CN-122006183-A - Follow moisturizing system based on survey and restrain conflagration intelligent fire extinguishing robot

CN122006183ACN 122006183 ACN122006183 ACN 122006183ACN-122006183-A

Abstract

The invention discloses a follow-up water replenishing system of an intelligent fire extinguishing robot based on detection and inhibition of fire, and aims to solve the problems of insufficient endurance of the fire extinguishing robot, low traditional water replenishing efficiency and the like. The system comprises a mobile water supplementing unit path following control unit obstacle avoidance detection unit, a water supplementing control unit liquid level monitoring unit communication unit and a central control unit. The path following control unit adopts a multi-sensor fusion positioning algorithm to realize high-precision following, the obstacle avoidance detection unit ensures the advancing safety through multi-mode sensing and path re-planning, the water supplementing control unit utilizes a fuzzy PID algorithm to accurately adjust the flow and the pressure, the liquid level monitoring unit realizes grading early warning and linkage response, the communication unit adapts various communication modes to ensure stable signals, and the central control unit coordinates multi-unit cooperation and abnormal processing. The system supports the pairing operation of multiple robots, has a remote monitoring function, can provide continuous, stable and accurate fire extinguishing medium supply for the fire extinguishing robots, improves the continuity and safety of fire extinguishing operation, and adapts to the operation requirements of complex fire sites.

Inventors

CHEN LIFANG
ZHU ZHIMING
XIONG XIAOXIN
LI ANHAI
WU PEIWEI

Assignees

中汽客汽车零部件（厦门）有限公司

Dates

Publication Date: 20260512
Application Date: 20260123

Claims (10)

