CN113648570A

CN113648570A - Fire-fighting robot based on convolution visual identification

Info

Publication number: CN113648570A
Application number: CN202110768085.8A
Authority: CN
Inventors: 陈日军; 龚凡; 冼家铭; 苏宝乐
Original assignee: Guangzhou Institute of Technology
Current assignee: Guangzhou Institute of Technology
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-11-16

Abstract

The invention provides a fire-fighting robot based on convolution vision recognition, which comprises a robot body; the robot body comprises a chassis; the bottom of the chassis is connected with a driving mechanism and a first supporting assembly, and two sides of the top of the chassis are respectively connected with a first fire extinguishing mechanism and a second fire extinguishing mechanism; the driving mechanism is connected with the bottom end of the chassis through a cross-shaped bracket; the driving mechanism comprises a first moving assembly, a second moving assembly, a third moving assembly and a fourth moving assembly; the first moving assembly, the second moving assembly, the third moving assembly and the fourth moving assembly are respectively connected to four ends of the cross-shaped bracket in a rotating mode; the first support assembly is arranged on the central axis of the cross-shaped support and is rotationally connected with the cross-shaped support; this application has not only improved fire-fighting robot's application scope has improved fire extinguishing efficiency moreover, still has good economic suitability and performance.

Description

Fire-fighting robot based on convolution visual identification

Technical Field

The invention relates to the technical field of robots, in particular to a fire-fighting robot based on convolution vision recognition.

Background

With the continuous acceleration of the urbanization process, the high-speed development of urban commerce and flow industry, catering industry, entertainment industry and the like, various places are continuously emerged, various disaster inducing factors are continuously increased, and the fire safety situation is increasingly complex and severe; the fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more; the existing fire-fighting robot mostly adopts a crawler-type structure, and although the crawler-type structure has good climbing performance and certain obstacle crossing capability, the traveling efficiency is low, the flexibility is poor, and the fire extinguishing efficiency is low; meanwhile, in view of the complex fire situation, the existing fire-fighting robot is only suitable for a single fire source, cannot be used universally in the face of different types of fire, cannot select a proper fire extinguishing mode according to the type of the fire, is single in application range and has certain limitation.

Disclosure of Invention

Based on the technical scheme, the invention provides a fire-fighting robot based on convolution vision recognition, which aims to solve the problems of low fire-fighting efficiency and single fire-fighting mode of the existing fire-fighting robot, and the specific technical scheme is as follows:

a fire-fighting robot based on convolution vision recognition comprises a robot body; the robot body comprises a chassis; the bottom of the chassis is connected with a driving mechanism and a first supporting assembly, and two sides of the top of the chassis are respectively connected with a first fire extinguishing mechanism and a second fire extinguishing mechanism; the driving mechanism is connected with the bottom end of the chassis through a cross-shaped bracket; the driving mechanism comprises a first moving assembly, a second moving assembly, a third moving assembly and a fourth moving assembly; the first moving assembly, the second moving assembly, the third moving assembly and the fourth moving assembly are respectively connected to four ends of the cross-shaped bracket in a rotating mode; the first support assembly is arranged on the central axis of the cross-shaped support and is rotationally connected with the cross-shaped support; the first moving assembly, the second moving assembly, the third moving assembly, the fourth moving assembly and the first supporting assembly can rotate relative to the chassis along the moving direction of the robot body, so that the chassis is lifted or lowered.

The fire-fighting robot based on the convolution vision recognition is driven by adopting a wheel type structure, so that the driving efficiency is high, the flexibility is strong, the wheel type structure can dynamically adjust the height of the chassis according to the terrain, the defect of poor obstacle crossing performance of the existing fire-fighting robot is overcome, and the terrain adaptability of the fire-fighting robot is effectively improved; meanwhile, the driving assembly is combined with the first supporting assembly, so that the requirement of the fire-fighting robot on climbing a ladder can be effectively met, the fire-fighting robot can rapidly and stably advance or laterally move under uneven terrain, and the climbing and obstacle crossing performance can be realized; the fire-fighting robot has the advantages of simple structure, convenience in operation, high operation efficiency, capability of meeting various requirements in a complex environment and good practicability; simultaneously, the fire-fighting robot has carried on first fire-fighting mechanism and the second fire-fighting mechanism can rationally select the mode of putting out a fire according to the condition of a fire type, has not only improved fire-fighting robot's application scope has improved fire extinguishing efficiency moreover, has good economic suitability and performance.

Further, the first moving assembly, the second moving assembly, the third moving assembly and the fourth moving assembly each comprise a moving wheel and two groups of connecting arms; the moving wheels are arranged between two adjacent groups of the connecting arms, and the central axis of each moving wheel is fixedly connected with a rotating shaft; two sets of the linking arm is close to the one end that removes the wheel respectively with the both ends of axis of rotation are rotated and are connected, and two sets of the linking arm is kept away from the one end that removes the wheel with the one end of cross support rotates and is connected.

Further, the first fire extinguishing mechanism comprises a ball supply assembly, a ball pushing assembly and a ball serving assembly; the ball supply assembly, the ball pushing assembly and the ball serving assembly are all connected to the top of the chassis.

Further, the ball supply assembly comprises a cylinder body and a ball outlet conduit; a cavity is arranged in the cylinder; a guide rail and a rotating shaft are arranged in the accommodating cavity; the guide rail is spirally arranged on the inner wall of the cylinder along the axial direction of the cylinder; the rotating shaft is rotatably connected to the center of the bottom end of the accommodating cavity and is circumferentially connected with a push plate; one end of the ball outlet conduit is communicated with the containing cavity and is butted with the guide rail, and the other end of the ball outlet conduit is arranged outside the barrel and is positioned between the barrel and the ball serving assembly.

