CN209253994U - A kind of fire-fighting auxiliary robot - Google Patents
A kind of fire-fighting auxiliary robot Download PDFInfo
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- CN209253994U CN209253994U CN201821907120.XU CN201821907120U CN209253994U CN 209253994 U CN209253994 U CN 209253994U CN 201821907120 U CN201821907120 U CN 201821907120U CN 209253994 U CN209253994 U CN 209253994U
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Abstract
The utility model is suitable for public safety technical field, provides a kind of fire-fighting auxiliary robot, including robot control system, dynamical system and fire-fighting system；Robot control system includes main control module, sensor module, the first image collection module, the second image collection module and network process module；Wherein, main control module is connect with sensor module, the first image collection module and network process module respectively, and network process module is also connect with the second image collection module.The efficiency of fire-fighting and rescue work can be significantly improved by the utility model, while ensureing the safety of fire fighter.
Description
Technical field
The utility model relates to public safety technical field more particularly to a kind of fire-fighting auxiliary robots.
Background technique
It there has been a large amount of automation equipment, such as automatic sprinkler system, cigarette in the primary prevention of fire at present
Fog siren etc..But when fire occurs, it is still necessary to which fire fighter goes to scene to carry out fire-fighting work, to improve fire fighting and rescue effect
Rate, fire fighter can carry some auxiliary devices, such as fire-fighting rack, missing thermal imaging system, fire extinguisher etc..
As it can be seen that existing fire-fighting auxiliary device usually requires fire fighter carries use at the scene, and often do not have certainly
Dynamicization and intelligentized feature, and the fire-fighting auxiliary device that a fire fighter is carried by is difficult to meet the need of fire-fighting and rescue
It asks, so that the low efficiency of fire-fighting and rescue work, risk are high.
Utility model content
The main purpose of the utility model is that a kind of fire-fighting auxiliary robot is proposed, to solve existing fire-fighting auxiliary dress
It is low to set automation, intelligence degree, so that the problem that low efficiency, the risk of fire-fighting and rescue work are high.
To achieve the above object, the utility model embodiment provides a kind of fire-fighting auxiliary robot, including fire-fighting auxiliary
Robot, robot control system, dynamical system and the fire-fighting system being placed in the fire-fighting auxiliary robot；
The robot control system includes that main control module, sensor module, the first image collection module, the second image obtain
Modulus block and network process module；
The main control module is connect with the sensor module, the first image collection module and network process module respectively,
The network process module is also connect with second image collection module；
The sensor module acquisition sensing data and the first image obtain module and acquire the first image data
Afterwards, by the main control module, the sensing data and the first image data are transmitted to the network process module；
Second image collection module acquires the second image data, and is transmitted to the network process module；
The network process module is according to the sensing data, the first image data and second picture number
According to Xiang Suoshu main control module sends instruction, enables the main control module control the dynamical system and fire-fighting system, so that described disappear
Anti- auxiliary robot executes fire-fighting task.
Optionally, the sensor module includes spectrometer, smokescope detection sensor and temperature sensor；
The spectrometer, smokescope detection sensor and the temperature sensor analog-to-digital conversion with the main control module respectively
Interface connection；
The composition of the spectrometer analysis comburant；
The smokescope detection sensor detection gas concentration；
The temperature of temperature sensor the detection environment temperature and the robot.
Optionally, it includes the first camera unit that the first image, which obtains module,；
First camera unit is connect with the first serial of the main control module；
First camera unit obtains flame image information；
The main control module carries out flame analysis according to the flame image information.
Optionally, first camera unit includes machine vision module openmv or infrared thermal imager.
Optionally, second image collection module includes the second camera unit；
USB (Universal Serial Bus, the general serial of second camera unit and the network process module
Bus) interface connection；
Second camera unit obtains ambient image information.
Optionally, the network process module includes Wi-Fi unit, server and terminal device；
USB interface of the USB interface of the Wi-Fi unit as the network process module, is obtained with second image
The connection of modulus block；
The second serial of the Wi-Fi unit is connect with the second serial of the main control module；
The Wi-Fi unit and the terminal device are connect with the server network.
