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CN-121971000-A - Intelligent robot system based on sweeping and fire extinguishing integration

CN121971000ACN 121971000 ACN121971000 ACN 121971000ACN-121971000-A

Abstract

The invention discloses an intelligent robot system based on cleaning and fire extinguishing integration, which belongs to the technical field of intelligent robots and comprises a crawler robot body, a distributed smoke temperature sensing detection module, a door magnet control module, an infrared thermal imaging positioning module, a fire extinguishing execution module, a base station water supply module, a hose retraction module, an intelligent power distribution control module and a main control module. The invention can realize the extremely rapid switching of the cleaning/fire extinguishing modes, complete the automatic and accurate extinguishing of the initial fire condition of the family, and simultaneously give consideration to the daily cleaning requirement, thereby being applicable to the fire-fighting safety and daily cleaning integrated application of the family scene.

Inventors

  • NIE FEI
  • MENG JIA
  • FU JUNPENG
  • YANG SIWEI

Assignees

  • 聂飞

Dates

Publication Date
20260505
Application Date
20260311

Claims (10)

  1. 1. The intelligent robot system based on cleaning-fire extinguishing integration is characterized by comprising a crawler robot body (1), a distributed smoke temperature sensing detection module (2), a door magnet control module (3), an infrared thermal imaging positioning module (4), a fire extinguishing execution module (5), a base station water supply module (6), a hose collecting and releasing module (7), an intelligent power distribution control module (9) and a main control module (8), wherein the main control module (8) is respectively connected with the crawler robot body (1), the distributed smoke temperature sensing detection module (2), the door magnet control module (3), the infrared thermal imaging positioning module (4), the fire extinguishing execution module (5), the base station water supply module (6), the hose collecting and releasing module (7) and the intelligent power distribution control module (9) in an electric connection or a communication connection mode, and the intelligent power distribution control module (9) is in wireless communication connection with a household distribution box.
  2. 2. The intelligent robot system based on sweeping and fire extinguishing integration according to claim 1, wherein the crawler robot body (1) comprises a SLAM navigation unit, a sweeping execution assembly, a crawler chassis and a power supply unit, the obstacle crossing height of the crawler chassis is 10cm to 20cm, the power supply unit is a high-capacity lithium battery pack, the sweeping mode duration is more than or equal to 120 minutes, and the fire extinguishing mode continuously works for more than or equal to 30 minutes.
  3. 3. The intelligent robot system based on sweeping-fire extinguishing integration according to claim 1, wherein the distributed smoke temperature sensing detection module (2) is independently deployed for a room, each module is provided with a unique room number, a smoke detection unit and a temperature detection unit are arranged in the module, an alarm signal is sent when the smoke concentration is 0.1dB/m to 0.3dB/m or the temperature exceeds a preset threshold value, wi-Fi+Bluetooth dual-mode wireless communication is adopted, and the alarm response time is less than or equal to 10 seconds.
  4. 4. The cleaning-fire extinguishing integrated intelligent robot system according to claim 1, wherein the door magnetic control module (3) comprises a door magnetic detection unit and a door lock execution unit, the door magnetic detection unit is of a reed pipe structure, the door lock execution unit is adapted to a household electromagnetic door lock, bluetooth wireless communication is supported, the communication distance is more than or equal to 10m, and door state identification and remote/automatic opening control can be realized.
  5. 5. The intelligent robot system based on sweeping and fire extinguishing integration according to claim 1, wherein the infrared thermal imaging positioning module (4) is a non-refrigeration vanadium oxide detector, the resolution is 640 x 512 pixels, the temperature measurement precision is +/-2 ℃, the positioning error is less than or equal to +/-5 cm, a fire source is detected and is more than or equal to 300 ℃ and fire source coordinate information is output, the frame frequency is 25-50 Hz, the intelligent robot system is installed at the front end of the crawler robot body (1), the smoke penetrating capacity of the millimeter wave radar unit (10) is more than or equal to 5m, the detection precision is less than or equal to +/-10 cm, and obstacle detection and robot positioning can be realized in a dense smoke environment.
  6. 6. The cleaning-fire-extinguishing integrated intelligent robot system according to claim 1 or 5, wherein the fire-extinguishing execution module (5) comprises a miniature fire-extinguishing water cannon (51) and a magnetic connection unit (52), the nozzle caliber of the miniature fire-extinguishing water cannon (51) is 8mm, the range is 10-15m, the pitching angle is-15-80 degrees, the cleaning-fire-extinguishing integrated intelligent robot system is hidden at the top of a robot at ordinary times and automatically stretches out in case of fire, and the magnetic connection unit (52) is sealed under the water pressure of magnetic attraction of more than or equal to 50N and 0.8MPa without leakage and is installed at the tail of the robot.
  7. 7. The intelligent robot system based on sweeping and fire extinguishing integration according to claim 1, wherein the base station water supply module (6) comprises a water pipe interface (61), a micro booster water pump (62), an electromagnetic control valve (63) and a fire extinguishing agent storage reserved cavity, the water pipe interface (61) is connected with a household tap water pipe network, the micro booster water pump (62) can stabilize the water outlet pressure at 0.2-0.5 MPa and the flow rate is 10-15L/min, the electromagnetic control valve (63) is a low-pressure electromagnetic valve and is within the path DN10, and the fire extinguishing agent storage reserved cavity is used for adapting the installation and connection of fire extinguishing agent storage tanks of different types.
  8. 8. The intelligent robot system based on cleaning-fire extinguishing integration according to claim 1, wherein the hose collecting and releasing module (7) is arranged in a base station and comprises a pressure-resistant hose, a self-adaptive collecting and releasing unit and an active pipe feeding motor (11), the pressure resistance of the pressure-resistant hose is more than or equal to 0.8MPa, the active pipe feeding motor (11) is linked with the travelling speed of the crawler-type robot body, the hose can be actively released according to the travelling speed of the robot, and the self-adaptive collecting and releasing unit can adjust the hose collecting speed according to the travelling state of the robot, so that the robot can supply water to extinguish fire while travelling and has no dragging load.
  9. 9. The intelligent robot system based on cleaning-fire extinguishing integration according to claim 1, wherein the intelligent power distribution control module (9) comprises a network communication unit power distribution control unit and an area breaking electric control sub-module, the network communication unit is internally provided with a linkage protocol with an intelligent whole-house electric box/intelligent circuit breaker, the power distribution control unit can receive an instruction of a main control module (8) to realize remote switching-off and switching-on of an intelligent main switch of a household electric box, the area breaking electric control sub-module can accurately cut off a non-fire-fighting power supply of a fire area, and the whole module has a communication abnormal self-feedback function.
  10. 10. The cleaning-fire-extinguishing integrated intelligent robot system according to claim 1 is characterized in that the main control module (8) is an intelligent microcontroller with main frequency above 168MHz, wi-Fi, bluetooth and ZigBee communication modules are integrated, a shell temperature sensor and a fire type preliminary identification module are built in, the robot is controlled to be far away from a high-temperature radiation area when the shell temperature reaches 80 ℃, cleaning-fire mode switching is completed within 0.5 seconds when fire is triggered, a power-off instruction is issued to the intelligent power distribution control module before water spraying of the fire-extinguishing execution module is controlled, so that 'power-off before-water spraying' safe fire extinguishing logic is realized, detection data of an infrared thermal imaging positioning module (4) and a millimeter wave radar unit (10) can be integrated, and accurate navigation and positioning can be realized under a dense smoke environment by means of a pre-built environment map+IMU/wheel speed dead reckoning+millimeter wave radar detection before fire.