Further, the ball serving assembly comprises a first rotating arm, a second rotating arm, a third rotating arm and a fourth rotating arm; the first rotating arm is vertically connected to the upper surface of the chassis, one end, far away from the chassis, of the first rotating arm is rotatably connected with the second rotating arm, one end, far away from the third rotating arm, of the second rotating arm is rotatably connected with the third rotating arm, and one end, far away from the second rotating arm, of the third rotating arm is vertically connected with the ball supporting plate; one side of the ball supporting plate, which is close to the ball outlet guide pipe, is provided with two friction columns; the two friction columns are rotatably connected with the ball supporting plate, and the interval between the two friction columns is a launching channel of the fire extinguishing ball.

Further, the second fire extinguishing mechanism comprises a first water tank, a second water tank and a third water tank; the first water tank, the second water tank and the third water tank are all connected to the top of the chassis; the top of the first water tank is connected with a water inlet pipeline, the bottom of the first water tank is communicated with the second water tank through a first water pipe, the top of the second water tank is communicated with the third water tank through a second water pipe, and the bottom of the third water tank is connected with a water outlet pipeline.

Further, the second fire extinguishing mechanism also comprises a tee joint; the tee includes a first port, a second port, and a third port; the bottom end of the second water tank is communicated with the first port, the bottom end of the third water tank is communicated with the second port, and the water outlet pipeline is communicated with the third port.

Further, the robot body also comprises a smoke purification mechanism; the flue gas purification mechanism comprises an air inlet pipeline and an air outlet pipeline; the top end of the second water tank is connected with the air inlet pipeline; the top end of the third water tank is connected with the air outlet pipeline; one end of the air inlet pipeline is arranged outside the second water tank, and the other end of the air inlet pipeline is arranged in the second water tank and is connected with an aeration head; the aeration head is abutted against the bottom end of the second water tank; one end of the air outlet pipeline is arranged outside the third water tank, and the other end of the air outlet pipeline is arranged in the third water tank and is abutted against the top end of the third water tank.

Further, a stirring shaft is rotationally connected in the second water tank; the stirring shaft is of a hollow structure and is sleeved on the air inlet pipeline; the stirring shaft is connected with a plurality of stirring blades along the circumferential direction.

Further, a feeding box is arranged at the top end of the third water tank; the feeding box is communicated with the third water tank through a third water pipe; a stirring rod is rotationally connected in the third water tank; and a stirring impeller is spirally arranged on the periphery of the stirring rod.

Drawings

The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.

FIG. 1 is a schematic structural diagram of a fire-fighting robot based on convolutional vision recognition in one embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a driving mechanism of a fire-fighting robot based on convolutional vision recognition in one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a mobile wheel, a connecting arm and a rotating shaft of a fire-fighting robot based on convolution vision recognition in one embodiment of the invention;

FIG. 4 is a schematic structural diagram of a first fire extinguishing mechanism of a fire-fighting robot based on convolution vision recognition in one embodiment of the invention;

FIG. 5 is a schematic structural diagram of a second fire extinguishing mechanism of a fire-fighting robot based on convolution vision recognition in one embodiment of the invention;

fig. 6 is a schematic structural diagram of a smoke purifying mechanism for identifying a fire-fighting robot based on convolution vision in one embodiment of the invention.

Description of reference numerals: 1. a chassis; 2. a drive mechanism; 21. a first moving assembly; 22. a second moving assembly; 23. a third moving assembly; 24. a fourth moving assembly; 25. a first support assembly; 26. a moving wheel; 27. a connecting arm; 28. a rotating shaft; 3. a first fire extinguishing mechanism; 31. a ball supply assembly; 311. a barrel; 312. a ball outlet conduit; 313. a guide rail; 314. a rotating shaft; 315. pushing the plate; 32. a ball pushing assembly; 33. a serving assembly; 4. a second fire extinguishing mechanism; 41. a first water tank; 42. a second water tank; 421. a stirring shaft; 422. a stirring blade; 43. a third water tank; 431. a stirring rod; 432. a stirring impeller; 44. a water inlet pipeline; 45. a first water pipe; 46. a second water pipe; 47. a water outlet pipeline; 48. a tee joint; 481. a first port; 482. a second port; 483. a third port; 49. a feed box; 410. an atomizing spray head; 5. a flue gas purification mechanism; 51. an air intake duct; 52. an aeration head; 53. an air outlet pipeline.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

As shown in fig. 1-6, in an embodiment of the present invention, a fire-fighting robot based on convolution vision recognition includes a robot body; the robot body comprises a chassis 1; the bottom of the chassis 1 is connected with a driving mechanism 2 and a first supporting component 25, and two sides of the top of the chassis 1 are respectively connected with a first fire extinguishing mechanism 3 and a second fire extinguishing mechanism 4; the driving mechanism 2 is connected with the bottom end of the chassis 1 through a cross-shaped bracket; the driving mechanism 2 comprises a first moving assembly 21, a second moving assembly 22, a third moving assembly 23 and a fourth moving assembly 24; the first moving assembly 21, the second moving assembly 22, the third moving assembly 23 and the fourth moving assembly 24 are respectively rotatably connected to four ends of the cross-shaped bracket; the first supporting component 25 is arranged on the central axis of the cross-shaped bracket and is rotationally connected with the cross-shaped bracket; the first moving assembly 21, the second moving assembly 22, the third moving assembly 23, the fourth moving assembly 24 and the first supporting assembly 25 can rotate relative to the chassis 1 along the moving direction of the robot body, so that the chassis 1 is lifted or lowered.

