CN-121987988-A - Intelligent fire-fighting inspection and extinguishment robot

CN121987988ACN 121987988 ACN121987988 ACN 121987988ACN-121987988-A

Abstract

The invention relates to the technical field of intelligent fire-fighting equipment or special robots, and discloses an intelligent fire-fighting inspection fire-extinguishing robot. The robot comprises a movable chassis, a body, a 3D laser radar, a fire extinguisher, a first two-degree-of-freedom cradle head, a second two-degree-of-freedom cradle head, a visible light camera, an infrared camera, a lifting unit, a binocular camera, a fire extinguisher nozzle support, a switching unit and a control unit, wherein the body is arranged on the movable chassis, the movable chassis is of a four-wheel type structure, the control unit performs instant positioning and map construction according to real-time scanning data of the 3D laser radar so as to realize autonomous navigation, the control unit performs flame detection according to image data output by the visible light camera and the infrared camera, and the control unit performs flame positioning and fire extinguishing operation according to image data output by the binocular camera. Thereby, an accurate detection and measurement of the flame can be achieved, thereby enabling an effective fire extinguishing treatment.

Inventors

WANG FANG
LI FEIFAN
LI SHUO
XU YANGYANG
ZHU LIJUN
WANG NINGNING
GUO WENHUI

Assignees

航天科工智能机器人有限责任公司

Dates

Publication Date: 20260508
Application Date: 20251215

Claims (8)

1. An intelligent fire-fighting inspection fire-extinguishing robot is characterized by comprising a movable chassis, a body, a 3D laser radar, a fire extinguisher, a first two-degree-of-freedom cradle head, a second two-degree-of-freedom cradle head, a visible light camera, an infrared camera, a lifting unit, a binocular camera, a fire extinguisher nozzle bracket, a switching unit and a control unit, wherein the body is arranged on the movable chassis, the movable chassis is of a four-wheel-drive type structure, The 3D laser radar is arranged at the front part of the body, and the control unit performs instant positioning and map construction according to the real-time scanning data of the 3D laser radar so as to realize autonomous navigation; the fire extinguisher comprises a body, a first two-degree-of-freedom holder, a visible light camera, an infrared camera, a control unit and a flame detection unit, wherein the body is provided with a space for placing a fire extinguisher at the rear part, the first two-degree-of-freedom holder is arranged at the front end of the top of the body, the visible light camera and the infrared camera are arranged on the first two-degree-of-freedom holder, and the control unit performs flame detection according to image data output by the visible light camera and the infrared camera; The fire extinguisher comprises a body, a lifting unit, a binocular camera, a fire extinguisher nozzle support, a control unit, a fire extinguisher nozzle support, a fire extinguisher outlet, a pipeline and a switching unit, wherein the lifting unit is arranged at the rear end of the top of the body, the second degree of freedom tripod head is arranged at the top of the lifting unit, the binocular camera and the fire extinguisher nozzle support are arranged on the second degree of freedom tripod head, the control unit performs flame positioning and fire extinguishing operation according to image data output by the binocular camera, the fire extinguisher nozzle support is provided with the fire extinguisher nozzle, the fire extinguisher outlet is connected with the fire extinguisher nozzle through the pipeline, the switching unit is arranged between the fire extinguisher outlet and the pipeline, the control unit controls the switching unit to switch between the pipeline and the pipeline, fire extinguishing agent in the fire extinguisher is sprayed out through the fire extinguisher nozzle under the condition of the pipeline, and the second degree of freedom tripod head rotates and the lifting unit lifts to adjust the angle and the height of fire extinguishing agent release.
2. The robot of claim 1, wherein performing real-time localization and mapping based on 3D lidar real-time scan data to achieve autonomous navigation comprises: establishing a digital map of the working space according to the 3D laser radar real-time scanning data by adopting an NDT-MAPPING SLAM algorithm; adopting an NDT-MAPPING SLAM algorithm, and resolving the position and the course of the robot in the digital map in real time according to the established digital map and the real-time scanning data of the 3D laser radar; And performing global path planning and local path planning by using the Move Base, and realizing autonomous navigation of the robot according to the position and heading of the robot in the digital map and the planned global path and local path.
3. The robot of claim 2, wherein the movable chassis is provided with odometers, the odometer information being used to estimate an initial pose of the robot.
4. A robot as claimed in claim 3, wherein the flame detection based on image data output by the visible light camera and the infrared camera comprises: and performing flame detection according to image data output by the visible light camera and the infrared camera by adopting a deep learning YOLO algorithm.
5. The robot of claim 4, wherein performing flame detection from image data output from the visible light camera and the infrared camera using a deep learning YOLO algorithm comprises: adopting a deep learning YOLO algorithm, and initially identifying a flame target according to image data output by a visible light camera; detecting the temperature in a preset area of the infrared camera according to the calibration parameters of the flame target, the visible light camera and the infrared camera which are initially identified, and judging that the flame target which is initially identified is an actual flame target if the maximum value of the temperature in the preset area is larger than a set threshold value.
6. The robot of claim 5, wherein performing flame localization and fire suppression operations based on image data output by the binocular camera comprises: obtaining a binocular camera coordinate system coordinate of an actual flame target according to image data output by the binocular camera; calculating a transformation matrix from the binocular camera coordinate system to the map coordinate system; Transforming the binocular camera coordinate system coordinates of the actual flame target into map coordinate system coordinates of the actual flame target according to the transformation matrix; According to the effective fire extinguishing distance of the fire extinguisher and the map coordinate system coordinates of the actual flame target, determining the position coordinates of the fire extinguishing robot, controlling the robot to Move to the determined position coordinates by adopting a Move Base, then adjusting the height of the lifting unit and the pitch angle of the second degree of freedom cradle head, enabling the actual flame target to be positioned at a calibrated position in the field of view of the camera, and controlling the switching unit to be switched into a communicating pipeline, so that the fire extinguishing agent is sprayed towards the actual flame target.
7. The robot of any one of claims 1-6, wherein the switching unit is a solenoid valve.
8. The robot of any one of claims 1-7, wherein the liftable unit is a liftable electric pole.

