of the hose docking port, and u0 and v0 are the visual centers in the x and y directions, respectively, in the camera's internal parameters.

[0031] The present invention also discloses an automated docking fire extinguishing system, which includes a hose docking robot, a high altitude work robot, a hose roll case, and a fire hydrant.

[0032] The hose in the hose roll case is connected to a fire hydrant, and the aerial work robot is positioned at a fire extinguishing position and transmits position information to the hose docking robot.

[0033] The hose docking robot receives the position information of the aerial work robot, takes out the hose joint from the hose roll case, and drags the hose to the docking area of ​​the aerial work robot.

[0034] In the docking area, the hose docking robot docks the hose joint with the hose docking port of the aerial work robot to supply water for the aerial work robot's firefighting activities.

[0035] The hose docking robot is the hose docking robot described above. [Effects of the Invention]

[0036] The present invention can achieve at least the following beneficial effects:

[0037] The hose docking robot disclosed in the present invention can solve the problems of the manual hose docking in the prior art, such as low efficiency and prone to errors, and has advantages such as high automation, high accuracy, high safety, and wide application range. Specific advantages realized are as follows:

[0038] 1) Automation and intelligence: This invention utilizes advanced sensors, algorithms and control systems to achieve automatic docking of fire equipment and hoses, which significantly reduces manual operations and improves efficiency and accuracy.

[0039] 2) High safety: The design of this invention takes safety into consideration, and it is made of high-temperature resistant and explosion-proof materials, and is equipped with emergency stop and safety protection functions, which allows workers to dock more safely in the event of a fire.

[0040] 3) High adaptability: The present invention can be adapted to various types of firefighting equipment and interfaces, has wide applicability, and can adapt to different fire scenes and environmental conditions, enabling accurate and efficient docking operations in complex fire environments.

[0041] 4) Real-time communication and control: The present invention is equipped with an efficient communication and control system, which can carry out real-time communication and control with the command center and other equipment at the fire scene, allowing the commander to timely grasp the progress and status of the docking operation and make appropriate decisions and adjustments. [Brief explanation of the drawings]

[0042] The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, and like reference numerals refer to like parts throughout the drawings. [Figure 1] FIG. 2 is a schematic diagram of the hose docking robot according to an embodiment of the present invention after the robot arm is deployed. [Figure 2] 1 is a three-dimensional schematic view of a hose placement device according to an embodiment of the present invention; [Figure 3] FIG. 1 is a three-dimensional schematic diagram of a six-axis robotic arm and clip in an embodiment of the present invention. [Figure 4] 1 is a schematic rear view of a high-altitude work robot according to an embodiment of the present invention. FIG. [Figure 5] 1 is a schematic diagram of an automated docking fire suppression system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0043] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part of this application and, together with the embodiments of the present invention, serve to explain the principles of the present invention.

[0044] One embodiment of the present invention discloses a hose docking robot, which includes a docking robot body, a six-axis robot arm, a laser radar, a binocular camera, and a communication antenna, as shown in FIG.

[0045] The communication antenna is attached to the top cover of the docking robot body and is used to receive control commands and obtain the position of the docking destination.

[0046] The laser radar is attached to the side wall of the docking robot body and is used to construct a two-dimensional scene map including the docking destination position while the docking robot is moving.

[0047] The first end of the six-axis robot arm is fixed to the top cover of the docking robot body, and the second end is provided with a clip for gripping a hose joint.

[0048] The binocular camera is attached to the second end of the robot arm, and the field of view of the binocular camera coincides with the direction of the hose joint gripped by the clip.

[0049] The docking robot finds the docking location through a two-dimensional scene map constructed by laser radar, drags the fire hose to the docking area, and after arriving at the docking area, the docking robot uses a clip to grab the hose joint, uses a binocular camera to recognize the location of the hose docking port at the docking location, and guides the six-axis robot arm to convert into the docking position and posture, thereby docking the hose joint with the hose docking port.

[0050] Specifically, the top cover of the docking robot body is equipped with a hose installation device. As shown in Figure 2, the hose installation device is made of three welded parts: a base, a round pipe, and a tapered mouth. The material is Q235, and the overall height and inner diameter match the depth and outer diameter of the installed hose joint. The tapered mouth has a cone angle of 60°. The base has four M6 screw holes that mate with the screw holes on the robot top cover to fix the hose installation device inside the docking robot body.