The fire-fighting robot based on the convolution vision recognition is driven by adopting a wheel type structure, so that the driving efficiency is high, the flexibility is strong, the wheel type structure can dynamically adjust the height of the chassis 1 according to the terrain, the defect of poor obstacle crossing performance of the existing fire-fighting robot is overcome, and the terrain adaptability of the fire-fighting robot is effectively improved; meanwhile, the driving assembly is combined with the first supporting assembly 25, so that the requirement of the fire-fighting robot for climbing stairs can be effectively met, the fire-fighting robot can rapidly and stably advance or laterally move under uneven terrain, and the climbing stairs and obstacle crossing performance can be realized; the fire-fighting robot has the advantages of simple structure, convenience in operation, high operation efficiency, capability of meeting various requirements in a complex environment and good practicability; simultaneously, the fire-fighting robot has carried on first fire-fighting mechanism 3 and the second fire-fighting mechanism 4 can rationally select the mode of putting out a fire according to the condition of a fire type, has not only improved fire-fighting robot's application scope has improved fire extinguishing efficiency moreover, has good economic suitability and performance.

In one embodiment, the robot body further comprises a control box, a main controller, a camera, a temperature sensor and a smoke sensor; the control box, the camera, the temperature sensor and the smoke sensor are all connected to the top of the chassis 1; the main controller is connected in the control box; the camera, the temperature sensor and the smoke sensor are in signal connection with the main controller.

In one embodiment, the master controller employs an STM32 chip.

Specifically, the STM32 chip is used as a central controller of the fire-fighting robot and can complete tasks such as sensor information collection, motor control, external communication expansion and the like; the application adopts an STM32RCT6 chip; the STM32RCT6 chip is a chip of a high-performance ARM Cortex-M332-bit RISC core which is released by ST company in 2008; the working frequency can reach 72MHz, high-end operation can be realized, the Thumb-2 instruction set brings higher instruction efficiency and stronger performance, and the response to an interrupt event is quicker than before through a tightly coupled nested vector interrupt controller; the configuration of the built-in high-speed memory to the peripheral equipment can bring excellent control and connection capability; the processor has 3 low power consumption modes and a flexible clock control mechanism, and can be reasonably optimized according to the design requirements of the system; the main controller and the STM32 chip are in the prior art and will not be described in detail herein.

In one embodiment, the camera is of Kendryte K210 type.

Specifically, the Kendryte K210 artificial intelligence camera can realize the eye function of the fire-fighting robot; the Kendryte K210 is a system on chip (SoC) integrating machine vision and machine hearing capabilities, and has good power consumption performance, stability and reliability; meanwhile, the Kendryte K210 is a multifunctional chip with certain learning capacity, model training can be carried out through a training environment set up by a computer by K210 hardware, finally, a model file which is adapted to K210 operation after conversion is obtained, the identification effect can be observed through a maixpy IDE debugging platform, and the identification success rate of the Kendryte K210 in the experiment can reach 60%, which indicates that the quality of the model still needs to be improved; if the output difference is large, the quality of the data set needs to be increased, the data with unobvious characteristics is deleted, and the parameters of the training related data are adjusted; the method comprises the steps of marking a detected target (flame) program by using a square frame, processing the program, returning to the center coordinate of the square frame, namely the center coordinate of the flame, sending data through a serial port, and carrying out corresponding coordinate response after a motion system receives a coordinate signal, so that the motion system of the robot body is realized;

the fire-fighting robot based on the convolution vision recognition has the functions of high-precision real-time detection and image acquisition; the flame of the target object in the picture can be correctly acquired by taking a picture in real time and combining a series of processing of the convolutional neural network; and then outputting the real-time coordinates of the target object, thereby realizing the functional effects of autonomous walking and autonomous fire extinguishing of the fire-fighting robot.

In one embodiment, the first moving assembly 21, the second moving assembly 22, the third moving assembly 23 and the fourth moving assembly 24 each comprise a moving wheel 26 and two sets of connecting arms 27; the moving wheels 26 are arranged between two adjacent groups of the connecting arms 27, and a rotating shaft 28 is fixedly connected to the central axis of each moving wheel 26; one ends of the two groups of connecting arms 27 close to the moving wheel 26 are respectively connected with two ends of the rotating shaft 28 in a rotating manner, and one ends of the two groups of connecting arms 27 far away from the moving wheel 26 are connected with one end of the cross-shaped bracket in a rotating manner.

Specifically, one side of one group of the connecting arms 27 away from the moving wheel 26 is connected with a speed reducing motor; the output end of the speed reducing motor is connected with the rotating shaft 28.

In one embodiment, the moving wheels 26 comprise Mecanum wheels.

Specifically, the Mecanum wheels can synthesize resultant force in any direction through the rotating speed and the installation method of the Mecanum wheels, so that the Mecanum wheels are competent for various moving tasks of the fire-fighting robot; in the control program of the fire-fighting robot, a plurality of related motion state control functions are packaged, and all state control can be carried out on the fire-fighting robot; the moving wheel 26 is driven by the speed reducing motor, and the speed reducing motor can control the running speed of the speed reducing motor and can also accurately control the running distance of the moving wheel 26 of the fire-fighting robot; the main controller performs a route planning according to the scanning and analysis of the terrain and controls the moving wheels 26 individually, thereby achieving an accurate movement effect of the fire fighting robot.

