CN105096507B - Fire-fighting robot video-aware inspection warning device and inspection alarm method - Google Patents
Fire-fighting robot video-aware inspection warning device and inspection alarm method Download PDFInfo
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- CN105096507B CN105096507B CN201510409115.0A CN201510409115A CN105096507B CN 105096507 B CN105096507 B CN 105096507B CN 201510409115 A CN201510409115 A CN 201510409115A CN 105096507 B CN105096507 B CN 105096507B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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Abstract
The present invention relates to a kind of fire-fighting robot video-aware inspection warning device and inspection alarm method.The deficiencies in the prior art are solved, technical scheme is：Positioning tag sensor receiver is electrically connected with control centre of robot, video acquisition align member and heat transfer agent acquisition module are communicated to connect with remote control service end, remote control service end is communicated to connect by signal instruction receiver module with control centre of robot, control centre of robot is electrically connected by drive control center module with executing agency, motion positions feedback module is disposed in executing agency, motion positions feedback module is communicated to connect with remote control service end, the front upper surface of car body is fixed with equipment installation portion, heat transfer agent acquisition module is fixed in equipment installation portion, video acquisition align member includes being fixed on the thermal infrared imager and fixed video probe on the robotic arm of equipment installation portion upper surface.
Description
Technical field
The present invention is a kind of fire-fighting equipment, more particularly to a kind of fire-fighting robot video-aware inspection warning device inspection
Warning device method.
Background technology
The rescuing robot for fire control of current China's invention mainly realizes manual remote control operation fire-extinguishing operations at the scene.Robot
It is unable to automatic identification region ring and course enters scene of fire, also cannot just reconnoitres scene of fire environment.It is simultaneously this kind of to disappear
Anti- rescue robot is only used for fire-fighting work during fire, and is unfavorable for management of fire safety inspection usually.
Chinese Patent Application No.：CN201420384884.0, in publication date on December 3rd, 2014, discloses with recorder
Fire-fighting robot, including fire-fighting robot body has camera head and control device, also fire-fighting liquid injection on body
The injection apparatus of pipe composition, it also has fire-fighting liquid temperature testing device, fire-fighting hydraulic pressure force test device, environment temperature detection dress
Put, oxygen concentration test device, carbon dioxide concentration tester and recorder；Fire-fighting liquid temperature testing device, fire-fighting hydraulic pressure
Force test device is arranged on fire-fighting liquid playpipe the inside and linkage record instrument；Environment temperature detection device, oxygen concentration test dress
Put, carbon dioxide concentration tester is arranged on linkage record instrument on body；Described camera head linkage record instrument, it is described
Recorder is also connected with emitter, and it also includes the reception device that and emitter match, such fire-fighting robot
Various data, the advantage to provide foundation with post analysis cause of accident can be recorded.But, this kind of rescuing robot for fire control can only
Fire-fighting work during for fire, and it is unfavorable for management of fire safety inspection usually.
The content of the invention
The purpose of the present invention is to be only used for fire to there is this kind of rescuing robot for fire control in solution current technology scheme
Fire-fighting work during calamity, and it is unfavorable for the problem that management of fire safety usually is patrolled, there is provided a kind of fire-fighting robot video sense
Know inspection warning device and inspection alarm method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of fire-fighting robot video-aware inspection alarm
Device, is powered by power supply, for rescuing robot for fire control to the fire-fighting work of objective, including remote control service end and
The positioning label that objective is fixed, the rescuing robot for fire control includes car body, and executing agency, positioning mark are equipped on car body
Sign sensing receiver, video acquisition align member, heat transfer agent acquisition module, control centre of robot, signal instruction reception mould
Block, drive control center module and motion positions feedback module, the positioning tag sensor receiver and described robot control
Center electrical connection processed, the video acquisition align member and heat transfer agent acquisition module pass through communication network and remote control service
End communication connection, the remote control service end memory contains high in the clouds region fire-fighting map and rescuing robot for fire control and carries out route
Figure, the remote control service end is communicated to connect by signal instruction receiver module with the control centre of robot, robot
Control centre is electrically connected by drive control center module with described executing agency, and the motion positions feedback module is disposed in
In executing agency, the motion positions feedback module is communicated to connect with remote control service end, the front upper surface of the car body
Equipment installation portion is fixed with, the heat transfer agent acquisition module is fixed in described equipment installation portion, video acquisition positioning structure
Part includes being fixed on the thermal infrared imager and fixed video probe on the robotic arm of the equipment installation portion upper surface.Fire-fighting is rescued
Robot video-aware inspection and security alarm technology are helped, the human factor of artificial inspection, the inspection to particular surroundings is solved
Can be replaced by robot.Robot is patrolled fully according to the program of science, inspection route, inspection target.Once hair
Existing problem reports cloud server to region fire units (fire protection control room) and the command centre of fire-fighting 110 by network in time
Alarm.The burning things which may cause a fire disaster that such as scents a hidden danger can carry out live fire extinguishing by length of run control rescuing robot for fire control within the shortest time.Skill
Art advantage：1. fire-fighting robot realizes Automated condtrol, with functions such as early warning, fire-fightings, can be patrolled before accident generation
Inspection detects to avoid the generation of major accident；2., using flame sensor, pyroelectric sensor, the first-class equipment of shooting, realize
Automatic detection, the function of analyzing and processing to disaster hidden-trouble；3. there is the ability for adapting to the adverse circumstances such as burn into high temperature, dust.
