CN104027920A - Intelligent tracking extinguishment car and control method thereof - Google Patents
Intelligent tracking extinguishment car and control method thereof Download PDFInfo
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- CN104027920A CN104027920A CN201410248257.9A CN201410248257A CN104027920A CN 104027920 A CN104027920 A CN 104027920A CN 201410248257 A CN201410248257 A CN 201410248257A CN 104027920 A CN104027920 A CN 104027920A
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Abstract
The invention relates to an intelligent tracking extinguishment car and a control method thereof. The intelligent tracking extinguishment car comprises a main control module, a power supply module, three direct-current motors, a tracking module, an extinguishment fan and a fire source detecting module, wherein the main control module realizes the operation and switching of a tracking process and an extinguishment process of the intelligent car; actions of advancing, retreating and in-situ revolving of the car are realized through adjusting the rotating speed and forward-reverse rotation of the two direct-current motors; the rotation or stop of the extinguishment fan is realized through controlling the rotation or stop of one of the direct-current motors; the tracking module consists of two pairs of infrared emitting diodes; a trajectory is detected through the two pairs of infrared emitting diodes to realize directional tracking; the fire source detector consists of photoresistors evenly mounted at the front part of the car; and the existence of a fire source is judged according to the variation of resistance values of the photoresistors. The intelligent tracking extinguishment car realizes the monitoring of the fire source through the execution and switching of the tracking process and the extinguishment process, can realize timely extinguishment of the fire source, and has the advantages of good performance and low cost.
Description
Technical field
The present invention relates to a kind of tracking fire extinguishing intelligent carriage and control method thereof, belong to field in intelligent robotics.
Background technology
Up to now, the research of relevant intelligent extinguishing device is a difficult problem always.When burning things which may cause a fire disaster appears in unattended storehouse, mounted pull station will give the alarm in advance, and when fire fighter is on the scene, the intensity of a fire has been difficult to control, and people's life and property have been caused to the loss that cannot retrieve.Along with the development of mechanical automation, industrial capacity is greatly improved, more and more higher to storehouse safety requirements, and security against fire is the most important thing.At present, the means of fire that warehouse is conventional is artificial regularly detection and fire fighter's fire extinguishing, and its exists and detects not in time, length consuming time and the deficiencies such as operation danger of putting out a fire.
The progress of science and technology, the raising of labor cost, is badly in need of the fire-fighting method that a kind of intelligent degree is high, expense is low.And not yet finding that at present similar tracking fire extinguishing intelligent carriage exists, the present invention launches for this key technology.
Summary of the invention
The defect existing for prior art, the object of this invention is to provide a kind of tracking fire extinguishing intelligent carriage and control method thereof.This intelligent carriage can go on patrol along black trace line, and puts out in time the burning things which may cause a fire disaster of discovery.
For achieving the above object, the present invention adopts following technical scheme:
A tracking fire extinguishing intelligent carriage, comprises main control module, power module, three direct current generators, tracking module, fire-extinguishing fan and burning things which may cause a fire disaster spy modules; Described main control module is realized operation and the switching of intelligent carriage tracking process and fire extinguishing procedure; By adjusting the rotating speed of described two direct current generators and rotating, realize the advancing of dolly, retreat and the original place action of spinning; By controlling the rotation of a described direct current generator or stopping realizing the rotation of fire-extinguishing fan or stopping; Described tracking module is comprised of two pairs of infrared tubes, detects track realize directed tracking by two pairs of infrared tubes; Described fire source probing device is comprised of the photo resistance that is evenly arranged on dolly front portion, according to the variation of its resistance value, has determined whether that burning things which may cause a fire disaster exists.
Described main control module adopts 8 single-chip microcomputers as control chip.
Described power module comprises the first electric capacity, the second electric capacity, resistance and diode; Described resistance and diode series connection, then, with the first electric capacity and the second Capacitance parallel connection, realize the stable output of voltage.
Described tracking module is by the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the first triode, the second triode, and first light emitting diode, the second light emitting diode form, described the first resistance, the first light emitting diode and the first triode are composed in series one group of infrared tube, described the 3rd resistance, the second light emitting diode and the second triode are composed in series another group infrared tube, the second resistance and the 4th resistance are connected to the base stage of two triodes, holding circuit; Two groups of infrared tubes are installed in parallel in dolly front end both sides, realize tracking function.