1. Follow moisturizing system based on detection suppresses conflagration intelligent fire extinguishing robot, characterized by comprising: the mobile water supplementing unit is used for loading fire extinguishing medium and has the automatic movement capability; The path following control unit is used for receiving the position information of the fire extinguishing robot, realizing the dynamic following of the fire extinguishing robot based on a multi-sensor fusion positioning algorithm, and controlling the movable water supplementing unit to follow the fire extinguishing robot to move; the obstacle avoidance detection unit is used for detecting obstacles in the travelling path in real time and controlling the mobile water supplementing unit to realize turning and obstacle avoidance; The water replenishing control unit is used for regulating water replenishing flow and pressure through a fuzzy PID control algorithm according to the water replenishing demand signal of the fire extinguishing robot and controlling the movable water replenishing unit to automatically replenish water to the fire extinguishing robot; The liquid level monitoring unit is used for monitoring the liquid level of the fire extinguishing medium in the mobile water replenishing unit in real time, realizing self-adaptive judgment of water replenishing time by combining the graded dynamic liquid level threshold value and generating a liquid level state signal; the communication unit is used for realizing signal interaction between the mobile water supplementing unit and the fire extinguishing robot and comprises transmission of a water supplementing demand signal, a liquid level state signal and position information; The central control unit is respectively connected with the path following control unit, the obstacle avoidance detection unit, the water replenishing control unit, the liquid level monitoring unit and the communication unit in a bidirectional signal manner, receives real-time data acquired by each unit and outputs a control instruction, coordinates the operation of each unit, and realizes the automatic start-stop control and the system state management of the mobile water replenishing unit.
2. The following water replenishing system based on the intelligent fire extinguishing robot for detecting and inhibiting fire disaster, which is characterized in that the path following control unit adopts a multi-sensor fusion positioning algorithm fused with laser radar, a visual sensor and inertial navigation data to realize high-precision following of the mobile water replenishing unit on the fire extinguishing robot, and the path following control unit comprises an environment sensing module, a data fusion module and a motion control module and realizes high-precision following through the following steps: step S1, three-dimensional point cloud data of a traveling environment are obtained through laser radar scanning, front image information is captured through a visual sensor to identify visual characteristic labels of the fire extinguishing robot, and acceleration and angular velocity information of the mobile water supplementing unit is obtained through an inertial measurement unit; Step S2, carrying out space-time registration on the three-dimensional point cloud data and the image information, and extracting real-time contour and position coordinates of the fire extinguishing robot after removing environmental noise data through a filtering algorithm; s3, fusing the position coordinates of the fire extinguishing robot and the data of the inertial measurement unit, and performing state estimation by adopting an extended Kalman filtering algorithm to obtain a high-precision relative pose of the mobile water replenishing unit relative to the fire extinguishing robot, wherein the pose comprises a distance, an azimuth angle and a height difference; Step S4, dynamically generating a speed control instruction and a steering control instruction of the mobile water supplementing unit through a model prediction control algorithm according to a preset following distance threshold and the movement speed of the fire extinguishing robot based on the relative pose; And S5, sending the speed control instruction and the steering control instruction to a driving system of the mobile water supplementing unit to enable the mobile water supplementing unit to move along a planned path, and continuously repeating the steps S1 to S4 in the moving process to form closed loop feedback control until the following task is completed.
3. The following water replenishing system of the intelligent fire extinguishing robot based on detection and inhibition of fire disaster, which is characterized in that the obstacle avoidance detection unit comprises an ultrasonic sensor, an infrared sensor and a visual identification module, and can construct an environment map and plan a collision-free path in real time; the obstacle avoidance detection unit comprises a multi-mode sensor array, an obstacle recognition and classification module, a dynamic path re-planning module and a motion execution module, and realizes real-time obstacle avoidance and turning control through the following steps: Step P1, synchronously acquiring multisource perception data of a traveling environment through the multi-mode sensor array, wherein a two-dimensional laser radar acquires distance information of a horizontal plane obstacle, a depth camera acquires front three-dimensional scene information, and an ultrasonic sensor detects a short-distance obstacle; P2, performing time stamp alignment and space coordinate system unification on the multi-source sensing data, fusing to generate an environment grid map, and marking a static obstacle region and a dynamic obstacle movement track in the map; Step P3, identifying the outline, the size and the motion state of the obstacle through an image segmentation and point cloud clustering algorithm based on the environment grid map, and classifying the obstacle into a traversable type, a avoidance type and a dangerous emergency type according to a preset rule; P4, when the obstacle needing to be avoided or dangerous emergency is identified, according to the current pose of the mobile water supplementing unit, the target position of the fire extinguishing robot and the obstacle distribution, a collision-free local obstacle avoidance path is calculated in real time by adopting a manual potential field method, and a corresponding turning angle and speed adjustment instruction is generated; And step P5, issuing the turning angle and speed adjustment instruction to a steering motor and a driving motor of the mobile water supplementing unit, controlling the steering motor and the driving motor to execute smooth obstacle avoidance action while maintaining a following state, automatically returning to an original planning path after obstacle avoidance, and continuously and circularly executing the whole process until the mobile water supplementing unit reaches a target water supplementing position.