Preferably, the communication network includes WLAN wireless networks and GPRS wireless networks, the WLAN wireless networks
Backup is mutually redundant with GPRS wireless networks.
Preferably, the video probe is omnidirectional's video camera, the remote control service end is equipped three-dimensional aobvious
Show peripheral hardware.
Preferably, the heat transfer agent acquisition module includes humidity temperature pickup, wind speed wind direction sensor, combustible gas
Body sensor and human body sensor, the humidity temperature pickup, wind speed wind direction sensor, combustible gas sensor and people
Body induction sensor is electrically connected with the control centre of robot.
Preferably, the rescuing robot for fire control also includes car body and fire-fighting storage box, the executing agency includes machine
Tool arm, driving wheel, directive wheel and fire-fighting storage box magnetic valve, the drive control center module include that locomotive drive controls mould
Block, solenoid valve control module and mechanical arm control module, the mechanical arm pass through mechanical arm control module and described robot
Control centre electrically connects, and the mechanical arm is disposed in the front end of the car body, and the mechanical arm is fixedly arranged at the front end with shower nozzle, described
Shower nozzle is connected by extinguishing chemical transfer tube with described fire-fighting storage box magnetic valve, and the fire-fighting storage box magnetic valve is disposed in institute
In the fire-fighting storage box stated, the storage box magnetic valve is by the solenoid valve control module and described control centre of robot
Electrical connection, the fire-fighting storage box is fixed on the rear upper surface of the car body, and the bottom of the car body is described driving wheel
And directive wheel, by described locomotive drive control module driving, the locomotive drive controls mould for the driving wheel and directive wheel
Block is electrically connected with described control centre of robot.
Preferably, the driving wheel is trailing wheel, the directive wheel is front-wheel, and angle sensor is equipped on the directive wheel
Device, is equipped with raster count device on the driving wheel, the directive wheel and the raster count device with described robot control
Center electrical connection processed, is further fixed on the illuminating lamp towards front in the equipment installation portion.
Preferably, being also equipped with acoustic vocal acquisition module and sound voice broadcast service module, the sound on the car body
Sound voice acquisition module and sound voice broadcast service module are electrically connected with described control centre of robot.
Preferably, the positioning label is RFID positions label, the positioning tag sensor receiver is RF card reader.
A kind of fire-fighting robot video-aware inspection alarm method, it is adaptable to fire-fighting robot video-aware as described above
Inspection warning device, comprises the following steps：
Step one, rescuing robot for fire control initialization, executing agency, positioning tag sensor receiver, video acquisition positioning
Component, heat transfer agent acquisition module, control centre of robot, signal instruction receiver module, drive control center module and motion
Position feedback module must be electrically activated,
Step 2, rescuing robot for fire control is used according to positioning tag location, rescuing robot for fire control according to positioning result
The automatic pathfinding of OBB algorithms, realizes automatic patrol, and heat transfer agent acquisition module judges current environment variable and by communication network
Remote control service end is reached, video acquisition align member is carried out captured in real-time and is uploaded to by communication network to current environment
Remote control service end, when remote control service end judges to have hidden fire-fighting danger or fire origin, interrupts automatic patrol and performs step
Rapid three,
Step 3, rescuing robot for fire control carries out target positioning to hidden fire-fighting danger or fire origin, then automatically according to target
Positioning result carries out fire-fighting and fire extinguishing according to remote command, redirects execution step 2 after the completion of fire extinguishing again.
Substantial effect of the invention is：Rescuing robot for fire control video-aware is patrolled and security alarm technology, is solved
The human factor of artificial inspection, the inspection to particular surroundings can be replaced by robot.Robot is by fully according to the journey of science
Sequence, inspection route, inspection target, are patrolled.Report cloud server to disappear to region by network in time once pinpointing the problems
Anti- unit (fire protection control room) and the command centre of fire-fighting 110 alarm.The burning things which may cause a fire disaster that such as scents a hidden danger can control fire-fighting by length of run
Rescue robot carries out live fire extinguishing within the shortest time.Technological merit：1. fire-fighting robot realizes Automated condtrol, has
The functions such as early warning, fire-fighting, can carry out patrolling and examining generation of the detection to avoid major accident before accident generation；2. sensed using flame
Device, pyroelectric sensor, the first-class equipment of shooting, realize automatic detection, the function of analyzing and processing to disaster hidden-trouble；3. have
Adapt to the ability of the adverse circumstances such as burn into high temperature, dust.