In one embodiment, the connecting arm 27 comprises a first connecting member, a second connecting member and a third connecting member; one end of the first connecting piece is rotatably connected with the rotating shaft 28, the other end of the first connecting piece is rotatably connected with one end of the second connecting piece, the other end of the second connecting piece is rotatably connected with one end of the third connecting piece, and the other end of the third connecting piece is rotatably connected with one end of the cross-shaped support.

In one embodiment, a first reinforcing rod is connected between two adjacent second connecting pieces; the first reinforcing rod is arranged at one end of the second connecting piece close to the movable wheel 26 and is rotatably connected with one end of the first connecting piece far away from the movable wheel 26.

In one embodiment, a second reinforcing rod is connected between two adjacent third connecting pieces; the second reinforcing rod is arranged at one end of the third connecting piece close to the movable wheel 26 and is rotatably connected with one end of the second connecting piece far away from the movable wheel 26.

Specifically, the first reinforcing rod, the second reinforcing rod and the rotating shaft 28 can effectively increase the stability of the connecting structure between two adjacent connecting arms 27, so as to improve the stability of the overall structure of the driving mechanism 2.

In one embodiment, the four ends of the cross-shaped bracket are rotatably connected with connecting shafts; the connecting shaft is arranged at one end of the third connecting piece far away from the moving wheel 26 and is connected with the third connecting piece.

Specifically, the front end, the rear end, the left end and the right end of the cross-shaped support are also connected with first steering engines; the output end of the first steering engine is connected with the connecting shaft;

when a roadblock is encountered, the first moving assembly 21, the second moving assembly 22, the third moving assembly 23 and the fourth moving assembly 24 can appropriately adjust the height between the moving wheel 26 and the chassis 1 through small-amplitude relative rotation between two adjacent first connecting pieces, second connecting pieces and third connecting pieces, so as to cross the roadblock;

when the roadblock is bigger, each first steering wheel all can pass through the connecting axle drives corresponding linking arm 27 follows the direction of travel of robot body rotates, thereby the robot body passes through linking arm 27 with the chassis 1 rotates certain angle and adjusts remove wheel 26 with the height between the chassis 1 realizes crossing the roadblock.

In one embodiment, the cross sections of the first connecting piece, the second connecting piece and the third connecting piece are all arc-shaped.

In particular, the arc-shaped structure facilitates the resolution and consumption of forces, thereby absorbing shock.

In one embodiment, the first support assembly 25 comprises a rotating rod and two support rods parallel to each other; two the bracing piece all is in same one side and two of dwang the one end of bracing piece all with the dwang is connected perpendicularly, two the other end of bracing piece is the free end.

Specifically, the bottom of the chassis 1 is also provided with a second steering engine, and the output end of the second steering engine is connected with the rotating rod; the length of the supporting rod is greater than the height of one step;

specifically, the second steering engine can drive the rotating rod to rotate, so as to drive the supporting rod to rotate along the advancing direction of the robot body, so that the chassis 1 is lifted, and the robot body can climb stairs conveniently;

when encountering stairs, the first steering engine drives the connecting arm 27 of the first moving assembly 21 to rotate through the connecting shaft, so that the corresponding moving wheel 26 is lifted to a step;

starting the second steering engine, wherein the second steering engine drives the rotating rod to rotate, so that the supporting rod is driven to rotate along the advancing direction of the robot body and the chassis 1 is lifted, and the third moving assembly 23 and the fourth moving assembly 24 are lifted to the step;

the first moving assembly 21, the third moving assembly 23 and the fourth moving assembly 24 advance to bring the second moving assembly 22 to the step, and meanwhile, the second steering engine drives the supporting rod to rotate reversely along the advancing direction of the robot body, so that the supporting rod is reset;

the actions are repeated, so that the whole process of climbing stairs is realized.

In one embodiment, the first fire extinguishing mechanism 3 comprises a ball supply assembly 31, a ball pushing assembly 32 and a ball serving assembly 33; the ball supply assembly 31, the ball pushing assembly 32 and the ball serving assembly 33 are all connected to the top of the chassis 1.

In one embodiment, the ball supply assembly 31 includes a cylinder 311 and a ball outlet conduit 312; the cylinder 311 is internally provided with a cavity; a guide rail 313 and a rotating shaft 314 are arranged in the accommodating cavity; the guide rail 313 is spirally arranged on the inner wall of the cylinder 311 along the axial direction of the cylinder 311; the rotating shaft 314 is rotatably connected to the center of the bottom end of the cavity, and the rotating shaft 314 is connected with a push plate 315 along the circumferential direction; one end of the ball outlet conduit 312 is communicated with the accommodating cavity and is butted with the guide rail 313, and the other end of the ball outlet conduit 312 is arranged outside the cylinder 311 and is positioned between the cylinder 311 and the ball serving assembly 33.

Specifically, a plurality of fire extinguishing balls are arranged in the cylinder 311; the guide rail 313 is used for conveying the fire extinguishing ball into the ball outlet guide pipe 312; the design can be suitable for fire extinguishing balls with different specifications and models, the shape of the fire extinguishing ball is not limited, and the application range is wide; meanwhile, one end of the ball outlet guide pipe 312 is communicated with the top end of the side wall of the cylinder 311, and the other end of the ball outlet guide pipe 312 is butted with the ball pushing assembly 32; a first motor is connected between the rotating shaft 314 and the bottom end of the accommodating cavity;

starting the first motor, which can drive the rotating shaft 314 to rotate; the rotating shaft 314 drives the push plate 315 to rotate, so that the fire extinguishing balls in the cavities are sequentially pushed into the guide rails 313; the fire extinguishing balls fed continuously push the fire extinguishing balls in the guide rail 313 to continuously advance and enter the ball outlet conduit 312.

