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CN-116330312-B - Explosion-proof fire-fighting robot and fault diagnosis control method thereof

CN116330312BCN 116330312 BCN116330312 BCN 116330312BCN-116330312-B

Abstract

The application discloses an explosion-proof fire-fighting robot and a fault diagnosis control method thereof, wherein the robot comprises a moving platform and an adaptive control system, the moving platform comprises an objective table which is used for bearing people or objects and is used as an equipment integration carrier, a driving mechanism which comprises combined movable wheel sets respectively arranged at two sides of the objective table, a sensing mechanism which comprises an image sensing unit and a collision sensing unit which are arranged on the objective table, and the control system comprises a processing module and a communication module, wherein the processing module is connected with the sensing mechanism, the driving mechanism and the communication module. The fault diagnosis control method carries out fault recognition based on self historical fault data and carries out fault diagnosis according to priori knowledge. The application can help fire and public security personnel to transfer people or dangerous objects and has the effect of diagnosing faults of equipment.

Inventors

  • QI ZHI
  • CAO WENBIN
  • LIU LUGANG
  • ZHANG YEHONG
  • CHEN SHULING

Assignees

  • 海风智能科技(浙江)有限公司

Dates

Publication Date
20260512
Application Date
20230320

Claims (6)

  1. 1. The utility model provides an explosive-handling fire-fighting robot, includes mobile platform and adaptive control system, its characterized in that, mobile platform includes: an object stage (1) for carrying a person or object and for carrying an apparatus-integrated carrier; the driving mechanism comprises combined movable wheel sets (2) which are respectively arranged at two sides of the objective table (1); a sensing mechanism comprising an image sensing unit (3) and a collision sensing unit (4) mounted on the stage (1); The combined movable wheel set (2) comprises a main shaft (21), a movable connecting rod (22), a single motor (23) and a wheel body (24), wherein the main shaft (21) is fixed on the side surface of the objective table (1), one end of the movable connecting rod (22) is rotatably connected with the main shaft (21), the other end of the movable connecting rod is inclined downwards and is provided with the single motor (23), and the wheel body (24) is fixed on an output shaft of the single motor (23); The control system comprises a processing module (51) and a communication module (52), wherein the processing module (51) is connected with the sensing mechanism, the single motor (23) and the communication module (52); The number of main shafts (21) distributed on the same side of the objective table (1) is multiple, and connecting shafts (211) are mutually arranged and interconnected; One main shaft (21) is rotationally connected with one or more movable connecting rods (22), and when the number of the movable connecting rods (22) is multiple, the lower ends of the movable connecting rods face to two sides of the main shaft (21) respectively; The lower end of the movable connecting rod (22) is provided with a C-shaped wheel frame (221), the C-shaped wheel frame (221) is vertically and transversely connected with the movable connecting rod (22) in a rotating way, and a single motor (23) is fixed at the lower end of the C-shaped wheel frame; the processing module (51) is configured to: The communication module (52) is used for acquiring interaction data generated by communication between the communication module and the appointed far end; Identifying interaction data, judging whether a motor adjustment instruction exists or not, if so, searching a preset database according to the motor adjustment instruction, calling matched motor action logic, and sending control parameters to each single motor according to the motor action logic; feedback data for identifying each electronic device of the explosion-venting fire robot; Performing fault diagnosis according to a priori feature index in feedback data, wherein the priori feature index is empirically defined feature of known fault existence, and The system is used for sending fault diagnosis and motor adjustment instruction response results to the appointed far end through a communication module (52), and carrying out online confirmation on the robot to obtain online feedback of the appointed far end; When the online feedback is lost and the duration reaches a preset time threshold, triggering a local control logic; the local control logic, comprising: Judging the fault type according to the prior characteristic index, and Searching a preset database according to the fault type, and calling a matched fault scene control logic; Wherein the prior characteristic index comprises a mean value Average frequency Absolute average And weight average ; The data is normalized to obtain a priori feature set: ; the standardized method is that Wherein, the method comprises the steps of, Is a natural number of the Chinese characters, As a mean value of the data set, Is the variance; Specifying characteristics of a certain type of feedback Extraction is performed using a depth convolution auto-encoder.
  2. 2. The explosion-venting fire-fighting robot according to claim 1, further comprising a mechanical arm (6) connected to the processing module (51); The bottom of the objective table (1) is fixedly provided with a plate frame (7), and one end of the plate frame (7) extends out of the objective table (1) and extends out of the objective table to fix a mechanical arm (6); the end section of the mechanical arm (6) is fixed with another image sensing unit (3).
  3. 3. The explosion-proof fire-fighting robot according to claim 2, wherein the object stage (1) is provided with a storage groove (61) with an upper opening and an end opening along the length, and the mechanical arm (6) in an idle state is stopped in the storage groove (61).
  4. 4. The explosion-proof fire-fighting robot according to claim 3, wherein a transverse groove is formed in the upper section of the side wall of the storage groove (61), a transverse plate (8) is slidably connected in the transverse groove, an interconnection pore plate (81) is fixed at one end of the transverse plate (8), and a through hole is formed in the interconnection pore plate (81).
  5. 5. The explosion-proof fire-fighting robot according to claim 1, wherein rope buckles (9) are respectively arranged at two ends of the side wall of the objective table (1).
  6. 6. The explosion-proof fire-fighting robot according to claim 1, wherein the processing module (51) is further connected with an audible and visual warning unit (53), and the audible and visual warning unit (53) is mounted on the object stage (1).

