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Robot patrolling fire extinguishment system based on ROS and control method for same

A technology of fire protection system and control method, applied in the field of robots, can solve the problems of inability to form active protection, property loss, insufficient sensitivity, etc.

Inactive Publication Date: 2019-01-29
ZHUHAI COLLEGE OF JILIN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional fire-fighting method is to place fire-fighting equipment near these fire-prone points, so that firefighters can use it in time when a fire breaks out, but this fire-fighting method is obviously too passive
At present, the commonly used fire-fighting method is to install smoke detectors, cameras, sprinklers and other equipment near these easy-to-fire points. Once a fire breaks out, the fire can be extinguished in time. Due to the high cost, the relevant personnel cut corners and cut corners, so that the coverage of fire-fighting equipment and equipment is not in place, and the counter-effect of not being able to extinguish the fire in time
[0005] In short, the existing fire-fighting methods generally have the disadvantages of low initiative, insufficient sensitivity, low intelligence, and high cost. They cannot form active protection and are prone to omissions in fire protection. loss

Method used

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  • Robot patrolling fire extinguishment system based on ROS and control method for same
  • Robot patrolling fire extinguishment system based on ROS and control method for same
  • Robot patrolling fire extinguishment system based on ROS and control method for same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] refer to figure 1 , a ROS-based robot patrol fire system, controlled by the client, including the robot and the server;

[0049] The robot includes a host computer and a lower computer; the upper computer includes an industrial computer, a depth camera and a laser radar, and the industrial computer is installed with a ROS system; the lower computer includes a controller, a bus module, a drive module, a sensor module and an inertial sensor. A navigation module, the sensor module includes a flame sensor and / or a temperature sensor, the controller is respectively connected to the drive module, the sensor module and the inertial navigation module through the bus module, and the controller is connected to the industrial computer;

[0050] The server end is connected with the industrial computer and the client respectively, and the ROS system is installed at the server end;

[0051] The server end is used to receive the navigation map uploaded by the client and send the navi...

Embodiment 2

[0061] This embodiment is aimed at the server-side control method in the ROS-based robot patrol fire-fighting system in Embodiment 1, refer to figure 2 , including the following steps:

[0062] Receive the navigation map uploaded by the client and send the navigation map to the robot; multiple patrol points and corresponding patrol point orientations are preset on the navigation map, and the navigation map is used to guide the robot to perform automatic patrols;

[0063] Real-time reception of on-site images and alarm information returned by the robot during automatic patrol;

[0064] Transmit the received on-site pictures and alarm information to the client in real time.

[0065] In the robot application scene, you can use tools such as Plidar lidar to obtain laser ranging data, and then use the Gmapping algorithm in the RVIZ visualization software to process the laser ranging data, so as to obtain a two-dimensional grid grid map as a navigation map. A number of patrol poi...

Embodiment 3

[0070] This embodiment is aimed at the control method of the robot in the ROS-based robot patrol fire-fighting system of Embodiment 1. The control method of the robot in this embodiment can be used in conjunction with the control method of the server side in Embodiment 2. Refer to image 3 , the method of this embodiment includes the following steps:

[0071] Obtaining a navigation map; multiple patrol points and corresponding patrol point orientations are preset on the navigation map;

[0072] Positioning on the navigation map according to the current own position information;

[0073] According to the positioning on the navigation map and the orientation of each patrol point and the corresponding patrol point, use the path planning algorithm to plan a shortest path starting from the current position and passing through all the patrol points;

[0074] Carry out circular patrol to each patrol point according to the shortest path;

[0075] During the patrol process, the on-si...

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Abstract

The invention discloses a robot patrolling fire extinguishment system based on ROS and a control method for same. The system is controlled by a client terminal and includes a robot and a server terminal. The server terminal is used for receiving a navigation map uploaded by the client terminal and sending the navigation map to the robot, and receiving scene image and warning information sent backby the robot in the auto-patrolling process in real time, then sending the received scene image and warning information to the client terminal in real time; the robot is used for positioning the sceneby means of a laser radar and patrolling by using a driving module and an inertial navigation module according to the navigation map; meanwhile, the robot uploads the scene image, taken by a deep camera, and the corresponding warning information, detected by the sensor module, to the server. The system achieve remote patrolling and monitoring of a fire scene, wherein fire-hazardous points are allcovered just by using one robot, so that high cost due to arrangement of fire extinguishment equipment at all of the fire-hazardous points is avoided. The system is extensively applied to the technical field of robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a ROS-based robot patrol fire-fighting system and a control method thereof. Background technique [0002] Explanation of terms: [0003] ROS: The abbreviation of Robot Operating System (Robot Operating System), is an open source operating system based on Linux, the purpose is to build a robot software platform that can integrate different research results, realize algorithms and code reuse. ROS is currently a popular robot control framework, which allows us to save time in building a robot system framework and focus more on algorithm-level research. Greatly improved development efficiency. Provides hardware abstract description, underlying device control, implementation of common functions, information transfer between programs, package management, and some visual data programs and software libraries. Based on this platform, many open sources such as positioning composition, mot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A62C27/00A62C37/00
CPCA62C27/00A62C37/00
Inventor 欧阳平
Owner ZHUHAI COLLEGE OF JILIN UNIV
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