In one embodiment, the cylinder 311 is wrapped with a heat insulating material.

Specifically, the insulation material comprises aramid fibers; the outer surface of the aramid fiber is provided with a metallic aluminum coating film.

In one embodiment, one side of the guide rail 313 is connected to the inner wall of the cylinder 311, and the other side of the guide rail 313 is vertically connected to a flange.

Specifically, the flanges can prevent the fire extinguishing ball in the guide rail 313 from falling.

In one embodiment, an infrared sensor is provided at the entrance of the guide rail 313.

Specifically, the infrared sensor with main control unit signal connection, the infrared sensor is used for discerning the transportation condition of fire extinguishing ball.

In one embodiment, the other end of the ball outlet conduit 312 is horizontally disposed; the central axis of the opening is vertical to the central axis of the ball pushing assembly 32 in the horizontal direction; the opening is connected with an auxiliary pipe; the auxiliary pipe is respectively provided with a ball pushing port and a ball outlet in a penetrating way in the central axis direction of the ball pushing assembly 32; the ball pushing port is close to the ball pushing assembly 32; the ball outlet is remote from the ball pushing assembly 32.

In one embodiment, the ball pushing assembly 32 includes a cylinder and a push block; the output end of the air cylinder is connected with the push block, and the push block is arranged towards the direction of the ball pushing port.

Specifically, the sizes of the push block, the ball pushing port and the ball outlet are matched with the size of the fire extinguishing ball; meanwhile, the central axis of the push block, the central axis of the ball pushing port and the central axis of the ball outlet are all positioned on the same straight line.

In one embodiment, the ball serving assembly 33 includes a first rotating arm, a second rotating arm, a third rotating arm, and a fourth rotating arm; the first rotating arm is vertically connected to the upper surface of the chassis 1, one end, far away from the chassis 1, of the first rotating arm is rotatably connected with the second rotating arm, one end, far away from the third rotating arm, of the second rotating arm is rotatably connected with the third rotating arm, and one end, far away from the second rotating arm, of the third rotating arm is vertically connected with a ball supporting plate; two friction columns are arranged on one side of the ball supporting plate close to the ball outlet guide pipe 312; the two friction columns are rotatably connected with the ball supporting plate, and the interval between the two friction columns is a launching channel of the fire extinguishing ball.

Specifically, servo motors are arranged at the joints of the rotating arms, and each servo motor can drive the corresponding rotating arm 27 to rotate or rotate, so that the launching angle of the fire extinguishing ball is adjusted, and a certain launching speed is given to the fire extinguishing ball through rapid rotation; meanwhile, a second motor is arranged at the bottom end of the friction column; when the supporting plate rotates to a set angle, the second motor can drive the friction column to rotate so as to launch the fire extinguishing ball; the two friction columns adopt two driving modes of co-rotation or counter-rotation;

meanwhile, the service module 33 is used by carrying control software, and the control software mainly comprises the following steps: setting PWM output, setting analog input, independently reading each potentiometer, converting analog reading into an angle (0-180), and writing an angle value into the servo motor; when each rotating arm works, the control chip converts the RGB images into a disparity map so as to obtain the depth information of a target object, and the target object is converted into an enveloping sphere model which has a central point and a radius through point clustering calculation; the main control module outputs control signals to the driving control modules of the rotating arms, the driving control modules drive servo motors of the rotating arms in the modules to start to operate and adjust so that the friction columns are aligned to the fire extinguishing ball, the main control module obtains coordinate information of the center point of the object to be grabbed relative to the binocular camera through calculation, and converting the set of coordinate information into coordinate information of the object center point relative to the supporting plate by a DH method, then, the required rotation angle of the servo motor corresponding to each rotating arm when the tail end of the rotating arm reaches the target point position is calculated through inverse kinematics of the rotating arm, and the track between the initial position and the target position is normalized, the main control module sends the position information instruction of the track point to the driving control module of each rotating arm and controls the servo motors corresponding to each rotating arm to work, and therefore accurate service is achieved.

In one embodiment, the spacing between the firing channels is slightly less than the diameter of the fire extinguishing ball.

In one embodiment, the friction column is sleeved with a friction wheel, and the friction wheel is made of an elastic material.

Specifically, the elastic material has elastic deformation capacity, so that the fire extinguishing ball can be pushed between two adjacent friction columns more easily, and the friction wheels can effectively reduce the abrasion to the fire extinguishing ball in the pushing, clamping or serving processes; the elastic material comprises rubber or silicone.

In one embodiment, the outer surface of the friction wheel is provided with a spirally arranged friction part or a plurality of friction bumps.

Specifically, the friction portion and the friction bump homoenergetic increases the friction post is right the centre gripping stability of fire extinguishing ball, simultaneously, also can increase friction each other during the transmission to increase the transmission dynamics, make fire extinguishing ball is steady quick transmission away more.

In one embodiment, the first rotating arm, the second rotating arm, the third rotating arm and the fourth rotating arm are all made of acrylic material.

Specifically, the acrylic material has high stability and can provide high connection strength.