Brief description of the drawings
Fig. 1 is the structural representation of rescuing robot for fire control in the present invention.
In figure：1st, car body；2nd, fire-fighting storage box；3rd, fire-fighting storage box magnetic valve, 4, transfer tube, 5, transporting hose, 6, machine
Tool arm, 7, shower nozzle, 8, video probe, 9, thermal infrared imager, 10, illuminating lamp, 11, heat transfer agent acquisition module, 12, acoustic vocal
Broadcast module, 13, RF card reader, 14, power supply, 15, driving wheel, 16, directive wheel, 17, power controling box, 18, robot control
Center.
Specific embodiment
Below by specific embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：
A kind of fire-fighting robot video-aware inspection warning device, power controling box 17 is passed through by battery as power supply 14
Suitable voltage is exported to be powered, for the fire-fighting work of objective, including remote control service end and in objective
Fixed positioning label, it is fixed that the rescuing robot for fire control is equipped with executing agency, positioning tag sensor receiver, video acquisition
Position component, heat transfer agent acquisition module 11, control centre of robot 18, signal instruction receiver module, drive control center module
With motion positions feedback module, the positioning tag sensor receiver is electrically connected with described control centre of robot, described to regard
Frequency collection align member and heat transfer agent acquisition module are communicated to connect by communication network with remote control service end, described long-range
Control service end internal memory contains high in the clouds region fire-fighting map and rescuing robot for fire control carries out route map, the remote control service
End is communicated to connect by signal instruction receiver module with the control centre of robot, and control centre of robot passes through drive control
Center module is electrically connected with described executing agency, and the motion positions feedback module is disposed in executing agency, the motion
Position feedback module is communicated to connect with remote control service end, and the front upper surface of the car body is fixed with equipment installation portion, institute
State heat transfer agent acquisition module to be fixed in described equipment installation portion, video acquisition align member includes being fixed on the equipment
The thermal infrared imager 9 of installation portion upper surface and fixed video probe 8 on the robotic arm.The communication network includes that WLAN is wireless
Network and GPRS wireless networks, the WLAN wireless networks and GPRS wireless networks are mutually redundant backup.The video probe is
Omnidirectional's video camera, the remote control service end is equipped with stereoscopic display peripheral hardware.The heat transfer agent acquisition module includes
Humidity temperature pickup, wind speed wind direction sensor, combustible gas sensor and human body sensor, the temperature humidity sensing
Device, wind speed wind direction sensor, combustible gas sensor and human body sensor are electrically connected with the control centre of robot.
The rescuing robot for fire control also includes arranging going out by different extinguishing mediums in car body 1 and fire-fighting storage box 2, fire-fighting storage box
Powder composition bucket several, the executing agency include mechanical arm 6, driving wheel 15, directive wheel 16 and fire-fighting storage box magnetic valve 3,
The exit of each extinguishing medium bucket is equipped with a fire-fighting storage box magnetic valve, and the drive control center module includes machine
Car drive control module, solenoid valve control module and mechanical arm control module, the mechanical arm by mechanical arm control module with
Described control centre of robot electrical connection, the mechanical arm is disposed in the front end of the car body, and the front end of the mechanical arm is consolidated
Surely have shower nozzle 7, the shower nozzle is connected by extinguishing chemical transfer tube with described fire-fighting storage box magnetic valve, extinguishing chemical transfer tube by
The transporting hose 5 being connected with the transfer tube 4 of fire-fighting storage box magnetic valve and with shower nozzle is constituted, and the fire-fighting storage box magnetic valve is matched somebody with somebody
It is located in described fire-fighting storage box, the storage box magnetic valve is by the solenoid valve control module and described robot control
Center electrical connection processed, the fire-fighting storage box is fixed on the rear upper surface of the car body, and the bottom of the car body is described
Driving wheel and directive wheel, the driving wheel and directive wheel drive by described locomotive drive control module, the locomotive drive
Control module is electrically connected with described control centre of robot.The driving wheel is trailing wheel, and the directive wheel is front-wheel, described to lead
To angular transducer is equipped with wheel, raster count device, the directive wheel and the raster count are equipped with the driving wheel
Device is electrically connected with described control centre of robot, and the illuminating lamp 10 towards front is further fixed in the equipment installation portion.