[0051] The hose installation device located on the top cover of the smart docking robot body in this embodiment allows the hose joint to be placed without being caught by the round pipe during the process of being left, so the hose joint is not pulled or distorted when the fire hose is moved, and when the hose joint is gripped by the clip from the hose installation device, the hose joint is more easily removed from the round pipe, preventing clogging. The screw method of attachment to the top cover of the smart docking robot facilitates subsequent maintenance.

[0052] Specifically, as shown in Figure 3, the six-axis robot arm and clip have a uniform texture on the contact surface between the clip claws and the hose joint, which increases the friction force between the clip and the hose joint. At the same time, springs are added between the clip claws to ensure that the clip can properly enclose the joint.

[0053] The mounting distance between the clip and the binocular camera is fixed, and after the six-axis robot arm is deployed, the binocular camera is positioned directly below the clip, and the distance from the center of the binocular camera's field of view to the center of the hose joint that the clip claws grip is fixed and a known preset distance.

[0054] The clip is preferably a pneumatic wide-type parallel clip claw, with a closing width of 106mm, an opening width of 146mm, a total stroke of 40mm, and a maximum gripping force of 141N per single claw, sufficient to grip most hose joints on the market. It is precision-machined from solid aluminum using CNC, with a smooth polished inner wall, preventing clogging during use, high work efficiency, and a hard oxidation process for long life, supporting various work situations. The clip cylinder is connected to a micro air pump via an air tube, and its microphone The low-pressure pump is installed inside the vehicle and has the advantages of low noise, small volume, stable pressure supply, and adaptability to complex work situations. It is driven by a brushless motor and powered by 24V DC, and can use a wide range of voltage or PWM speed adjustment to maintain a continuous positive pressure of 1MPa.

[0055] Specifically, in the process of setting the hose joint on the round pipe of the hose installation device before the docking robot drags the hose to move, an automatic grabbing method may be adopted in which a clip automatically grabs the hose joint from the fire hose case connected to the hydrant and places it on the hose installation device, or a manual method may be adopted in which the hose joint is manually placed on the hose installation device.

[0056] In the automatic grabbing method, after the docking robot receives a docking command, it drives to the hose storage area, deploys the six-axis robot arm to reach directly above the position where the hose joint is placed, starts to perform the grabbing operation, grabs the hose joint and leaves it on the hose installation device located at the top of the docking vehicle, and returns to its original position after the robot arm completes the operation.

[0057] Specifically, the docking robot body is a four-wheel drive traveling robot, and includes four drive wheels controlled by servo motors. When the docking robot moves forward, all four wheels rotate forward simultaneously, and when turning, the left and right wheels rotate in opposite directions.

[0058] The robot body also includes a microcontroller, a servo controller, a power module, and the like.

[0059] The power module mainly includes an electric control panel button, a lithium battery, etc., and is used to supply power to the docking robot.

[0060] The servo controller is mainly used for servo drive control of 6-axis robot arms and clips.

[0061] A microcontroller is used to manage all control and operation of the robot.

[0062] The control system architecture of the hose docking robot uses a client-server architecture, emphasizing the important role of the microcontroller. The microcontroller is equipped with the robot's operating system, stored in FlashROM, and manages all control and operation details, including the robot's movement, path, and distance measurement. The control server establishes a communication link with the microcontroller via a communications antenna and remotely controls the microcontroller, thereby controlling the robot. This architecture uses a client-server architecture, and by transferring information via a wireless router base station, the control server can remotely control the microcontroller, thereby controlling the robot.

[0063] At the same time, it uses a special client-server communication data packet protocol, making the communication between the two more stable and reliable.

[0064] The microcontroller adopts a single-board computer structure, providing users with greater control and flexibility. By setting client commands, users can change and activate cycle times, which allows them to customize the robot's functions and flexibly adjust the hose docking robot to adapt to different environments and task requirements.

[0065] Preferably, the horse docking robot is further equipped with an on-board gyroscope to further improve the stability and precision of the robot, which can compensate for changes in the robot's path that cannot be detected by the robot's wheel encoders, such as wheel slip, transmission gap, wheel imbalance, or surface conditions, thereby ensuring the stability of the robot during movement and allowing for accurate control of its direction and position.