In one embodiment, the second fire extinguishing mechanism 4 includes a first water tank 41, a second water tank 42, and a third water tank 43; the first water tank 41, the second water tank 42 and the third water tank 43 are all connected to the top of the chassis 1; the top of the first water tank 41 is connected with a water inlet pipe 44, the bottom of the first water tank 41 is communicated with the second water tank 42 through a first water pipe 45, the top of the second water tank 42 is communicated with the third water tank 43 through a second water pipe 46, and the bottom of the third water tank 43 is connected with a water outlet pipe 47.

Specifically, the first water tank 41, the second water tank 42 and the third water tank 43 are arranged side by side and have the same height; the inlet pipe 44 is externally connected to a water supply pipe.

In one embodiment, the second fire extinguishing mechanism 4 further comprises a tee 48; the tee 48 includes a first port 481, a second port 482 and a third port 483; the bottom end of the second water tank 42 is communicated with the first port 481, the bottom end of the third water tank 43 is communicated with the second port 482, and the outlet pipe 47 is communicated with the third port 483.

In one embodiment, a first control valve is disposed at the first port 481, a second control valve is disposed at the second port 482, and a flow control valve is disposed at the third port 483.

Specifically; the first control valve, the second control valve and the flow control valve are in signal connection with the main controller; the tee 48 facilitates the second fire suppression mechanism 4 to select either single or multiple tank water supplies.

In one embodiment, a first liquid level sensor is disposed in the second water tank 42; a second liquid level sensor is arranged in the third water tank 43.

Specifically, the first liquid level sensor and the second liquid level sensor are in signal connection with the main controller; the first liquid level sensor is used for judging the liquid level in the second water tank 42, and the second liquid level sensor is used for judging the liquid level in the third water tank 43; the first liquid level sensor and the second liquid level sensor are both in the prior art and can be directly obtained through purchase, and the description is not repeated here.

In one embodiment, an atomizing nozzle 410 is connected to an end of the outlet pipe 47 away from the tee 48.

In one embodiment, a plurality of atomization holes are uniformly distributed on the outer surface of the atomization nozzle 410.

Specifically, during fire extinguishing, the atomizing nozzle 410 can increase the surface area of water particles in unit volume, so that the total surface area of water in the same volume is increased, and the increase of the surface area can facilitate heat absorption, thereby quickly taking away heat on the surface of a fire point, and simultaneously being beneficial to quickly changing water into water vapor, thereby diluting the oxygen concentration near the fire point, suffocating combustion reaction and controlling heat radiation; the atomizing nozzle 410 has the double functions of high-efficiency cooling and anoxic asphyxia;

meanwhile, the atomizer 410 can effectively save the amount of waste of water resources when extinguishing a fire, if water is directly sprayed, the water flows away from the surface on fire, thereby wasting resources, and the atomizer 410 can effectively save water, thereby exerting the maximum fire extinguishing effect on limited resources.

In one embodiment, the second fire extinguishing mechanism 4 further comprises a rotating assembly; the rotating assembly comprises a rotating disc, a bottom plate and a telescopic cylinder; the rotating disc is rotatably connected to the upper surface of the chassis 1; the telescopic cylinder is fixedly arranged on the rotating disc; one end of the bottom plate is rotatably connected to the upper surface of the rotating disc, and the other end of the bottom plate is connected with an output shaft of the telescopic cylinder; the atomizer 410 is fixedly attached to the upper surface of the base plate.

Concretely, the rotating disc can drive atomizer 410 adjusts the position of putting out a fire, telescopic cylinder can drive angle when atomizer 410 adjusts and puts out a fire, through the aforesaid setting, second fire extinguishing mechanism 4 can be according to actual conditions reasonable alignment water spray position and angle, thereby has improved fire extinguishing robot's fire extinguishing efficiency.

In one of the embodiments, the robot body further comprises a flue gas cleaning mechanism 5; the flue gas purification mechanism 5 comprises an air inlet pipeline 51 and an air outlet pipeline 53; the top end of the second water tank 42 is connected with the air inlet pipeline 51; the top end of the third water tank 43 is connected with the air outlet pipeline 53; one end of the air inlet pipeline 51 is arranged outside the second water tank 42, and the other end of the air inlet pipeline 51 is arranged in the second water tank 42 and is connected with an aeration head 52; the aeration head 52 abuts against the bottom end of the second water tank 42; one end of the air outlet pipe 53 is arranged outside the third water tank 43, and the other end of the air outlet pipe 53 is arranged in the third water tank 43 and is abutted against the top end of the third water tank 43.

Specifically, the smoke purification mechanism 5 can suck dense smoke into water for purification, so that people can escape conveniently, and meanwhile, the shielding of the dense smoke on the camera can be effectively avoided, so that the fire extinguishing robot can find an ignition point quickly and extinguish the ignition point;

the dense smoke is mixed with a large amount of CO₂And the like, and the oxygen content in the water can be reduced and the fire extinguishing performance can be improved by dissolving the harmful gas in the water;

simultaneously, take a large amount of heats in the dense cigarette, based on the energy exchange principle, the heat can heat up the water in the water tank, and the temperature of water is higher more, is favorable to putting out a fire fast more, also is favorable to the quick atomizing of water simultaneously to improve fire extinguishing efficiency, the principle is as follows: since water absorbs heat when heatedSpecific heat capacity of water [ 4.2X 10³J/(kg ℃) is much less than the heat of vaporization of water (2260 kilojoules per kilogram), so that the change of hot water to the gaseous state absorbs more heat, contributing more to rapid degradation and extinguishment; meanwhile, hot water can be changed into water vapor in a short time in the fire extinguishing process, and a large amount of water vapor is diffused in the air to isolate the air, so that the combustion is suffocated and extinguished.