4. The following water replenishing system of the intelligent fire extinguishing robot based on detection inhibition fire disaster as set forth in claim 1, wherein the water replenishing control unit comprises an electromagnetic valve, a flow sensor and a pressure regulating device, and can regulate water replenishing flow and pressure according to real-time fire extinguishing medium requirements of the fire extinguishing robot, and the water replenishing control unit comprises a water replenishing interface, a signal processing module, an adaptive control module and an executing mechanism, and realizes accurate water replenishing according to requirements through the following steps: Step C1, receiving a water replenishing demand signal from the fire extinguishing robot in real time through the communication unit, wherein the signal after analysis comprises a target water replenishing flow, a target water replenishing pressure and an estimated water replenishing time length; step C2, acquiring current liquid level data and internal pressure data of the liquid storage tank of the movable water supplementing unit, combining the target water supplementing flow and the target water supplementing pressure, and calculating the target opening of the electromagnetic valve, the target output pressure of the pressure regulating device and the initial rotating speed of the booster pump through a preset fluid dynamics model; step C3, controlling the electromagnetic valve to be opened according to the target opening degree, and synchronously starting the booster pump to enable the fire extinguishing medium to flow through the flow sensor and the pressure sensor; Step C4, acquiring an actual flow value and a pressure value flowing through a pipeline in real time, comparing the actual flow value and the pressure value with the target flow and the target pressure, and dynamically adjusting the opening of the electromagnetic valve, the state of the pressure regulating device and the rotating speed of the booster pump by adopting a fuzzy PID control algorithm to ensure that the actual flow and the pressure are stabilized in a target range; And step C5, continuously monitoring the operation state fed back by the fire extinguishing robot in the water replenishing process, entering a protective water replenishing suspension or termination process immediately if the fire extinguishing operation is suspended or the liquid level monitoring unit triggers a low liquid level alarm, and orderly closing the electromagnetic valve and the booster pump when the water replenishing duration is estimated or a water replenishing stopping signal sent by the fire extinguishing robot is received, so as to complete the water replenishing operation.
5. The following water replenishing system of the intelligent fire extinguishing robot based on detection and inhibition of fire disaster, which is characterized in that the liquid level monitoring unit adopts a capacitive liquid level sensor or an ultrasonic liquid level sensor to monitor the liquid level in real time and trigger a low liquid level early warning signal; The liquid level monitoring unit comprises a sensor array, a data processing module, a state evaluation module and an early warning linkage module, and intelligent liquid level monitoring and early warning are realized through the following steps: Step L1, synchronously acquiring capacitance data and top ranging data of fire extinguishing medium in a liquid storage tank at different height positions through a plurality of groups of capacitance type liquid level sensors and a group of ultrasonic liquid level sensors which are arranged in the liquid storage tank; Step L2, carrying out data cleaning and weighted fusion on the capacitance data and the ranging data, eliminating measurement noise generated by movement shaking or medium foam through a filtering algorithm, and calculating to obtain an accurate height value of the current liquid level and the medium volume; Step L3, comparing the accurate liquid level height with a preset multi-level dynamic threshold value, adaptively adjusting the multi-level dynamic threshold value according to the current operation stage of the fire extinguishing robot and the water supplementing history, and judging the liquid level state as normal, warning or emergency according to the self-adaptive adjustment; Step L4, when the liquid level state enters an alert or emergency state, generating a low liquid level early warning signal comprising a current liquid level value, estimated residual operation time and suggested operation, and sending the early warning signal to the central control unit and the fire extinguishing robot in real time through the communication unit; And step L5, the central control unit coordinates the path following control unit and the water supplementing control unit to execute corresponding strategies according to the received early warning signal level, wherein the strategies comprise reducing water supplementing flow and planning an optimal path to a supplementing point in an alert state, or immediately stopping water supplementing and starting an automatic return flow in an emergency state, and the whole monitoring process continuously circulates until the system task is finished.
6. The following water replenishing system of the intelligent fire extinguishing robot based on detection and inhibition of fire disaster as set forth in claim 1, wherein the communication unit adopts a wireless communication protocol to support real-time bidirectional data transmission, including but not limited to Wi-Fi, bluetooth or LoRa communication modes.
7. The following water replenishing system of the intelligent fire extinguishing robot based on detection and inhibition of fire disaster as set forth in claim 1, wherein the central control unit is further configured with an abnormality handling mechanism including path loss re-planning, automatic reconnection of communication interruption, liquid level abnormality alarming and automatic return function.
8. The following water replenishing system of intelligent fire extinguishing robot based on detection and inhibition of fire disaster as set forth in claim 1, wherein the mobile water replenishing unit is further provided with an identity recognition module for pairing and collaborative operation management with a plurality of fire extinguishing robots.
9. The following water replenishing system of the intelligent fire extinguishing robot based on detection and inhibition of fire disaster of claim 1, wherein the system further comprises a remote monitoring platform for displaying the position, the liquid level state, the operation log and the system alarm information of the mobile water replenishing unit in real time.
10. A control method based on the following water replenishment system according to any one of claims 1 to 9, comprising the steps of: receiving a water supplementing demand signal sent by a fire extinguishing robot and real-time position information of the water supplementing demand signal; planning a travelling path of the mobile water supplementing unit according to the position information, and starting path following control; detecting an obstacle in real time and executing obstacle avoidance operation in the travelling process; After reaching the appointed position, starting an automatic water replenishing flow according to the water replenishing demand signal; Monitoring the liquid level state in real time, and sending an early warning signal when the liquid level is lower than a set threshold value; After the water replenishing is completed, receiving a stop instruction and entering a standby state, and waiting for the next water replenishing task.