Optionally, the terminal device includes remote controler.
Optionally, the robot control system further includes gas collection module, gas analysis module and audio-frequency module；
The gas collection module is connect with the gas analysis module,
The gas analysis module and the audio-frequency module are connect with the network process module, and send gas composition and
Acoustic information.
Optionally, the dynamical system includes motor, drive module and position sensor；
The position sensor is connect with the network process module, and sends location information.
Optionally, the fire-fighting auxiliary robot includes vehicle bottom structure and robot architecture；
The vehicle bottom structure includes carbon fiber chassis and Mecanum wheel；
The robot architecture includes heat-barrier material, is covered on the robot control system, dynamical system and fire-fighting system
On system.
The utility model embodiment proposes a kind of fire-fighting auxiliary robot, robot control system, dynamical system and fire-fighting
System is set in fire-fighting auxiliary robot, by sensor module in robot control system, the first image collection module,
Second image collection module can obtain in real time all data of scene of fire, and be sent to network process module, so that fire-fighting
Personnel remotely receive above-mentioned data, and remotely send instruction by network process module, then by described in main control module control
Dynamical system and fire-fighting system, so that the fire-fighting auxiliary robot executes fire-fighting task；One fire fighter can be remotely
Multiple above-mentioned fire-fighting auxiliary robots are controlled, when range on fire is larger, the efficiency of fire-fighting and rescue work can be significantly improved,
The safety of fire fighter is ensured simultaneously.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the fire-fighting auxiliary robot that the utility model embodiment one provides；
Fig. 2 is the structural schematic diagram of robot control system in Fig. 1；
Fig. 3 is the structural schematic diagram for the robot control system that the utility model embodiment two provides；
Fig. 4 is the structural schematic diagram for the robot control system that the utility model embodiment three provides.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to limit this
Utility model.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
Herein, using the suffix for indicating such as " module ", " component " or " unit " of element only for advantageous
In the explanation of the utility model, there is no specific meanings for itself.Therefore, " module " can be used mixedly with " component ".
In subsequent description, utility model embodiment sequence number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
Embodiment one
As shown in Figure 1, the utility model embodiment provides a kind of fire-fighting auxiliary robot 100, to realize that fire-fighting is auxiliary
Robot automation, intelligence and long-range control are helped, the efficiency of fire-fighting and rescue work is improved, reduces rescue risk.Fire-fighting auxiliary
Robot 100 includes robot control system 10, dynamical system 20 and fire-fighting system 30.
In the utility model embodiment, robot control system 10 includes but is not limited to main control module 11, sensor die
Block 12, the first image collection module 13, the second image collection module 14 and network process module 15.
As shown in Fig. 2, in the utility model embodiment, in above-mentioned robot control system 10, each module connection relationship is such as
Under:
Main control module 11 is connect with sensor module 12, the first image collection module 13 and network process module 15 respectively,
Network process module 15 is also connect with the second image collection module 14.
In the utility model embodiment, sensor module 12, for acquiring sensing data, wherein sensor module
It may include multiple sensors, and by the control of control module, the items of environment where fire-fighting auxiliary robot can be acquired
Data, such as temperature, gas concentration lwevel, smokescope etc., to react the fire condition of current region.
In a particular application, if current region fire condition is more serious, which is danger zone, passes through master control mould
Block and network process module can react in time gives fire-fighting and rescue personnel, so that it is provided rescue method in time or is carried out and comprehensively rescues
Help preparation.
In a particular application, sensor module may include arbitrary for acquiring the sensor of current environment data,
It is not limited specifically in the utility model embodiment, for example, temperature sensor, smokescope sensor, infrared sensor,
Spectrometer, infrared beam smoke detector etc..
In the utility model embodiment, the first image collection module 13, for acquiring the first image data.It is practical at this
In new embodiment, the second image collection module 14 for acquiring the second image data, and is transmitted to network process module.