In one embodiment, a plurality of aeration holes are uniformly distributed on the outer surface of the aeration head 52.

Specifically, the aeration head 52 can increase the specific surface area of the flue gas contacted with water, thereby increasing the dissolution rate of the flue gas.

In one embodiment, an end of the air inlet pipe 51 away from the second water tank 42 is connected to an induced draft cover, and a first compression fan is connected to the induced draft cover.

In one embodiment, a first filter screen is arranged at one end, far away from the first compression fan, of the induced draft cover.

Specifically, the first filter screen is obliquely arranged; the first filter can remove large particles or impurities, thereby preventing the air inlet pipe 51 or the aeration head 52 from being blocked.

In one embodiment, the induced draft cover is vertically arranged, and the radius of the lower end of the induced draft cover is gradually reduced from top to bottom.

In one embodiment, a stirring shaft 421 is rotatably connected in the second water tank 42; the stirring shaft 421 is a hollow structure and is sleeved on the air inlet pipeline 51; the stirring shaft 421 is connected with a plurality of stirring blades 422 along the circumferential direction.

Specifically, the top end of the second water tank 42 is connected with a fourth motor, and the output end of the fourth motor is connected with the stirring shaft 421; the stirring shaft 421 is vertically arranged in the second water tank 42; the fourth motor is started, the fourth motor drives the stirring shaft 421 to rotate, and the stirring shaft 421 drives the roller rod to rotate, so that the liquid in the second water tank 42 is uniformly stirred, and dust and harmful gas in the flue gas are fully dissolved.

In one embodiment, a feed tank 49 is arranged at the top end of the third water tank 43; the feed tank 49 is communicated with the third water tank 43 through a third water pipe; a stirring rod 431 is rotationally connected in the third water tank 43; the stirring rod 431 is spirally provided with a stirring impeller 432 on the outer circumference thereof.

Specifically, the feed box 49 is filled with an additive for fire-fighting water, the additive is beneficial to improving the fire-fighting performance of water and fully dissolving dust and harmful gases in smoke with water, and the additive belongs to the prior art and can be directly obtained through market purchase without being described; meanwhile, a fifth motor is connected to the top end of the third water tank 43, an output end of the fifth motor is connected with the stirring rod 431, and the stirring rod 431 is vertically arranged in the third water tank 43; and starting the fifth motor, wherein the fifth motor can drive the stirring rod 431 to rotate, so as to drive the stirring impeller 432 to rotate, and the stirring impeller 432 is favorable for improving the dissolution rate and the dissolution uniformity of the chemical reagent.

The using process is as follows:

starting the fire-fighting robot based on the convolution vision identification, and driving the robot body to run by the driving mechanism 2;

when a roadblock is encountered, the first moving assembly 21, the second moving assembly 22, the third moving assembly 23 and the fourth moving assembly 24 can appropriately adjust the height between the moving wheel 26 and the chassis 1 through small-amplitude relative rotation between two adjacent first connecting pieces, second connecting pieces and third connecting pieces so as to cross the roadblock;

when encountering stairs, the first moving assembly 21 drives the connecting arm 27 to rotate through the first steering engine so as to lift the corresponding moving wheel 26 onto a step, then the first supporting assembly 25 jacks up the chassis 1, so that the third moving assembly 23 and the fourth moving assembly 24 are both lifted onto the step, in the process, the first moving assembly 21 dynamically adjusts the relative height between the first moving assembly 21 and the chassis 1 along with the ascending of the chassis 1, and the first moving assembly 21 always keeps the abutting state with the step until the third moving assembly 23 and the fourth moving assembly 24 both ascend onto the step; continuously repeating the above processes until the stair climbing is completed;

meanwhile, when a fire disaster occurs, the fire-fighting robot based on the convolution vision recognition can select a proper fire-fighting mode according to the fire situation type, so that the fire-fighting efficiency is improved;

when the first fire extinguishing mechanism 3 is started, fire extinguishing balls enter the ball outlet conduit 312 through the guide rail 313 and enter the ball serving assembly 33 under the action of the ball pushing assembly 32; the third connecting arm drives the fire extinguishing ball to rotate, so that certain inertia is given to the fire extinguishing ball, and meanwhile, when the fire extinguishing ball rotates to a set height or an included angle, the friction wheels rotate mutually, so that the fire extinguishing ball is launched out, and fire extinguishing is realized;

when the second fire extinguishing mechanism 4 is activated, water enters the first water tank 41 through the water inlet pipe 44, the water in the first water tank 41 flows into the second water tank 42 through the first water pipe 45, and the water in the second water tank 42 flows into the third water tank 43 through the second water pipe 46;

closing the first control valve and opening the second control valve and the flow control valve, so that water flows out from the bottom end of the third water tank 43 and is sprayed out through the water outlet pipe 47 to extinguish the fire; when the water supply amount in the third water tank 43 is insufficient, the first control valve, the second control valve and the flow control valve are opened, and water flows out from the bottom end of the second water tank 42 and the bottom end of the third water tank 43 at the same time and is sprayed out through the water outlet pipe 47 to extinguish a fire;

when putting out a fire, first mechanism 3 of putting out a fire and second mechanism 4 of putting out a fire can the alternative use or use simultaneously, according to the particular case rational selection of conflagration can.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A fire-fighting robot based on convolution vision recognition is characterized by comprising a robot body;