Description

Follow moisturizing system based on survey and restrain conflagration intelligent fire extinguishing robot Technical Field The invention relates to the field of fire detectors, in particular to a follow-up water supplementing system of an intelligent fire extinguishing robot for suppressing a fire based on detection. Background The problem that fire extinguishing robots often face the finite problem duration of fire extinguishing medium reserves in the present fire extinguishing operation is insufficient and is difficult to satisfy the long-time continuous fire extinguishing demand traditional moisturizing mode and relies on manual operation more, not only inefficiency still exists personnel safety risk current follow moisturizing technique and follows the motion state obstacle avoidance ability of poor accurate matching fire extinguishing robots, the influence of fire scene complex environment is easily met and the actual demand liquid level monitoring that the flow and pressure adjustment lack the accuracy and can't adapt to different fire extinguishing scenes is insufficient intelligent, be difficult to early warn the insufficient condition of medium and the poor complex environment of many communication modes suitability signal is easy to interrupt when many robot operations are all restricted to fire extinguishing operation's continuity and the indiscriminate high-efficient collaborative mechanism of moisturizing schedule of security these problems are all solved with the needs of an intelligent follow moisturizing system of urgent need. Disclosure of Invention The invention aims to provide a follow-up water supplementing system of an intelligent fire extinguishing robot for suppressing fire based on detection so as to solve the technical problems. In order to achieve the purpose, the following water supplementing system of the intelligent fire extinguishing robot based on detection and inhibition of fire is characterized by comprising the following components: the mobile water supplementing unit is used for loading fire extinguishing medium and has the automatic movement capability; The path following control unit is used for receiving the position information of the fire extinguishing robot, realizing the dynamic following of the fire extinguishing robot based on a multi-sensor fusion positioning algorithm, and controlling the movable water supplementing unit to follow the fire extinguishing robot to move; the obstacle avoidance detection unit is used for detecting obstacles in the travelling path in real time and controlling the mobile water supplementing unit to realize turning and obstacle avoidance; The water replenishing control unit is used for regulating water replenishing flow and pressure through a fuzzy PID control algorithm according to the water replenishing demand signal of the fire extinguishing robot and controlling the movable water replenishing unit to automatically replenish water to the fire extinguishing robot; The liquid level monitoring unit is used for monitoring the liquid level of the fire extinguishing medium in the mobile water replenishing unit in real time, realizing self-adaptive judgment of water replenishing time by combining the graded dynamic liquid level threshold value and generating a liquid level state signal; the communication unit is used for realizing signal interaction between the mobile water supplementing unit and the fire extinguishing robot and comprises transmission of a water supplementing demand signal, a liquid level state signal and position information; The central control unit is respectively connected with the path following control unit, the obstacle avoidance detection unit, the water replenishing control unit, the liquid level monitoring unit and the communication unit in a bidirectional signal manner, receives real-time data acquired by each unit and outputs a control instruction, coordinates the operation of each unit, and realizes the automatic start-stop control and the system state management of the mobile water replenishing unit. Preferably, the path following control unit adopts a multi-sensor fusion positioning algorithm fused with laser radar, a visual sensor and inertial navigation data to realize high-precision following of the mobile water supplementing unit to the fire extinguishing robot, and the path following control unit comprises an environment sensing module, a data fusion module and a motion control module and realizes high-precision following through the following steps: step S1, three-dimensional point cloud data of a traveling environment are obtained through laser radar scanning, front image information is captured through a visual sensor to identify visual characteristic labels of the fire extinguishing robot, and acceleration and angular velocity information of the mobile water supplementing unit is obtained through an inertial measurement unit; Step S2, carrying out space-time registration on the three-dimensional poi