In a particular application, the first image collection module and the second image collection module are for obtaining different picture numbers
According to so that the information of different reflection fire conditions is obtained, to improve the efficiency of fire-fighting and rescue；Wherein, different picture number
According to the image data for including two same types based on different images, or the different types of picture number based on same image
According to.
For example, if the first image data and the second image data are the picture number of two same types based on different images
According to when, can show themselves in that
When obtaining the image of fire-fighting and rescue apparatus right by the first image collection module, the second image collection module is obtained
The image of fire-fighting and rescue apparatus left identifies it after obtaining multi-faceted image, to plan fire-fighting and rescue apparatus
Travelling route avoids the image of folk prescription position from causing fire-fighting and rescue apparatus rescue route unreasonable, the problem of omission.
In the utility model embodiment, main control module 11 is used for conversion sensor data and the first image data, and passes
Transport to network process module.
In a particular application, sensing data provided by sensor module is usually electric signal, needs to carry out modulus and turns
It changes, is transmitted after being uniformly converted to digital signal, and main control module provides this analog-digital conversion function, it is therefore desirable to pass through master control
Module is transmitted to network process module again.
In a particular application, it in the first image collection module and the second image collection module, can choose one of them
Image collection module is as normally opened image collection module, another image collection module can pass through main control module control at this time
Its working condition is made, the electricity of fire-fighting auxiliary robot is saved.
In the utility model embodiment, network process module 15, for according to sensing data, the first image data and
Second image data sends to main control module and instructs, and enables main control module control dynamical system and fire-fighting system, so that fire-fighting assists
Robot executes fire-fighting task.
It in a particular application, can be according to sensing data, the first image data and the second image in network process module
Data analyze the fire condition around fire-fighting auxiliary robot, and provide fire fighting scheme, send and instruct to main control module, to grasp
Make the dynamical system on fire-fighting auxiliary robot and cause it to move to designated position, while controlling the fire-fighting on fire-fighting auxiliary robot
System makes it execute fire-fighting task, puts out a fire.
In a particular application, according to sensing data, the first image data and the second analysis of image data fire-fighting auxiliary machine
Fire condition around device people, and fire fighting scheme is provided, the side for setting command content can be server, be also possible to terminal
Equipment does not limit it specifically in the utility model embodiment.
In the utility model embodiment, dynamical system 20 may include motor, drive module and position sensor；Its
In, position sensor is connect with network process module, and sends location information.
In a particular application, in dynamical system each component selection, should from vehicle model structure and control accuracy requirement go out
Hair, firstly, since motor requires torque big, speed is fast, and precision is higher, can choose use in the utility model embodiment
M3508 decelerating motor, configuration possess FOC (Field-oriented Control, magnetic field steering control) control technology
C620 electricity tune.And embedded position sensor can accurate feedback motor rotor position, so that fire-fighting auxiliary robot is maintained at high
It controls under precision.
In one embodiment, fire-fighting auxiliary robot 10 includes vehicle bottom structure and robot architecture；Wherein, vehicle bottom structure
Including carbon fiber chassis and Mecanum wheel；Robot architecture includes heat-barrier material, is covered on robot control system, dynamical system
On system and fire-fighting system.
In a particular application, the main body of fire-fighting auxiliary robot is set as car-like robots, convenient for implementing in scene of fire
The work of range, bottom structure mainly include chassis and wheel, wherein chassis can increase intensity using carbon fiber board, adopt
It can be realized quick rotation positioning with Mecanum wheel；Meanwhile using heat-barrier material to robot control system, dynamical system
It is protected with fire-fighting system, it is ensured that fire-fighting auxiliary robot can pass in and out safely the scene of a fire, and upload useful, crucial information.
In one embodiment, fire-fighting system 30 is to include arbitrary extinguishing device, such as gas storage vial-type fire extinguisher etc..It is logical
Small fire can be put out by crossing this fire-fighting system, prevented propagation of flame trend or prevented re-ignition.