[0066] The microcontroller collects the gyro's angular velocity and acceleration data every 2 milliseconds and transmits them to the microcontroller. Such high-speed data transmission and processing capability allows the robot to adjust its direction and position in real time. The direction and position adjustment completed by the microcontroller allows the robot to navigate more intelligently and autonomously, improving its self-direction and intelligence level.

[0067] In one specific embodiment, the docking destination of the hose docking robot is an aerial work robot.

[0068] As shown in FIG. 4, the aerial work robot includes aerial work robot body, a hose docking port, a rotating platform, an aerial mechanical folding arm, and a high-pressure nozzle.

[0069] The aerial work robot body is a four-wheeled robot, and a rotating platform is installed on the top of the robot body. A high-altitude mechanical folding arm is fixed to the rotating platform. A high-pressure nozzle is attached to the end of the high-altitude mechanical folding arm. A hose docking port is installed on the side wall housing of the aerial work robot body, and a high-altitude pressure It is connected to the nozzle, and the hose docking port is provided with a clamp slot for locking the hose joint.

[0070] Usually, the hose docking port is located on the side wall housing of the tail portion of the main body of the aerial work robot.

[0071] The high-altitude work robot is equipped with a GPS and a gyroscope, and uses the positioning technology of the GPS and the gyroscope to obtain its own position and attitude information, and transmits this data to a control server.

[0072] The aerial work robot can also obtain information about the surrounding environment, such as fire sources, smoke, etc., through sensing devices such as cameras, which can better assist subsequent rescue operations.

[0073] Specifically, a first ARUCO cord and a second ARUCO cord are installed in parallel on the housing of the aerial work robot on the same side as the hose docking port, and these first ARUCO cord and second ARUCO cord are used to guide the hose docking robot and calculate the relative direction angle with the aerial work robot when the hose is docked.

[0074] A third ARUCO cord is installed directly below the hose docking port, and the distance between the center position of the third ARUCO cord and the center of the hose docking port is the same as the distance between the center of the hose joint gripped by the clip of the docking robot and the center of the field of view of the binocular camera. The third ARUCO cord is used to guide the adjustment of the position and posture of the six-axis robot arm of the hose docking robot, thereby accurately positioning the hose docking port of the aerial work robot.

[0075] The coordinate system of the aerial work robot is fixed to the center of gravity of the hose docking port. During the hose docking process, the hose docking robot acts as a tracker for the aerial work robot, with the center of gravity of the hose docking robot aligned with and fixed to the center of gravity of the aerial work robot at the base. The x-axis of the hose joint grasped by the clip of the hose docking robot coincides with the direction pointed by the binocular camera of the hose docking robot. The z-axis points to the top of the chassis of the hose docking robot, and the y-axis completes a right-handed coordinate system.

[0076] After receiving the position and attitude information of the aerial work robot, the hose docking robot locates the position of the aerial work robot through a map created by the laser radar and drives to the docking area. The docking area is an area within 3 m of the tail of the aerial work robot (when the hose docking port is located on the side wall housing of the tail of the aerial work robot body). The advantage of using laser radar is that it can scan objects with high precision, thereby enabling accurate distance measurement and recognition of targets.

[0077] After the docking robot moves to the docking area, the feature parameters are searched through the binocular camera and the camera pose is calibrated.

[0078] In this embodiment, the camera pose is calibrated using known parameters (A), three-dimensional world coordinates (M'), and two-dimensional image coordinates (m') in combination with the 2D projection of the 3D camera.

[0079] Specifically, the coordinate transformation formula used for calibrating the camera posture is as follows:

number

[0080] In the formula, f x , f y , cx , c y are the intrinsic parameters of the camera, A is the intrinsic parameter matrix of the camera, S is the camera pose, and [u,v] are the two-dimensional pixel coordinates of the image captured by the camera.

number

[0081] The world coordinates corresponding to the camera are [x,y,z,α,β,γ], where [x,y,z] are the three-dimensional coordinates in the camera's world coordinates, and [α,β,γ] are the rotational Euler angles in the camera's world coordinates.

[0082] The formula to convert this to a rotation translation matrix is:

number

[0083] During the calibration process, the following steps 1) to 3) are performed.

[0084] 1) Images captured by a binocular camera are utilized, and keypoints and descriptors are extracted using a feature extraction algorithm.

[0085] 2) These feature points are projected onto a 2D image plane in a binocular camera, and their corresponding points in the 2D image are found by a feature matching algorithm.