Described fire source probing module comprises the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance and the first photo resistance, the second photo resistance; the first photo resistance, the second photo resistance are in parallel after connecting with the 7th resistance, the 8th resistance respectively forms two fire source probing devices, and the 5th resistance, the 6th resistance and the 9th resistance play the effect of holding circuit.
A tracking fire extinguishing intelligent carriage control method, concrete steps are as follows:
1), during trolley travelling, first described main control module carries out tracking process, and detects the width of black trace line;
2) according to the relation of distance between two pairs of infrared tubes of black trace line width and tracking module, determine that dolly enters tracking pattern one or tracking pattern two: if the distance between two pairs of infrared tubes is greater than black trace line width, enter tracking pattern one, if the distance between two pairs of infrared tubes is less than or equal to black trace line width, enter tracking pattern two, realize tracking function;
3), during near burning things which may cause a fire disaster black trace line being detected, described main control module stops tracking process, carries out fire extinguishing procedure, and starts fire-extinguishing fan.
The process of described tracking pattern one is: when the distance between two pairs of infrared tubes is greater than the width of black trace line, black trace line is between two pairs of infrared tubes, dolly advances in the time of need to turning left, left side infrared tube can detect black trace line, and send high level signal to main control module, the direct current generator reversion of master control module controls left side, right side direct current generator continues forward, realize dolly, when dolly has turned left, left side infrared tube can't detect black trace line, and send low level signal to main control module, illustrate that black trace line is again between two pairs of infrared tubes, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
The process of described tracking pattern two is: when the distance between two pairs of infrared tubes is less than or equal to black trace line width, two pairs of infrared tubes are between black trace line, dolly advances in the time of need to turning left, right side infrared tube can can't detect black trace line, and send low level signal to main control module, master control module controls left side direct current generator motor reversal, right side direct current generator continues forward, realize dolly, until right side infrared tube is while black trace line being detected, to main control module, send high level signal again, illustrate that two pairs of infrared tubes are between black trace line, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
A kind of tracking fire extinguishing of the present invention intelligent carriage has overcome the deficiencies in the prior art, can realize the Real-Time Monitoring of designated environment, and find in time burning things which may cause a fire disaster, can be used as a kind of effective fire safety equipment.The monitoring that execution and the switching of tracking fire extinguishing intelligent carriage by tracking process and fire extinguishing procedure realizes burning things which may cause a fire disaster, can realize putting out in time of burning things which may cause a fire disaster, from root, removes potential safety hazard, has the advantage that performance is good, cost is low.
Accompanying drawing explanation
Fig. 1 is tracking fire extinguishing intelligent carriage general frame figure of the present invention.
Fig. 2 is power module circuitry figure of the present invention.
Fig. 3 is tracking module circuit diagram of the present invention.
Fig. 4 is fire source probing module circuit diagram of the present invention.
Fig. 5 is tracking function realization flow figure of the present invention.
Fig. 6 is tracking pattern one realization flow figure of the present invention.
Fig. 7 is tracking pattern two realization flow figure of the present invention.
Fig. 8 is fire-extinguishing function concurrently realization flow figure of the present invention.
The specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, a kind of tracking fire extinguishing intelligent carriage, comprises that main control module 11, power module 12, three direct current generators 13, tracking module 14, fire-extinguishing fan 15 and burning things which may cause a fire disaster visit module 16; Described main control module 11 is realized operation and the switching of intelligent carriage tracking process and fire extinguishing procedure; By adjusting the rotating speed of described two direct current generators 13 and rotating, realize the advancing of dolly, retreat and the original place action of spinning; By controlling the rotation of a described direct current generator 13 or stopping realizing the rotation of fire-extinguishing fan 15 or stopping; Described tracking module 14 is comprised of two pairs of infrared tubes, detects track realize directed tracking by two pairs of infrared tubes; Described fire source probing device 16 is comprised of the photo resistance that is evenly arranged on dolly front portion, according to the variation of its resistance value, has determined whether that burning things which may cause a fire disaster exists.
In the present embodiment, the preferred AT80C51 single-chip microcomputer of main control module 11.
As shown in Figure 2, described power module 12 comprises the first electric capacity 21, the second electric capacity 22, resistance 23 and diode 24; Described resistance 23 and diode 24 series connection, then in parallel with the first electric capacity 21 and the second electric capacity 22, realize the stable output of voltage.