In a particular application, the extinguishing chemical of cylinder and driving gas are stored respectively, when fire extinguishing, the bottle drain pressure of gas storage
Gas pours extinguishing chemical storeroom, takes extinguishing chemical out of.It is added with dry powder in extinguishing chemical, dry powder is a kind of drying, readily flowed
Micro-solid powder comprising the additives composition such as the base-material and anti-blushing agent of fire extinguishing, flow improver additive, anticaking agent.
Fire-fighting auxiliary robot provided by the embodiment of the utility model, including robot control system, dynamical system and disappear
Anti- system, can by sensor module, the first image collection module, the second image collection module in robot control system
The all data of scene of fire is obtained in real time, and is sent to network process module, so that fire fighter remotely receives above-mentioned data,
And instruction is remotely sent by network process module, the dynamical system and fire-fighting system are then controlled by main control module, with
Fire-fighting auxiliary robot is set to execute fire-fighting task；One fire fighter can remotely control multiple above-mentioned fire-fighting auxiliary machineries
People can significantly improve the efficiency of fire-fighting and rescue work when range on fire is larger, while ensure the safety of fire fighter.
Embodiment two
The utility model embodiment illustratively proposes fire-fighting auxiliary based on the fire-fighting auxiliary robot in embodiment one
The structure composition of each module of robot control system in robot.
As shown in figure 3, the fire-fighting auxiliary robot 100 that the utility model embodiment proposes, robot control system 10
In, sensor module 12 includes spectrometer 121, smokescope detection sensor 122 and temperature sensor 123.
Wherein, spectrometer 121, smokescope detection sensor 122 and temperature sensor 123 respectively with main control module 11
The connection of analog-to-digital conversion interface.
In the utility model embodiment, spectrometer 121, for analyzing the composition of comburant.
In the utility model embodiment, smokescope detection sensor 122, for detecting smokescope.
In the utility model embodiment, temperature sensor 123, for detecting the temperature of environment temperature and robot.
In a particular application, by spectrometer, smokescope detection sensor and the temperature sensor in sensor module,
Temperature, smokescope and comburant can be returned in real time into grading information, auxiliary judgment fire trend and fire location, ensured
Fire-fighting and rescue work is safely unfolded in fire fighter.
As shown in figure 3, first image collection module 13 includes including the first camera unit in robot control system 10
131。
Wherein, the first serial of the first camera unit and main control module connects；
In the utility model embodiment, the first camera unit, for obtaining flame image information；Main control module is according to fire
Flame image information carries out flame analysis.
In one embodiment, the first camera unit includes machine vision module openmv or infrared thermal imager.
In a particular application, using machine vision module openmv or infrared thermal imager, fire-fighting auxiliary robot is acquired
Front view field image, reduction exposure value is carried out to it, detection light emitting region, closes the processing such as white balance, to eliminate environment
The interference of light；Can also carry out enhancing contrast, enhancing saturation degree, reduce the processing such as brightness, thus improve picture quality, make it is red
Light is prominent, is finally identified using the most abundant LAB color model of the most wide color of colour gamut to feux rouges, determines fire-fighting auxiliary machinery
Whether the front of people has flame.Wherein, more convenient and accurate using infrared thermal imager identification flame.
As shown in figure 3, second image collection module 14 includes including the second camera unit in robot control system 10
141。
Wherein, the second camera unit 141 is connect with the USB interface of network process module 15；
In the utility model embodiment, the second camera unit 141, for obtaining ambient image information.
In a particular application, by the first image collection module and the second image collection module to fire-fighting auxiliary robot week
The picture enclosed returned and identified, in conjunction with the sensing data in sensor module, can greatly reduce find fire source when
Between, improve the efficiency of fire-fighting and rescue work.
As shown in figure 3, network process module 15 includes Wi-Fi unit 151, server 152 in robot control system 10
With terminal device 153.
Wherein, USB interface of the USB interface of Wi-Fi unit 251 as network process module 15 is obtained with the second image
Module 14 connects；The second serial of Wi-Fi unit 151 is connect with the second serial of main control module 11；Wi-Fi unit 151 and end
End equipment 153 and server 152 are connected to the network.