[0086] 3) Using the known camera intrinsic parameters, 3D world coordinates and 2D image coordinates, estimate the camera pose and position using a solver or other pose solution algorithm.

[0087] When estimating the camera pose and position, nonlinear optimization based on the number and accuracy of feature points can be used to obtain more accurate results. Based on the obtained camera pose and position, the binocular camera coordinate system and the aerial work robot coordinate system are calibrated. By aligning the camera position and direction information with the aerial work robot coordinate system, the camera can ensure that it accurately observes the position of the interface to which it is docked.

[0088] Specifically, the process of using a binocular camera to locate and identify the hose docking port to be docked, guiding the six-axis robot arm to convert it into a docking position and posture, and docking the hose joint with the hose docking port includes the following steps S1 to S5.

[0089] Step S1: Docking Area to After arrival, the hose docking robot grasps the hose joint and deploys its six-axis robotic arm to enter the preliminary docking position.

[0090] The preliminary docking position and posture is to teach the relative position and posture between the recorded hose joint of the robot arm terminal and the docking port of the docking destination.

[0091] Specifically, the robot arm is taught to move to a rough position and orientation that allows it to dock with the hose joint, and the position and orientation of the robot arm movement are recorded.

[0092] In the rough position and orientation, the field of view of the binocular camera of the hose docking robot can cover the first and second ARUCO codes of the aerial work robot.

[0093] Step S2: In the preliminary docking position and posture, the relative direction angle between the aerial work robot and the hose docking robot is calculated based on the position image taken by the binocular camera of the hose docking robot, and the hose docking robot is guided to approach the aerial work robot from the front and arrive at the first planned position for positioning.

[0094] Specifically, based on the positioning image taken by the binocular camera, two parallel ARUCO codes are detected on the aerial work robot body, and the binocular camera obtains the three-dimensional coordinates of the point cloud corresponding to the central pixel coordinates of the ARUCO codes. If the coordinates of the first ARUCO code are p1 (x1, y1, z1) and the coordinates of the second ARUCO code are p2 (x2, y2, z2), the relative direction angle ψ of the hose docking robot to the aerial work robot is as follows:

number

[0095] The hose docking robot is controlled by adjusting the relative direction angle ψ to approach the aerial work robot with the housing of the aerial work robot on the same side as the hose docking port in a vertical position, and approaches the aerial work robot to arrive at a first predetermined position for positioning, the first predetermined position for positioning being a predetermined position for visually positioning the hose docking port.

[0096] Step S3: After arriving at the first predetermined position for positioning, move the field of view of the binocular camera to the hose docking port, and visually position the hose docking port, thereby guiding the six-axis robot arm to convert the center of the camera field of view to the second predetermined position for positioning before it is located at the center position of the hose docking port.

[0097] After arriving at the first predetermined position for positioning, the field of view of the binocular camera is moved to the front of the hose docking port based on the fixed positional relationship between the first ARUCO code, the second ARUCO code and the first ARUCO code.

[0098] Since the first planned position for positioning is close to the hose docking port and the 3D point cloud of the binocular camera is invalid, the visual positioning of the docking port is performed using a monocular ranging algorithm.

[0099] The three-dimensional coordinates of the center of the hose docking port are obtained based on the visual positioning, and the robot arm is controlled to quickly move to a second predetermined position in front of the hose docking port, and the center of the hose docking port is positioned at the center of the camera image.

[0100] Specifically, the three-dimensional coordinates of the hose docking port are determined using the monocular ranging algorithm as follows:

[0101] (1) Calculate the pixel coordinates (i, j) of the center of the hose docking port.

[0102] The hose docking mouth is detected based on yolov8+sam, and the trained yolov8 model is pixel-positioned relative to the hose docking mouth. Then, the detection result is input into the sam model to perform semantic segmentation of the hose docking mouth and obtain the accurate pixel position (i, j) of the center of the hose docking mouth.

[0103] (2) Calculate the image depth d of the hose docking port.

[0104] When the distance is close, the three-dimensional point cloud of the 3D camera becomes invalid, so a monocular ranging algorithm is used to locate the docking port.The size of the hose docking port is known, and the monocular ranging algorithm is used to calculate the depth of the target, i.e., using a similar triangle.

