CN205073568U - Fire control search and rescue robot that puts out a fire - Google Patents
Fire control search and rescue robot that puts out a fire Download PDFInfo
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- CN205073568U CN205073568U CN201520842732.5U CN201520842732U CN205073568U CN 205073568 U CN205073568 U CN 205073568U CN 201520842732 U CN201520842732 U CN 201520842732U CN 205073568 U CN205073568 U CN 205073568U
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Abstract
The utility model provides a fire control search and rescue robot that puts out a fire, includes as the the robot of carrier and sets up in the the robot, the sensor module, fire suppression control module and the main control unit that keep the electricity to connect in proper order, and with the robot connects fixedly, angle and height -adjustable's extinguishing device. The utility model provides a fire control search and rescue robot that puts out a fire, key handle the difficult point of putting out a fire in, can be under the complicated circumstances of conflagration, collect the various hazards of surrounding environment, the high integration of multiple detection module under guaranteeing that self equipment can working prerequisite, substitutes the fire fighter and gets into the conflagration depths and search and rescue location work, has simple structure, strong adaptability's characteristics.
Description
Technical field
The utility model relates to fire-extinguishing apparatus field, and particularly relating to one can automatic detection surrounding environment degree of danger, structure simply, the fire-fighting fire extinguishing search and rescue robot of the stronger various rugged environment of adaptation.
Background technology
Complicated due to people's living environment, will bring about great losses if modern fire is puted out a fire to save life and property not in time.Some fire is lit the passion complexity, completely comparatively difficult with fireman manual extinguishing.If assist fireman to carry out fire-fighting work with firefighting robot, the difficult vanishing point of emphasis process, can effectively control the dangerous circumstances and reduce casualties.So scene of fire fire fighter is difficult to the position reached or danger is higher, just can substitute with firefighting robot.China to begin one's study firefighting robot from the eighties latter stage, and wherein Shanghai Fire Research Station etc. achieve comparatively outstanding achievement in the research process of firefighting robot." self propelled monitor " commercially can have been bought, and " crawler detection robot " also have passed national acceptance.But be also in the starting stage at China's firefighting robot, also have a lot of problem to require further improvement and continue further investigation.
Application number is CN201520192508, name is called in a kind of patent of self-extinguishing search and rescue robot, disclose and comprise robot automobile body, road wheel and fire extinguisher, road wheel drives walking by motion motor, fire extinguisher opens by starter motor or cuts out, fire extinguisher is rotated in the horizontal direction by direction driven by motor, vehicle body front side is provided with flame detection sensor, detection signal is passed to single-chip microcomputer, and emergency voice signal can be detected by language identification module, and positioned by the person for help of wireless communication module to scene of fire, be beneficial to implement further rescue action accurately and effectively.
Firefighting robot in above-mentioned patented technology, although fireman can be assisted to a certain extent to carry out fire-fighting work, emphasis process fire extinguishing difficult point, meanwhile, reduce the injures and deaths of personnel to a certain extent, but simply can only carry out set fire extinguishing scheme according to the scheme preset, various situations more complicated inside fire cannot be met, there is many weak points, such as the aspect such as intellectuality is strong not, complex structure, flexibility are poor.
In sum, need a kind of fire-fighting fire extinguishing badly and collect robot, while emphasis process fire extinguishing difficult point, can under fire comparatively complicated situation, collect the various hazards of surrounding environment, multiple detecting module height is integrated, is ensureing under the prerequisite that equipment of itself can run well, alternative fireman enters fire depths and carries out search and rescue positioning work, has simple, the adaptable feature of structure.
Utility model content
For the problems referred to above that prior art exists, the purpose of this utility model is to provide a kind of fire-fighting fire extinguishing search and rescue robot, while emphasis process fire extinguishing difficult point, can under fire comparatively complicated situation, collect the various hazards of surrounding environment, multiple detecting module height is integrated, is ensureing under the prerequisite that equipment of itself can run well, alternative fireman enters fire depths and carries out search and rescue positioning work, has simple, the adaptable feature of structure.
For realizing above-mentioned utility model object, the utility model provides a kind of fire-fighting fire extinguishing search and rescue robot, comprise the robot body as carrier, with be arranged in described robot body, keep the sensor assembly, fire extinguishing control module and the master controller that are electrically connected successively, and be connected and fixed with described robot body, angle and adjustable for height extinguishing device.