In the utility model embodiment, Wi-Fi unit 151 is used for data collected in fire-fighting auxiliary robot
It is sent to server.
In a particular application, the realization of Wi-Fi module can route XRbot- using small R science and technology Openwrt7620
Link5, the module are a highly integrated WLAN solutions using MTK7620N master chip.The module meets state
The 802.11b/g/n agreement of border standard, using DSSS, (Direct Sequence Spread Spectrum, direct sequence expand
Frequently), OFDM (Orthogonal Frequency Division Multiplexing, orthogonal frequency division multiplexi), BPSK
(Binary Phase Shift Keying, binary phase shift keying), QPSK (Quadrature Phase Shift Keyin,
Quadrature phase shift keying), CCK (Complementary Code Keying, complementary code keying) and QAM (Quadrature
Amplitude Modulation, quadrature amplitude modulation) baseband modulation technique, can the equipment such as adaptive router without thermal relief
Point.Maximum connection speed is up to 300Mbps.
In the utility model embodiment, server 152 will be in fire-fighting auxiliary robot for connecting terminal device
Data are transferred to terminal device, while sending the instruction in terminal device to Wi-Fi module；In addition, server can be also used for
Programmed algorithm is stored, sends and instructs from trend Wi-Fi module, control fire-fighting auxiliary robot work.Such as work as temperature
When the data of sensor are more than the value of setting, server sends from trend Wi-Fi module and instructs, and controls fire-fighting by main control module
System carries out fire-fighting work.
In the utility model embodiment, terminal device 153, for being provided in fire-fighting auxiliary robot to fire fighter
Data, fire fighter also pass through terminal device and send instruction to Wi-Fi unit.
In a particular application, by Wi-Fi unit, server and the terminal device in network process module, fire-fighting is realized
The long-range control of auxiliary robot,.
In one embodiment, terminal device includes remote controler, is directly controlled by remote controler to main control module transmission and is referred to
It enables.
In a particular application, remote controler is possessed using this rich i6s remote controler using 2A for automatic frequency adjustment digital display circuit
10 channels, measuring distance reach 1000m.
Fire-fighting auxiliary robot provided by the embodiment of the utility model is integrated with a variety of sensings in robot control system
Device obtains sensing data, in combination with different the first image collection module and the second image collection module is acted on, greatly
The time for finding fire source is reduced, the efficiency of fire-fighting and rescue work is improved.
Embodiment three
In conjunction with the embodiments one and embodiment two provided by fire-fighting auxiliary robot, the utility model embodiment provides one
Kind fire-fighting auxiliary robot 200, including robot control system 10,20 and of dynamical system in such as embodiment one and embodiment two
Fire-fighting system 30.
Wherein, robot control system 10 include main control module 11, sensor module 12, the first image collection module 13,
Second image collection module 14 and network process module 15 can also include but is not limited to gas collection module 16, gas analysis
Module 17 and audio-frequency module 18, to improve the function of fire-fighting auxiliary robot.
Main control module 11, sensor module 12, first in the utility model embodiment, in robot control system 10
Image collection module 13, the second image collection module 14 and network process module 15, dynamical system 20, the function of fire-fighting system 30
It is identical as the function and structure in above-described embodiment one and embodiment two with structure, it repeats no more.
In the utility model embodiment, gas collection module is connect with gas analysis module, the gas analysis module
It is connect with the audio-frequency module with the network process module, and sends gas composition and acoustic information.
In a particular application, the gas in gas collection module collection fire is returned in fire-fighting auxiliary robot from the scene of a fire
Afterwards, scene of a fire comburant can be detected by gas analysis module.