Description

Intelligent robot system based on sweeping and fire extinguishing integration Technical Field The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot system based on cleaning and fire extinguishing integration. Background With the popularization of intelligent home, the sweeping robot becomes common equipment for daily cleaning of families, but has single function, can only finish ground sweeping operation, and has no fire safety related function. The traditional household fire-fighting system is mainly composed of independent smoke alarm devices, fire extinguishers and other devices, and has obvious limitations that firstly, the smoke alarm devices can only realize fire alarm, no autonomous handling capability exists, fire response depends on manual work and is easy to expand initial fire caused by no personnel at home, secondly, the fire extinguishers need manual operation and are limited by placement positions, remote and autonomous putting out cannot be realized, thirdly, household fire-fighting and daily cleaning devices are mutually independent, a cooperative linkage system is not formed, waste of household device resources is caused, and the requirements of modern families on intelligent and integrated safety guarantee cannot be met. Meanwhile, most household fires are initiated by initial small fire sources, if accurate detection and quick treatment can be realized in a short time after the occurrence of the fire, the spread of the fire can be effectively avoided, but the prior art lacks integrated intelligent equipment with daily cleaning and automatic initial fire extinguishing, and the existing fire-fighting equipment has the defects in the aspects of fire source positioning precision, fire-extinguishing water supply persistence, household environment traffic suitability and the like, is difficult to adapt to the complicated indoor environment of a household, and cannot realize the fire-fighting targets of early-extinguishing, small-extinguishing and initial-extinguishing of the household fires. Based on the above, an integrated intelligent robot system capable of achieving daily cleaning of families and autonomous fire suppression in the initial stage is developed, automatic detection, accurate positioning and quick treatment of fire are achieved, and the integrated intelligent robot system is a technical problem to be solved in the current intelligent home and intelligent fire protection field. Disclosure of Invention In view of the above, in order to solve the problems of the prior art, the present invention aims to solve the problems of the prior art, such as the separation of the functions of the sweeping robot and the fire protection system, long fire response delay, and incapability of automatically and accurately extinguishing the initial fire source, and provides an intelligent robot system for executing the sweeping task at ordinary times and rapidly switching to the fire extinguishing mode when the fire is in alarm, so as to achieve the purposes of "fire prevention at the beginning and early extinguishing. In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an intelligent robot system based on clean-integration of putting out a fire, includes crawler-type robot body, distributed smoke temperature sense detection module, door magnetism control module, infrared thermal imaging orientation module, puts out a fire executive module, basic station water supply module, hose receive and release module, intelligent power distribution control module and main control module, main control module respectively with crawler-type robot body, distributed smoke temperature sense detection module, door magnetism control module, infrared thermal imaging orientation module, put out a fire executive module, basic station water supply module, hose receive and release module, intelligent power distribution control module electricity is connected or communication connection, intelligent power distribution control module and home distribution box wireless communication connection. Preferably, the crawler-type robot body comprises an SLAM navigation unit, a cleaning execution assembly, a crawler-type chassis and a power supply unit, wherein the obstacle crossing height of the crawler-type chassis is 10cm to 20cm, the power supply unit is a high-capacity lithium battery pack, the continuous voyage of the cleaning mode is more than or equal to 120 minutes, and the continuous work of the fire extinguishing mode is more than or equal to 30 minutes. Preferably, the distributed smoke temperature sensing detection module is independently deployed in a room, each module is provided with a unique room number, a smoke detection unit and a temperature detection unit are arranged in the module, an alarm signal is sent when the smoke concentration is 0.1dB/m to 0.3dB/m or the temperatur