Preferably, described robot body comprises the power module be fixed on car body, drive and control the motion-control module of car body walking, and retain the communication module of wireless connections with command centre, and the video module of fire video acquisition can be carried out, sound identification module and the display module that can carry out human-computer interactive control of speech recognition, wherein, power module, motion-control module, communication module, video module, sound identification module and display module are all electrically connected with described master controller.
Preferably, described sound identification module adopts LD3320 voice recognition chip to be main speech recognition module, and this integrated chip voice recognition processor and some external circuits, comprise ADC, DAC, microphone interface, voice output interface.
Preferably, institute's predicate communication module is adopt nRF905 radio transmitting and receiving chip to be main device.
Preferably, described sensor assembly also comprises the temperature sensor for detection of fires scene temperature, is used for finding the UV sensor of burning things which may cause a fire disaster, and convenient at scene of fire walking, the effectively range sensor of detection and avoiding obstacles.
Preferably, described UV sensor is adopt R2868 flame sensor to be the sensor of main devices.
Preferably, described range sensor is laser range sensor.
Preferably, described fire extinguishing control module comprises the dry powder jet module for controlling dry-chemical fire extinguishing, with the giant jet module that changeable water under high pressure is put out a fire, wherein, described dry powder jet module also comprises the angular adjustment module regulating dry powder injection apparatus angle, and described giant jet module also comprises the giant angular adjustment module controlling giant angle.
Preferably, described extinguishing device comprises the fixed pedestal be connected with described robot body, the driving mechanism of more than at least 2 rotatable or translations and mechanical arm, and be arranged on powder nozzle and the giant nozzle of described mechanical arm tail end, wherein, be connected and fixed by described fixed pedestal and robot body between described mechanical arm, described driving mechanism is fixed on described fixed pedestal.
Preferably, described mechanical arm comprises rotatable fixing fixed arm, and one end is limited on described fixed arm, control arm moving up and down.
In sum, a kind of fire-fighting fire extinguishing search and rescue robot is provided in the utility model disclosed embodiment, while emphasis process fire extinguishing difficult point, can under fire comparatively complicated situation, collect the various hazards of surrounding environment, multiple detecting module height is integrated, is ensureing under the prerequisite that equipment of itself can run well, alternative fireman enters fire depths and carries out search and rescue positioning work, has the advantages that structure is simple, adaptable.
Accompanying drawing explanation
Accompanying drawing to be herein merged in description and to form the part of this description, shows and meets embodiment of the present disclosure, and is used from description one and explains principle of the present disclosure.
Fig. 1 is the structural representation of a kind of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment;
Fig. 2 is the control system composition diagram of a kind of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment;
Fig. 3 is the circuit diagram of a kind of sound identification module for fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment;
Fig. 4 is the principle schematic of a kind of range sensor for fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment;
Fig. 5 is a kind of structural representation being adapted to the mechanical arm of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the utility model, is not limited to the utility model.Therefore, those of ordinary skill in the art will be appreciated that, can make various change and amendment, and can not deviate from scope and spirit of the present utility model to the embodiment of description here.Equally, for clarity and conciseness, the description to known function and structure is eliminated in following description.
Fig. 1 is the structural representation of a kind of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment; Fig. 2 is the control system composition diagram of a kind of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment; Fig. 3 is the circuit diagram of a kind of sound identification module for fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment; Fig. 4 is the principle schematic of a kind of range sensor for fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment; Fig. 5 is a kind of structural representation being adapted to the mechanical arm of fire-fighting fire extinguishing search and rescue robot according to exemplary partial embodiment.
As depicted in figs. 1 and 2, this fire-fighting fire extinguishing search and rescue robot, comprise the robot body 10 as carrier, with be arranged in robot body 10, keep the sensor assembly 20, fire extinguishing control module 30 and the master controller 50 that are electrically connected successively, and be connected and fixed with robot body 10, angle and adjustable for height extinguishing device 40.Collected by sensor assembly 20 and feed back extraneous various parameters, feeding back to master controller 50, by the Analysis and judgments of main control 50, controlling fire extinguishing control module 30, driving circumference or the axially-movable of fire extinguishing loading 40, thus realize effective fire extinguishing.