Description

Intelligent fire-fighting inspection and extinguishment robot Technical Field The invention relates to the technical field of intelligent fire-fighting equipment or special robots, in particular to an intelligent fire-fighting inspection fire-extinguishing robot. Background The fire protection requirements of places such as wooden ancient buildings, cultural relics, computer rooms, transformer substations and the like are high, and the fire detection and early warning capability is improved by using advanced technical means, so that the fire protection efficiency and safety are particularly important. The ancient architecture is mostly of a wooden structure, has low fire resistance level and large fire load, and is extremely easy to cause irreversible cultural heritage loss once a fire occurs, so that intelligent fire prevention and control are the problems to be solved urgently. The traditional fixed fire extinguishing system has the problems of large installation limit, limited coverage range, secondary damage to cultural relics and the like. In addition, the existing mobile fire-fighting equipment is dependent on manual operation, has low response speed and low intelligent degree, and cannot realize the fire-fighting targets of early-extinguishing and small-extinguishing. At present, although individual fire-fighting inspection robots exist in the market, the fire-fighting inspection robots still have obvious defects in the aspects of flame identification precision, navigation positioning precision, fire extinguishing agent release precision, environmental adaptability and the like. Especially in complex environments such as ancient architecture, the existing equipment is difficult to realize high-precision autonomous navigation and nondestructive fire extinguishing. Therefore, a fire-fighting inspection and fire-extinguishing integrated device with high intelligence, precision and environmental adaptability is needed to meet the fire prevention and control demands of special places such as ancient buildings. Disclosure of Invention The invention provides an intelligent fire-fighting inspection fire-extinguishing robot which can solve the problems in the prior art. The invention provides an intelligent fire-fighting inspection fire-extinguishing robot, which comprises a movable chassis, a body, a 3D laser radar, a fire extinguisher, a first two-degree-of-freedom cradle head, a second two-degree-of-freedom cradle head, a visible light camera, an infrared camera, a lifting unit, a binocular camera, a fire extinguisher nozzle bracket, a switching unit and a control unit, wherein the body is arranged on the movable chassis, the movable chassis is of a four-wheel drive type structure, The 3D laser radar is arranged at the front part of the body, and the control unit performs instant positioning and map construction according to the real-time scanning data of the 3D laser radar so as to realize autonomous navigation; the fire extinguisher comprises a body, a first two-degree-of-freedom holder, a visible light camera, an infrared camera, a control unit and a flame detection unit, wherein the body is provided with a space for placing a fire extinguisher at the rear part, the first two-degree-of-freedom holder is arranged at the front end of the top of the body, the visible light camera and the infrared camera are arranged on the first two-degree-of-freedom holder, and the control unit performs flame detection according to image data output by the visible light camera and the infrared camera; The fire extinguisher comprises a body, a lifting unit, a binocular camera, a fire extinguisher nozzle support, a control unit, a fire extinguisher nozzle support, a fire extinguisher outlet, a pipeline and a switching unit, wherein the lifting unit is arranged at the rear end of the top of the body, the second degree of freedom tripod head is arranged at the top of the lifting unit, the binocular camera and the fire extinguisher nozzle support are arranged on the second degree of freedom tripod head, the control unit performs flame positioning and fire extinguishing operation according to image data output by the binocular camera, the fire extinguisher nozzle support is provided with the fire extinguisher nozzle, the fire extinguisher outlet is connected with the fire extinguisher nozzle through the pipeline, the switching unit is arranged between the fire extinguisher outlet and the pipeline, the control unit controls the switching unit to switch between the pipeline and the pipeline, fire extinguishing agent in the fire extinguisher is sprayed out through the fire extinguisher nozzle under the condition of the pipeline, and the second degree of freedom tripod head rotates and the lifting unit lifts to adjust the angle and the height of fire extinguishing agent release. Preferably, performing the instant positioning and the map construction according to the 3D lidar real-time scan data to achieve autonomous navigation incl