the robot body comprises a chassis;

the bottom of the chassis is connected with a driving mechanism and a first supporting assembly, and two sides of the top of the chassis are respectively connected with a first fire extinguishing mechanism and a second fire extinguishing mechanism;

the driving mechanism is connected with the bottom end of the chassis through a cross-shaped bracket;

the driving mechanism comprises a first moving assembly, a second moving assembly, a third moving assembly and a fourth moving assembly;

the first moving assembly, the second moving assembly, the third moving assembly and the fourth moving assembly are respectively connected to four ends of the cross-shaped bracket in a rotating mode;

the first support assembly is arranged on the central axis of the cross-shaped support and is rotationally connected with the cross-shaped support;

the first moving assembly, the second moving assembly, the third moving assembly, the fourth moving assembly and the first supporting assembly can rotate relative to the chassis along the moving direction of the robot body, so that the chassis is lifted or lowered.

2. A fire-fighting robot based on convolutional vision recognition as set forth in claim 1, wherein the first moving assembly, the second moving assembly, the third moving assembly and the fourth moving assembly each comprise moving wheels and two sets of connecting arms;

the moving wheels are arranged between two adjacent groups of the connecting arms, and the central axis of each moving wheel is fixedly connected with a rotating shaft;

two sets of the linking arm is close to the one end that removes the wheel respectively with the both ends of axis of rotation are rotated and are connected, and two sets of the linking arm is kept away from the one end that removes the wheel with the one end of cross support rotates and is connected.

3. A fire-fighting robot based on convolution vision recognition as recited in claim 1 wherein the first fire-fighting mechanism includes a ball supply assembly, a ball pushing assembly and a ball serving assembly;

the ball supply assembly, the ball pushing assembly and the ball serving assembly are all connected to the top of the chassis.

4. A fire-fighting robot based on convolution vision recognition as recited in claim 3 wherein the ball supply assembly includes a cylinder and a ball outlet conduit;

a cavity is arranged in the cylinder; a guide rail and a rotating shaft are arranged in the accommodating cavity;

the guide rail is spirally arranged on the inner wall of the cylinder along the axial direction of the cylinder;

the rotating shaft is rotatably connected to the center of the bottom end of the accommodating cavity and is circumferentially connected with a push plate;

one end of the ball outlet conduit is communicated with the containing cavity and is butted with the guide rail, and the other end of the ball outlet conduit is arranged outside the barrel and is positioned between the barrel and the ball serving assembly.

5. A fire-fighting robot based on convolution vision recognition as recited in claim 4 wherein the ball serving assembly includes a first rotating arm, a second rotating arm, a third rotating arm and a fourth rotating arm;

the first rotating arm is vertically connected to the upper surface of the chassis, one end, far away from the chassis, of the first rotating arm is rotatably connected with the second rotating arm, one end, far away from the third rotating arm, of the second rotating arm is rotatably connected with the third rotating arm, and one end, far away from the second rotating arm, of the third rotating arm is vertically connected with the ball supporting plate;

one side of the ball supporting plate, which is close to the ball outlet guide pipe, is provided with two friction columns;

the two friction columns are rotatably connected with the ball supporting plate, and the interval between the two friction columns is a launching channel of the fire extinguishing ball.

6. A convolution-based visual identification fire-fighting robot as recited in claim 1 wherein the second fire-fighting mechanism includes a first water tank, a second water tank, and a third water tank;

the first water tank, the second water tank and the third water tank are all connected to the top of the chassis;

the top of the first water tank is connected with a water inlet pipeline, the bottom of the first water tank is communicated with the second water tank through a first water pipe, the top of the second water tank is communicated with the third water tank through a second water pipe, and the bottom of the third water tank is connected with a water outlet pipeline.

7. A fire-fighting robot based on convolutional vision recognition as recited in claim 6, wherein said second fire-fighting mechanism further comprises a tee;

the tee includes a first port, a second port, and a third port;

the bottom end of the second water tank is communicated with the first port, the bottom end of the third water tank is communicated with the second port, and the water outlet pipeline is communicated with the third port.

8. A fire-fighting robot based on convolution vision recognition as recited in claim 6 wherein the robot body further comprises a smoke purifying mechanism;

the flue gas purification mechanism comprises an air inlet pipeline and an air outlet pipeline;

the top end of the second water tank is connected with the air inlet pipeline;

the top end of the third water tank is connected with the air outlet pipeline;

one end of the air inlet pipeline is arranged outside the second water tank, and the other end of the air inlet pipeline is arranged in the second water tank and is connected with an aeration head;

the aeration head is abutted against the bottom end of the second water tank;

one end of the air outlet pipeline is arranged outside the third water tank, and the other end of the air outlet pipeline is arranged in the third water tank and is abutted against the top end of the third water tank.

9. A fire-fighting robot based on convolution vision recognition as recited in claim 8 wherein a stirring shaft is rotatably connected in the second water tank;

the stirring shaft is of a hollow structure and is sleeved on the air inlet pipeline;

the stirring shaft is connected with a plurality of stirring blades along the circumferential direction.

10. A fire-fighting robot based on convolution vision recognition as recited in claim 6 wherein a feed tank is provided at a top end of the third water tank;

the feeding box is communicated with the third water tank through a third water pipe;

a stirring rod is rotationally connected in the third water tank;

and a stirring impeller is spirally arranged on the periphery of the stirring rod.