Further, robot body 10 comprises the power module 11 be fixed on car body, drive and control the motion-control module 12 of car body walking, and retain the communication module 13 of wireless connections with command centre, and the video module 14 of the ready-made video acquisition of fire can be carried out, with sound identification module 15 and the display module 16 that can carry out human-computer interactive control of speech recognition, wherein, power module 11, motion-control module 12, communication module 13, video module 14, sound identification module 15 and display module 16 are all electrically connected with master controller 50.
Preferably, in order to improve the search and rescue ability under the noisy environment of scene of fire, strengthen the speech recognition capabilities that fire-fighting fire extinguishing collects robot, sound identification module 15 adopts LD3320 voice recognition chip to be main speech recognition module, this integrated chip voice recognition processor and some external circuits, comprise ADC, DAC, microphone interface, voice output interface etc., directly can be integrated in existing product, the functions such as speech recognition, acoustic control, human-computer dialogue can be realized.As shown in Figure 3, chip adopts 48 pin QFN Plastic Package to its circuit, and work power supply is 3.3V, and its core is speech recognition arithmetic unit, coordinates the modules such as input, output, AD/DA conversion, completes the function of speech recognition.LD3320 also supports parallel and serial line interface, and serial mode can simplify the connection with other modules.Also sound identification module can be adopted to adopt 16 Ling Yang SPCE061A single-chip microcomputers, this single-chip microcomputer embedded 32K word flash memory, 2K word SRAM, built-in 10 ADC, DAC, have the interrupt source of nearly 14.Its CPU core adopts 16 microprocessor chips with DSP function, and CPU can most high workload under the dominant frequency of 49MHz, complicated data signal can be processed easily, rapidly.
As optional embodiment, if robot recognizes calling for help person by sound identification module 15 in fire extinguishing procedure, then need the rescue personnel calling for help person's information in the scene of a fire be sent to outside the scene of a fire, be convenient to further rescue, communication module 13 is adopt nRF905 radio transmitting and receiving chip to be main device, and this chip volume is little, peripheral cell quantity needed for chip is few, launch that power consumption is lower, antijamming capability strong, long transmission distance (can reach hundreds of rice farthest), be convenient to embedded system and use.
Further, in order to can after the actual conditions grasping scene of fire timely, the assessment fire internal environment of multiple angle, and can effectively help fire-fighting fire extinguishing search and rescue robot to move flexibly under scene of fire extremely rugged environment, sensor assembly 20 also comprises the temperature sensor 21 for detection of fires scene temperature, be used for finding the UV sensor 22 of burning things which may cause a fire disaster, and convenient at scene of fire walking, the effectively range sensor 23 of detection and avoiding obstacles.
On the basis of above embodiment, in a kind of detailed description of the invention, in order to find the cradle of fire accurately and efficiently, reduce visible ray to the interference of sensor, any visible ray need not be filtered, can produce at Mars and find exactly instantaneously, and to the object that the corona phenomenon of the high-transmission of non-visible light can be removed completely, UV sensor 22 is adopt R2868 flame sensor to be the sensor of main devices.
Further, in order to adapt to scene of fire extremely complex environment situation, overcome the occasion that the transducer of target to be measured and sensor is not perpendicular, overcome that thermograde is comparatively large, obstacle distance is comparatively far away and the Protean harsh environmental effects of color, realize range measurement accurately, be convenient to robot move flexibly, range sensor 23 is laser range sensor.As shown in Figure 4, about concrete implementation procedure and principle, this should be easy to contemplate its principle for those skilled in the art, therefore this is no longer going to repeat them.
Further, fire extinguishing control module 30 comprises the dry powder jet module 31 for controlling dry-chemical fire extinguishing, with the giant jet module 32 that changeable water under high pressure is put out a fire, wherein, in order to improve the efficiency of fire extinguishing, improve the efficiency of fire extinguishing, dry powder jet module 31 also comprises the angular adjustment module regulating dry powder injection apparatus angle, and giant jet module 32 also comprises the giant angular adjustment module controlling giant angle.