In a particular application, audio-frequency module can include but is not limited to microphone and loudspeaker, and it is existing to be used to pass back fire
The sound of field sees if there is people's calling for help.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although aforementioned reality
Example is applied the utility model is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and model of various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of fire-fighting auxiliary robot, which is characterized in that including robot control system, dynamical system and fire-fighting system；
The robot control system includes main control module, sensor module, the first image collection module, the second image acquisition mould
Block and network process module；
The main control module is connect with the sensor module, the first image collection module and network process module respectively, described
Network process module is also connect with second image collection module；
After the sensor module acquisition sensing data and the first image obtain module the first image data of acquisition, lead to
The main control module is crossed, the sensing data and the first image data are transmitted to the network process module；
Second image collection module acquires the second image data, and is transmitted to the network process module；
The network process module according to the sensing data, the first image data and second image data, to
The main control module sends instruction, enables the main control module control the dynamical system and fire-fighting system, so that the fire-fighting is auxiliary
Robot is helped to execute fire-fighting task.
2. fire-fighting auxiliary robot as described in claim 1, which is characterized in that the sensor module includes spectrometer, cigarette
Mist concentration detection sensor and temperature sensor；
The spectrometer, smokescope detection sensor and temperature sensor respectively with the analog-to-digital conversion interface of the main control module
Connection；
The composition of the spectrometer analysis comburant；
The smokescope detection sensor detection gas concentration；
The temperature of temperature sensor the detection environment temperature and the robot.
3. fire-fighting auxiliary robot as described in claim 1, which is characterized in that it includes first that the first image, which obtains module,
Camera unit；
First camera unit is connect with the first serial of the main control module；
First camera unit obtains flame image information；
The main control module carries out flame analysis according to the flame image information.
4. fire-fighting auxiliary robot as claimed in claim 3, which is characterized in that first camera unit includes machine vision
Module openmv or infrared thermal imager.
5. fire-fighting auxiliary robot as described in claim 1, which is characterized in that second image collection module includes second
Camera unit；
Second camera unit is connect with the USB interface of the network process module；
Second camera unit obtains ambient image information.
6. fire-fighting auxiliary robot as described in claim 1, which is characterized in that the network process module includes Wi-Fi mono-
Member, server and terminal device；
USB interface of the USB interface of the Wi-Fi unit as the network process module obtains mould with second image
Block connection；
The second serial of the Wi-Fi unit is connect with the second serial of the main control module；
The Wi-Fi unit and the terminal device are connect with the server network.
7. fire-fighting auxiliary robot as claimed in claim 6, which is characterized in that the terminal device includes remote controler.
8. fire-fighting auxiliary robot as described in claim 1, which is characterized in that the robot control system further includes gas
Collection module, gas analysis module and audio-frequency module；
The gas collection module is connect with the gas analysis module,
The gas analysis module and the audio-frequency module are connect with the network process module, and send gas composition and sound
Information.
9. fire-fighting auxiliary robot as described in claim 1, which is characterized in that the dynamical system includes motor, driving mould
Block and position sensor；
The position sensor is connect with the network process module, and sends location information.
10. fire-fighting auxiliary robot as described in claim 1, which is characterized in that the fire-fighting auxiliary robot includes vehicle bottom
Structure and robot architecture；
The vehicle bottom structure includes carbon fiber chassis and Mecanum wheel；
The robot architecture includes heat-barrier material, is covered in the robot control system, dynamical system and fire-fighting system.
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| CN201821907120.XU CN209253994U (en) | 2018-11-19 | 2018-11-19 | A kind of fire-fighting auxiliary robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200510A (en) * | 2018-11-19 | 2019-01-15 | 深圳大学 | A kind of fire-fighting auxiliary robot |
| US11346938B2 (en) | 2019-03-15 | 2022-05-31 | Msa Technology, Llc | Safety device for providing output to an individual associated with a hazardous environment |
-
2018
- 2018-11-19 CN CN201821907120.XU patent/CN209253994U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200510A (en) * | 2018-11-19 | 2019-01-15 | 深圳大学 | A kind of fire-fighting auxiliary robot |
| US11346938B2 (en) | 2019-03-15 | 2022-05-31 | Msa Technology, Llc | Safety device for providing output to an individual associated with a hazardous environment |
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