[0105] Specifically, the pixel width of the hose docking port in the image is width_px pixels, the actual width of the hose docking port is width_real meters, f is the focal length of the camera, and the depth of the hose docking port d is as follows:

number

[0106] (3) Calculate the three-dimensional coordinates (x, y, z) of the center of the hose docking port based on the pixel coordinates (i, j) of the center of the hose docking port, the image depth d, and the camera internal parameters.

[0107] Specifically, it is as follows:

number

[0108] In the formula, u0 and v0 are the visual centers in the x and y directions, respectively, in the camera internal parameters.

[0109] Step S4: Based on the relative position between the third ARUCO cord and the center of the hose docking port, guide the six-axis robot arm to translate, move the center of view of the binocular camera to the center position of the third ARUCO cord, and obtain the third planned position for docking.

[0110] Specifically, in the guiding process, the ARUCO detection algorithm is used to obtain the three-dimensional coordinates of the third ARUCO code under the hose docking port, and the error between the detected coordinates of the third ARUCO code and the preset coordinates of the third ARUCO code is controlled to obtain the accurate position of the third predetermined position for positioning.

[0111] The third predetermined position is a position where the hose joint and the hose docking port are aligned.

[0112] Here, the process of calculating the three-dimensional coordinates of the third ARUCO code using the ARUCO detection algorithm is as follows:

[0113] (1) Convert a color image into a grayscale image.

[0114] (2) The step size and window size are set, and the sliding window performs binarization and frame detection for each window.

[0115] (3) Sort the corner points.

[0116] (4) Similar frames are removed to obtain square candidate frames.

[0117] (5) The corners are rotated to the correct position, and the candidate frame is divided into a matrix of a set size. The matrix value depends on the pixel value of the corresponding pixel block. By decoding, it is recognized whether it is an ARUCO code or not, and an ID corresponding to the ARUCO code dictionary is obtained.

[0118] (6) Fit the four sides of the quadrangle, and the corner points of the four straight lines are more accurate corner points.

[0119] (7) Based on the predicted ARUCO code size and the pixel side length of the obtained rectangle, its three-dimensional coordinates are calculated using a monocular ranging algorithm.

[0120] The calculated ARUCO code coordinate point is subtracted from the preset ARUCO code coordinate to calculate the required movement distance of the robot arm, and the position and posture of the robot arm are adjusted. This process is repeated until the desired error range is reached to achieve accurate positioning.

[0121] Step S5: After arriving at the third predetermined position, the robot arm moves forward again to insert the hose joint into the hose docking port to achieve reliable docking.

[0122] Specifically, after inserting the hose joint into the hose docking port, the clip is released, the robot arm is moved down, retracted 20 mm, and then moved up again until the hose joint is fully locked into the clamp slot of the hose docking port. After docking is complete, the robot arm is withdrawn and the hose docking robot moves away from the docking position.

[0123] In this embodiment, the hose docking method includes an automatic docking method and an assisted docking method.

[0124] Here, the assisted docking method includes the following operations.

[0125] (1) The hose docking robot performs drag on the hose.

[0126] (2) After arriving at the aerial work robot, the hose is docked.

[0127] During the docking process, the hose docking robot activates the robot arm position floating mode, automatically drags the hose with the robot arm to dock with the aerial work robot, and after docking is completed, releases the clip and controls the robot arm to return to the specified position.

[0128] The automatic docking method includes the following operations.

[0129] (1) The robotic arm completes grabbing the hose from the fire hydrant.

[0130] (2) The hose docking robot performs drag on the hose.

[0131] (3) After arriving at the aerial work robot, complete the docking of the hose.

[0132] During the docking process, the hose docking robot advances the robot arm linearly along a set coordinate direction by a set distance to complete automatic docking with the aerial work robot. After docking is complete, the hose docking robot releases the clip and controls the robot arm to return to the specified position.

[0133] In the automatic docking method, more specifically, the complete flow of hose docking is as follows:

[0134] 1) The control center issues a docking command, which is then transmitted to the hose docking robot via the wireless router base station on the ground. At this time, the hose docking robot moves towards the hydrant, and the robot arm begins to grab it, reaching directly above the position where the hose joint is placed. It accurately calculates the detailed coordinates of the hose joint using the identification code, opens the cylinder clip, grabs the hose joint, and places it on the hose installation device located at the top of the docking vehicle. After the robot arm completes its operation, it returns to its original position. At this time, the hose docking robot starts up and takes the hose to search for the hose docking port.