As shown in Figure 3, described tracking module 14 is by the first resistance 31, the second resistance 34, the 3rd resistance 35, the 4th resistance 38, the first triode 33, the second triode 37, and first light emitting diode 32, the second light emitting diode 36 form, described the first resistance 31, the first light emitting diode 32 and the first triode 33 are composed in series one group of infrared tube, described the 3rd resistance 35, the second light emitting diode 36 and the second triode 37 are composed in series another group infrared tube, the second resistance 34 and the 4th resistance 38 are connected to the base stage of two triodes, holding circuit; Two groups of infrared tubes are installed in parallel in dolly front end both sides, realize tracking function.
As shown in Figure 4; fire source probing module 16 comprises the 5th resistance 41, the 6th resistance 43, the 7th resistance 44, the 8th resistance 45, the 9th resistance 46 and the first photo resistance 42, the second photo resistance 47; the first photo resistance 42, the second photo resistance 47 are in parallel after connecting with the 7th resistance 44, the 8th resistance 45 respectively forms two fire source probing devices, and the 5th resistance 41, the 6th resistance 43 and the 9th resistance 46 play the effect of holding circuit.
As shown in Figure 5 and Figure 8, a kind of tracking fire extinguishing intelligent carriage control method, concrete steps are as follows:
1), during trolley travelling, first described main control module 11 carries out tracking process, and detects the width of black trace line;
2) according to the relation of distance between two pairs of infrared tubes of black trace line width and tracking module 14, determine that dolly enters tracking pattern one or tracking pattern two: if the distance between two pairs of infrared tubes is greater than black trace line width, enter tracking pattern one, if the distance between two pairs of infrared tubes is less than or equal to black trace line width, enter tracking pattern two, realize tracking function;
3), during near burning things which may cause a fire disaster black trace line being detected, described main control module 11 stops tracking processes, carries out fire extinguishing procedure, and starts fire-extinguishing fan 15.
As shown in Figure 6, the process of described tracking pattern one is: when the distance between two pairs of infrared tubes is greater than the width of black trace line, black trace line is between two pairs of infrared tubes, dolly advances in the time of need to turning left, left side infrared tube can detect black trace line, and send high level signal to main control module 11, main control module 11 is controlled 13 reversions of left side direct current generator, right side direct current generator 13 continues forward, realize dolly, when dolly has turned left, left side infrared tube can't detect black trace line, and send low level signal to main control module 11, illustrate that black trace line is again between two pairs of infrared tubes, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
As shown in Figure 7, the process of described tracking pattern two is: when the distance between two pairs of infrared tubes is less than or equal to black trace line width, two pairs of infrared tubes are between black trace line, dolly advances in the time of need to turning left, right side infrared tube can can't detect black trace line, and send low level signal to main control module 11, main control module 11 is controlled left side direct current generator 13 motor reversals, right side direct current generator 13 continues forward, realize dolly, until right side infrared tube is while black trace line being detected, to main control module 11, send high level signal again, illustrate that two pairs of infrared tubes are between black trace line, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
Take trolley travelling track right side occurs that burning things which may cause a fire disaster is as example, dolly right side light sensor detects burning things which may cause a fire disaster signal, resistance variations signal is converted into voltage change signal, and be converted to signal X through A/D, be sent to main control module 11, through main control module 11, relatively find that X is greater than M, judge that burning things which may cause a fire disaster appears in dolly right side, main control module 11 stops tracking function, main control module 11 is controlled right motor and is stopped operating, left motor is rotated further until left side photo resistance while burning things which may cause a fire disaster signal being detected, main control module 11 judges that burning things which may cause a fire disaster is just in dolly dead ahead, dolly both sides motor all stops operating, and work by the direct current generator that drives chip drives that fire-extinguishing fan 15 is installed, until both sides light sensor all can't detect burning things which may cause a fire disaster, illustrate that dolly realized fire-extinguishing function concurrently, main control chip sends to the direct current generator that fire-extinguishing fan is installed the signal that stops operating, stop fire extinguishing.
Claims (8)
1. a tracking fire extinguishing intelligent carriage, is characterized in that, comprises main control module (11), power module (12), three direct current generators (13), tracking module (14), fire-extinguishing fan (15) and burning things which may cause a fire disaster spy module (16); Described main control module (11) is realized operation and the switching of intelligent carriage tracking process and fire extinguishing procedure; By adjusting the rotating speed of described two direct current generators (13) and rotating, realize the advancing of dolly, retreat and the original place action of spinning; By controlling the rotation of a described direct current generator (13) or stopping realizing the rotation of fire-extinguishing fan (15) or stopping; Described tracking module (14) is comprised of two pairs of infrared tubes, detects track realize directed tracking by two pairs of infrared tubes; Described fire source probing device (16) is comprised of the photo resistance that is evenly arranged on dolly front portion, according to the variation of its resistance value, has determined whether that burning things which may cause a fire disaster exists.