As optional embodiment, in order to the function making extinguishing device 40 have multiple adjustable angle, extinguishing device 40 comprises the fixed pedestal 41 be connected with robot body 10, the driving mechanism 42 of more than at least 2 rotatable or translations and mechanical arm 43, and be arranged on powder nozzle 44 and the giant nozzle 45 of mechanical arm 43 end, wherein, be connected and fixed by fixed pedestal 41 and robot body 10 between mechanical arm 43, driving mechanism 42 is fixed on fixed pedestal 41, under the drive of driving mechanism 42, can around fixed pedestal 41 upper and lower translation, or rotate in a circumferential direction, the powder nozzle 44 and the giant nozzle 45 that make to be fixed on control arm 43 end are more flexible, thus adapt to more complicated fire extinguishing environment, expand the scope of fire extinguishing further.
As described in Figure 5, on the basis of above-described embodiment, in a kind of specific embodiment, mechanical arm 43 comprises rotatable fixed arm 431, and one end is limited on fixed arm 431, control arm 432 moving up and down.By logical operation and the control of control module 30 of putting out a fire, one or more control arm 432 of selective actuation, thus realize being fixed on the powder nozzle 44 of end and the position of giant nozzle 45 and orientation can with 5 or more the frees degree (rotary freedoms of such as 2 translation freedoms and 2 or more), extend the flexibility being fixed on powder nozzle 44 on control arm 43 end and high pressure nozzle 45 greatly, what make fire-fighting fire extinguishing search and rescue robot can be competent at more severe fire hazard environment.
Although the utility model with preferred embodiment openly as above; but it is not for limiting the utility model; any those skilled in the art are not departing from spirit and scope of the present utility model; the Method and Technology content of above-mentioned announcement can be utilized to make possible variation and amendment to technical solutions of the utility model; therefore; every content not departing from technical solutions of the utility model; the any simple modification done above embodiment according to technical spirit of the present utility model, equivalent variations and modification, all belong to the protection domain of technical solutions of the utility model.
Claims (10)
1. a fire-fighting fire extinguishing search and rescue robot, it is characterized in that, comprise the robot body as carrier, with be arranged in described robot body, keep the sensor assembly, fire extinguishing control module and the master controller that are electrically connected successively, and be connected and fixed with described robot body, angle and adjustable for height extinguishing device.
2. fire-fighting fire extinguishing search and rescue robot according to claim 1, it is characterized in that, described robot body comprises the power module be fixed on car body, drive and control the motion-control module of car body walking, and retain the communication module of wireless connections with command centre, and the video module of fire video acquisition can be carried out, sound identification module and the display module that can carry out human-computer interactive control of speech recognition, wherein, power module, motion-control module, communication module, video module, sound identification module and display module are all electrically connected with described master controller.
3. fire-fighting fire extinguishing search and rescue robot according to claim 2, it is characterized in that, described sound identification module adopts LD3320 voice recognition chip to be main speech recognition module, this integrated chip voice recognition processor and some external circuits, comprise ADC, DAC, microphone interface, voice output interface.
4. fire-fighting fire extinguishing search and rescue robot according to claim 2, is characterized in that, described communication module is adopt nRF905 radio transmitting and receiving chip to be main device.
5. fire-fighting fire extinguishing search and rescue robot according to claim 1, it is characterized in that, described sensor assembly also comprises the temperature sensor for detection of fires scene temperature, be used for finding the UV sensor of burning things which may cause a fire disaster, and it is convenient at scene of fire walking, the effectively range sensor of detection and avoiding obstacles.
6. fire-fighting fire extinguishing search and rescue robot according to claim 5, is characterized in that, described UV sensor is adopt R2868 flame sensor to be the sensor of main devices.
7. fire-fighting fire extinguishing search and rescue robot according to claim 5, is characterized in that, described range sensor is laser range sensor.
8. fire-fighting fire extinguishing search and rescue robot according to claim 1, it is characterized in that, described fire extinguishing control module comprises the dry powder jet module for controlling dry-chemical fire extinguishing, with the giant jet module that changeable water under high pressure is put out a fire, wherein, described dry powder jet module also comprises the angular adjustment module regulating dry powder injection apparatus angle, and described giant jet module also comprises the giant angular adjustment module controlling giant angle.