[0135] 2) The hose docking robot receives the real-time position of the aerial work robot, plans an autonomous route, and moves to the hose docking port of the aerial work robot. During this process, the hose docking robot stops about 3 m from the tail of the aerial work robot, and the robot arm moves to point the binocular camera at the end directly at the tail. By calculating the marker code behind the tail, the offset amount of the entire hose docking robot is calculated. The hose docking robot then corrects the position of its four wheels according to this data, so that the hose docking robot can face directly at the tail of the aerial work robot.

[0136] 3) After the hose docking robot reaches the tail of the aerial work robot, it stops. The robot arm reaches the location of the hose installation device, grabs the hose joint on the hose docking robot, and reaches the hose docking port. At this time, the binocular camera faces the hose docking port. Through visual recognition and calculation, the robot arm moves so that the joint faces the hose docking port. The robot arm moves again until the joint is just connected to the hose docking port. At this time, the clip is released, the robot arm moves down, retreats 20 mm, and then moves up again. This process ensures that the joint is fully locked into the clamping slot of the hose docking port. After docking is completed, the robot arm is withdrawn, and the hose docking robot leaves the docking position. Example 2

[0137] One embodiment of the present invention discloses an automated docking fire extinguishing system, which includes a hose docking robot, a high-altitude work robot, a hose roll case, and a fire hydrant, as shown in FIG.

[0138] The hose in the hose roll case is connected to a fire hydrant, and the aerial work robot is positioned at a fire extinguishing position and transmits position information to the hose docking robot.

[0139] The hose docking robot receives the position information of the aerial work robot, takes out the hose joint from the hose roll case, and drags the hose to the docking area of ​​the aerial work robot.

[0140] In the docking area, the hose docking robot docks the hose joint with the hose docking port of the aerial work robot to supply water for the aerial work robot's firefighting activities.

[0141] The hose docking robot is the hose docking robot in the above-described embodiment, and the aerial work robot is the aerial work robot in the above-described embodiment.

[0142] As described above, the hose docking robot and automated docking fire extinguishing system disclosed in the present invention can solve the problems of the low efficiency and error-proneness of manual hose docking in the prior art, and has advantages such as a high degree of automation, high accuracy, high safety, and a wide range of applications.

[0143] The above contents are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any modifications or replacements that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention are included in the protection scope of the present invention. [Explanation of symbols]

[0144] 1 - docking robot body, 2 - 6-axis robot arm, 3 - clip, 4 - laser radar, 5 - binocular camera, 6 - hose joint, 7 - hose installation device base, 8 - round pipe, 9 - tapered port, 10 - cylinder, 11 - aerial work robot body, 12 - hose docking port, 13 - first ARUCO cord, 14 - second ARUCO cord, 15 - third ARUCO cord, 16 - hose roll case and fire hydrant, 17 - hose, 18 - hose docking robot, 19 - aerial work robot

Claims

1. A hose docking robot, comprising: a docking robot body; a six-axis robot arm; a laser radar; a binocular camera; and a communication antenna; the communication antenna is attached to the top cover of the docking robot body and is used to receive control commands and acquire the position of the docking destination; the laser radar is attached to a side wall of the docking robot body and is used to construct a two-dimensional scene map including a docking destination position while the docking robot is traveling; A first end of the six-axis robot arm is fixed to a top cover of the docking robot body, and a second end of the six-axis robot arm is provided with a clip for gripping a hose joint. the binocular camera is attached to the second end of the robot arm, and the viewing direction of the binocular camera coincides with the direction of the hose joint gripped by the clip; This hose docking robot uses a two-dimensional scene map constructed by a laser radar to search for a docking location, drags the fire hose to arrive at the docking area, and after the fire hose arrives at the docking area, the docking robot uses a clip to grab the hose joint, recognizes the position of the hose docking port at the docking location using a binocular camera, and guides the six-axis robot arm to convert into a docking position and posture, thereby docking the hose joint with the hose docking port.

2. The top cover of the docking robot body is equipped with a hose installation device for placing hose joints.

2. The hose docking robot according to claim 1, wherein the hose installation device is formed by welding three parts: a base, a round pipe, and a tapered mouth; the height and inner diameter of the entire hose installation device are adapted to the depth and outer diameter of the installed hose joint; and the cone angle of the tapered mouth is 60°.

3. 2. The hose docking robot of claim 1, wherein the clip comprises pneumatic wide-type parallel clip claws, the clip claws having a closing width of 106 mm, an opening width of 146 mm, and a total stroke of 40 mm.