2. tracking fire extinguishing intelligent carriage according to claim 1, is characterized in that, described main control module (11) adopts 8 single-chip microcomputers as control chip.
3. tracking fire extinguishing intelligent carriage according to claim 1, is characterized in that, described power module (12) comprises the first electric capacity (21), the second electric capacity (22), resistance (23) and diode (24); Described resistance (23) and diode (24) series connection, then in parallel with the first electric capacity (21) and the second electric capacity (22), realize the stable output of voltage.
4. tracking according to claim 1 fire extinguishing intelligent carriage, it is characterized in that, described tracking module (14) is by the first resistance (31), the second resistance (34), the 3rd resistance (35), the 4th resistance (38), the first triode (33), the second triode (37), and first light emitting diode (32), the second light emitting diode (36) forms, described the first resistance (31), the first light emitting diode (32) and the first triode (33) are composed in series one group of infrared tube, described the 3rd resistance (35), the second light emitting diode (36) and the second triode (37) are composed in series another group infrared tube, the second resistance (34) and the 4th resistance (38) are connected to the base stage of two triodes, holding circuit, two groups of infrared tubes are installed in parallel in dolly front end both sides, realize tracking function.
5. tracking according to claim 1 fire extinguishing intelligent carriage, it is characterized in that, described fire source probing module (16) comprises the 5th resistance (41), the 6th resistance (43), the 7th resistance (44), the 8th resistance (45), the 9th resistance (46) and the first photo resistance (42), the second photo resistance (47), the first photo resistance (42), the second photo resistance (47) respectively with the 7th resistance (44), two fire source probing devices of formation in parallel after the 8th resistance (45) series connection, the 5th resistance (41), the 6th resistance (43) and the 9th resistance (46) play the effect of holding circuit.
6. a tracking fire extinguishing intelligent carriage control method, is characterized in that, concrete steps are as follows:
1), during trolley travelling, described main control module (11) first carries out tracking process, and detects the width of black trace line;
2) according to the relation of distance between black trace line width and two pairs of infrared tubes of tracking module (14), determine that dolly enters tracking pattern one or tracking pattern two: if the distance between two pairs of infrared tubes is greater than black trace line width, enter tracking pattern one, if the distance between two pairs of infrared tubes is less than or equal to black trace line width, enter tracking pattern two, realize tracking function;
3), during near burning things which may cause a fire disaster black trace line being detected, described main control module (11) stops tracking process, carries out fire extinguishing procedure, and starts fire-extinguishing fan (15).
7. tracking according to claim 6 fire extinguishing intelligent carriage control method, it is characterized in that, the process of described tracking pattern one is: when the distance between two pairs of infrared tubes is greater than the width of black trace line, black trace line is between two pairs of infrared tubes, dolly advances in the time of need to turning left, left side infrared tube can detect black trace line, and send high level signal to main control module (11), main control module (11) is controlled left side direct current generator (13) reversion, right side direct current generator (13) continues forward, realize dolly, when dolly has turned left, left side infrared tube can't detect black trace line, and send low level signal to main control module (11), illustrate that black trace line is again between two pairs of infrared tubes, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
8. tracking according to claim 6 fire extinguishing intelligent carriage control method, it is characterized in that, the process of described tracking pattern two is: when the distance between two pairs of infrared tubes is less than or equal to black trace line width, two pairs of infrared tubes are between black trace line, dolly advances in the time of need to turning left, right side infrared tube can can't detect black trace line, and send low level signal to main control module (11), main control module (11) is controlled left side direct current generator (13) motor reversal, right side direct current generator (13) continues forward, realize dolly, until right side infrared tube is while black trace line being detected, to main control module (11), send high level signal again, illustrate that two pairs of infrared tubes are between black trace line, dolly direction is consistent with black trace line direction, left motor is recovered forward, dolly continues to move along black trace line, when dolly is turned right similarly.
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| CN109116855A (en) * | 2018-09-25 | 2019-01-01 | 湖北师范大学 | A kind of moving trolley tracking control method and system |
| CN110091334A (en) * | 2019-05-31 | 2019-08-06 | 深圳市盛矽电子科技有限公司 | Tracking robot, tracking travel control method, system and medium |
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Application publication date: 20140910 |