9. fire-fighting fire extinguishing search and rescue robot according to claim 1, it is characterized in that, described extinguishing device comprises the fixed pedestal be connected with described robot body, the driving mechanism of more than at least 2 rotatable or translations and mechanical arm, and be arranged on powder nozzle and the giant nozzle of described mechanical arm tail end, wherein, be connected and fixed between described mechanical arm by described fixed pedestal and robot body, described driving mechanism is fixed on described fixed pedestal.
10. fire-fighting fire extinguishing search and rescue robot according to claim 9, is characterized in that, described mechanical arm comprises rotatable fixing fixed arm, and one end is limited on described fixed arm, control arm moving up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520842732.5U CN205073568U (en) | 2015-10-27 | 2015-10-27 | Fire control search and rescue robot that puts out a fire |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520842732.5U CN205073568U (en) | 2015-10-27 | 2015-10-27 | Fire control search and rescue robot that puts out a fire |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666493A (en) * | 2016-03-29 | 2016-06-15 | 天津工业大学 | Intelligent fire-fighting robot |
| CN105702106A (en) * | 2016-04-22 | 2016-06-22 | 广东技术师范学院 | Teaching robot control system |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional probe vehicle based on wireless control and video transmission |
| CN106139481A (en) * | 2016-07-31 | 2016-11-23 | 徐州神威消防器材有限公司 | A kind of novel intelligent fire-fighting giant ejecting gun head |
| CN107626062A (en) * | 2017-10-24 | 2018-01-26 | 青岛理工大学 | A kind of fire-fighting linkage control system based on intelligent locomotive |
| CN107875552A (en) * | 2017-11-22 | 2018-04-06 | 陆汉明 | A kind of intelligent and safe robot |
| CN109091782A (en) * | 2018-06-16 | 2018-12-28 | 佛山市豪洋电子有限公司 | A kind of family's firefighting robot |
| CN110507936A (en) * | 2019-08-14 | 2019-11-29 | 燕山大学 | Four-wheel foot formula investigates rescue robot |
| CN111544810A (en) * | 2020-04-24 | 2020-08-18 | 西安交通大学 | Intelligent disaster relief vehicle based on MESH network and applied to tunnel |
| CN112216058A (en) * | 2020-10-16 | 2021-01-12 | 诸城宏远安防科技有限公司 | Ultraviolet light intensity detection system for logistics storage fire prevention |
| CN112458982A (en) * | 2020-11-14 | 2021-03-09 | 徐州易尔环保科技有限公司 | Road cleaning is with multi-functional small-size sanitation washing car |
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
-
2015
- 2015-10-27 CN CN201520842732.5U patent/CN205073568U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666493A (en) * | 2016-03-29 | 2016-06-15 | 天津工业大学 | Intelligent fire-fighting robot |
| CN105702106A (en) * | 2016-04-22 | 2016-06-22 | 广东技术师范学院 | Teaching robot control system |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional probe vehicle based on wireless control and video transmission |
| CN106139481A (en) * | 2016-07-31 | 2016-11-23 | 徐州神威消防器材有限公司 | A kind of novel intelligent fire-fighting giant ejecting gun head |
| CN107626062A (en) * | 2017-10-24 | 2018-01-26 | 青岛理工大学 | A kind of fire-fighting linkage control system based on intelligent locomotive |
| CN107875552A (en) * | 2017-11-22 | 2018-04-06 | 陆汉明 | A kind of intelligent and safe robot |
| CN109091782A (en) * | 2018-06-16 | 2018-12-28 | 佛山市豪洋电子有限公司 | A kind of family's firefighting robot |
| CN110507936A (en) * | 2019-08-14 | 2019-11-29 | 燕山大学 | Four-wheel foot formula investigates rescue robot |
| CN111544810A (en) * | 2020-04-24 | 2020-08-18 | 西安交通大学 | Intelligent disaster relief vehicle based on MESH network and applied to tunnel |
| CN112216058A (en) * | 2020-10-16 | 2021-01-12 | 诸城宏远安防科技有限公司 | Ultraviolet light intensity detection system for logistics storage fire prevention |
| CN112458982A (en) * | 2020-11-14 | 2021-03-09 | 徐州易尔环保科技有限公司 | Road cleaning is with multi-functional small-size sanitation washing car |
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
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