Description

Explosion-proof fire-fighting robot and fault diagnosis control method thereof Technical Field The application relates to the technical field of fire robots, in particular to an explosion-proof fire robot and a fault diagnosis control method thereof. Background In fire rescue activities, firefighters are required to go deep into the fire in order to transfer personnel and heavy dangerous goods trapped in the fire. At present, the transfer of the person or the object is performed by manpower, and when a plurality of persons or objects are present, the weight is large, and the like, a plurality of firefighters are required to enter a fire scene for a plurality of times, and a plurality of firefighters are matched together. On the one hand, the danger probability of firefighters is increased, particularly, the articles to be transferred are explosive dangerous articles, and on the other hand, other rescue works can be delayed, so that the application provides a new technical scheme. Disclosure of Invention In order to help firefighters transfer people or objects in a fire scene, the application provides an explosion-venting firefighting robot and a fault diagnosis control method thereof. In a first aspect, the application provides an explosion-venting fire-fighting robot, which adopts the following technical scheme: the utility model provides an explosive-handling fire-fighting robot, includes mobile platform and the control system of adaptation, mobile platform includes: a stage that serves as a carrier for a person or object and as an apparatus integration carrier; the driving mechanism comprises combined movable wheel sets which are respectively arranged at two sides of the objective table; The sensing mechanism comprises an image sensing unit and a collision sensing unit which are arranged on the object stage; The combined movable wheel set comprises a main shaft, a movable connecting rod, a single motor and a wheel body, wherein the main shaft is fixed on the side surface of the objective table, one end of the movable connecting rod is rotatably connected with the main shaft, the other end of the movable connecting rod is inclined downwards and is provided with the single motor, and the wheel body is fixed on an output shaft of the single motor; the control system comprises a processing module and a communication module, wherein the processing module is connected with the sensing mechanism, the single motor and the communication module. Optionally, the number of the main shafts distributed on the same side of the objective table is multiple, and connecting shafts are arranged between the main shafts; One main shaft is rotatably connected with one or more movable connecting rods, and when the number of the movable connecting rods is multiple, the lower ends of the movable connecting rods face to two sides of the main shaft respectively. Optionally, the lower extreme of movable connecting rod is provided with C form wheel carrier, the vertical and upper end of C form wheel carrier transversely rotates to be connected in movable connecting rod, lower extreme single motor. Optionally, the device further comprises a mechanical arm connected to the processing module; the bottom of the objective table is fixedly provided with a plate frame, and one end of the plate frame extends out of the objective table and extends out of the objective table to fix the mechanical arm on one section; and the tail section of the mechanical arm is fixed with another image sensing unit. Optionally, the object stage is provided with a storage groove with an upper opening and an end opening along the length, and the mechanical arm in an idle state is stagnated in the storage groove. Optionally, the lateral wall upper segment of putting the thing recess has seted up the cross slot, the sliding connection has the diaphragm in the cross slot, the one end of diaphragm is fixed with interconnection orifice plate, the through-hole has been seted up on the interconnection orifice plate. Optionally, rope buckles are respectively installed at two ends of the side wall of the objective table. Optionally, the processing module is further connected with an acousto-optic warning unit, and the acousto-optic warning unit is installed on the objective table. In a second aspect, the present application provides a fault diagnosis control method for the explosion-venting fire-fighting robot, which adopts the following technical scheme: the fault diagnosis control method of the explosion-proof fire-fighting robot according to any one of the above, wherein the processing module is configured to: the communication module is used for acquiring interaction data generated by communication between the communication module and the appointed far end; Identifying interaction data, judging whether a motor adjustment instruction exists or not, if so, searching a preset database according to the motor adjustment instruction, calling matched motor action logic, and