4. the docking destination is an aerial work robot, The aerial work robot includes an aerial work robot body, a hose docking port, a rotating platform, an aerial mechanical folding arm, and a high-pressure nozzle; The hose docking robot of any one of claims 1 to 3, characterized in that the aerial work robot body is a four-wheeled robot, the rotating platform is installed on the top of the robot body, the aerial mechanical folding arm is fixed to the rotating platform, the high-pressure nozzle is attached to the end of the aerial mechanical folding arm, and the hose docking port is installed on the side wall housing of the aerial work robot body and connected to the high-pressure nozzle via a pipeline.

5. a first ARUCO cord and a second ARUCO cord are installed in parallel on a housing of the aerial work robot on the same side as the hose docking port, and these first ARUCO cord and second ARUCO cord are used to guide the hose docking robot and calculate a relative direction angle with the aerial work robot when the hose is docked; 5. The hose docking robot according to claim 4, wherein a third ARUCO cord is installed directly below the hose docking port, the distance between the center position of the third ARUCO cord and the center of the hose docking port is the same as the distance between the center of the hose joint gripped by the clip of the docking robot and the center of the field of view of the binocular camera, and the third ARUCO cord is used to guide the adjustment of the position and attitude of the six-axis robot arm of the hose docking robot to accurately position the hose docking port of the aerial work robot.

6. The process of using a binocular camera to identify the position of the hose docking port to be docked, and guiding the six-axis robot arm to convert it into a docking position and posture, and docking the hose joint with the hose docking port, is as follows: Step S1: after arriving at the docking area, the hose docking robot grasps the hose joint, deploys the six-axis robot arm, and enters a preliminary docking position and posture; a step S2 in which a relative direction angle between the aerial work robot and the hose docking robot is calculated based on a position image taken by the binocular camera of the hose docking robot in the preliminary docking position and posture, and the hose docking robot is guided to approach the aerial work robot from the front and arrive at a first expected position for positioning; Step S3: after arriving at the first predetermined position for positioning, move the field of view of the binocular camera to the hose docking port, visually position the hose docking port, and guide the six-axis robot arm to convert the camera field of view center to a second predetermined position for positioning before the center position of the hose docking port is located; Step S4: based on the relative position between the third ARUCO cord and the center of the hose docking port, guide the six-axis robot arm to move the center of the field of view of the binocular camera to the center position of the third ARUCO cord, thereby obtaining a third predetermined position for docking; and step S5, after the robot arm arrives at the third predetermined position, the robot arm moves forward again to insert the hose joint into the hose docking port to achieve reliable docking.

7. The relative direction angle ψ of the hose docking robot to the aerial work robot is as follows: [Equation 9] 7. The hose docking robot according to claim 6, wherein x1 and z1 are the X-axis and Z-axis coordinates of the calculated first ARUCO code, and x2 and z2 are the X-axis and Z-axis coordinates of the calculated second ARUCO code.

8. The hose docking robot of claim 7, characterized in that after arriving at the first predetermined position, the docking port is visually positioned using a monocular ranging algorithm to obtain the three-dimensional coordinates of the center of the hose docking port, and the robot arm is controlled to quickly move to the second predetermined position in front of the hose docking port, and the center of the hose docking port is positioned at the center of the camera image.

9. The three-dimensional coordinates (x, y, z) of the visual positioning of the hose docking port are as follows: [Equation 10] In the formula, i, j are the pixel coordinates of the calculated center of the hose docking port, d is the depth of the center coordinate of the hose docking port, and u ０ , v ０ The hose docking robot according to claim 8, wherein x and y are the visual centers of the camera internal parameters, respectively.

10. An automated docking fire extinguishing system, comprising: a hose docking robot; an aerial work robot; a hose roll case; and a fire hydrant; The hose in the hose roll case is connected to a fire hydrant, and the aerial work robot is located at a fire extinguishing position and transmits position information to the hose docking robot; The hose docking robot receives the position information of the aerial work robot, takes out the hose joint from the hose roll case, and drags the hose to the docking area of ​​the aerial work robot; In the docking area, the hose docking robot docks the hose joint with the hose docking port of the aerial work robot to supply water for the firefighting activity of the aerial work robot; 2. An automated docking fire extinguishing system, wherein the hose docking robot is the hose docking robot according to claim 1.

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