Also be equipped with acoustic vocal acquisition module and sound voice broadcast service module 12 on the car body, the acoustic vocal acquisition module and
Acoustic vocal broadcast module is electrically connected with described control centre of robot.The positioning label is that RFID positions label, institute
It is RF card reader 13 to state positioning tag sensor receiver.
A kind of fire-fighting robot video-aware inspection alarm method, it is adaptable to above-mentioned fire-fighting robot video-aware inspection
Warning device, comprises the following steps：
Step one, rescuing robot for fire control initialization, executing agency, positioning tag sensor receiver, video acquisition positioning
Component, heat transfer agent acquisition module, control centre of robot, signal instruction receiver module, drive control center module and motion
Position feedback module must be electrically activated,
Step 2, rescuing robot for fire control is used according to positioning tag location, rescuing robot for fire control according to positioning result
The automatic pathfinding of OBB algorithms, realizes automatic patrol, and heat transfer agent acquisition module judges current environment variable and by communication network
Remote control service end is reached, video acquisition align member is carried out captured in real-time and is uploaded to by communication network to current environment
Remote control service end, when remote control service end judges to have hidden fire-fighting danger or fire origin, interrupts automatic patrol and performs step
Rapid three,
Step 3, rescuing robot for fire control carries out target positioning to hidden fire-fighting danger or fire origin, then automatically according to target
Positioning result carries out fire-fighting and fire extinguishing according to remote command, redirects execution step 2 after the completion of fire extinguishing again.
Embodiment described above is a kind of preferably scheme of the invention, not makees any formal to the present invention
Limitation, also has other variants and remodeling on the premise of without departing from the technical scheme described in claim.
Claims (6)
1. a kind of fire-fighting robot video-aware inspection warning device, is powered, for rescuing robot for fire control to target by power supply
The fire-fighting work in place, it is characterised in that：The positioning label fixed including remote control service end and in objective, it is described to disappear
Anti- rescue robot includes car body, and executing agency, positioning tag sensor receiver, video acquisition positioning structure are equipped on car body
Part, heat transfer agent acquisition module, control centre of robot, signal instruction receiver module, drive control center module and motion are fixed
Position feedback module, the positioning tag sensor receiver is electrically connected with described control centre of robot, and the video acquisition is determined
Position component and heat transfer agent acquisition module are communicated to connect by communication network with remote control service end, the remote control service
End memory contains high in the clouds region fire-fighting map and rescuing robot for fire control carries out route map, and the remote control service end is by letter
Number command reception module is communicated to connect with the control centre of robot, and control centre of robot passes through drive control center module
Electrically connected with described executing agency, the motion positions feedback module is disposed in executing agency, the motion positions feedback
Module is communicated to connect with remote control service end, and the front upper surface of the car body is fixed with equipment installation portion, the sensing letter
Breath acquisition module is fixed in described equipment installation portion, and video acquisition align member includes being fixed on the equipment installation portion
The thermal infrared imager on surface and fixed video probe on the robotic arm；
The heat transfer agent acquisition module includes humidity temperature pickup, wind speed wind direction sensor, combustible gas sensor and people
Body induction sensor, the humidity temperature pickup, wind speed wind direction sensor, combustible gas sensor and human body sensor
Electrically connected with the control centre of robot；
The rescuing robot for fire control also include fire-fighting storage box, the executing agency include mechanical arm, driving wheel, directive wheel and
Fire-fighting storage box magnetic valve, the drive control center module includes locomotive drive control module, solenoid valve control module and machine
Tool arm control module, the mechanical arm is electrically connected by mechanical arm control module with described control centre of robot, the machine
Tool arm is disposed in the front end of the car body, and the mechanical arm is fixedly arranged at the front end with shower nozzle, and the shower nozzle passes through extinguishing chemical transfer tube
It is connected with described fire-fighting storage box magnetic valve, the fire-fighting storage box magnetic valve is disposed in described fire-fighting storage box, institute
State storage box magnetic valve to be electrically connected with described control centre of robot by the solenoid valve control module, the fire-fighting storage
Case is fixed on the rear upper surface of the car body, and the bottom of the car body is described driving wheel and directive wheel, the driving wheel
Driven by described locomotive drive control module with directive wheel, the locomotive drive control module is controlled with described robot
Center electrically connects；
The driving wheel is trailing wheel, and the directive wheel is front-wheel, and angular transducer, the driving wheel are equipped on the directive wheel
On be equipped with raster count device, the directive wheel and the raster count device are electrically connected with described control centre of robot,
The illuminating lamp towards front is further fixed in the equipment installation portion.
2. fire-fighting robot video-aware according to claim 1 inspection warning device, it is characterised in that：The communication network
Network includes WLAN wireless networks and GPRS wireless networks, and the WLAN wireless networks and GPRS wireless networks are mutually redundant backup.
3. fire-fighting robot video-aware according to claim 1 and 2 inspection warning device, it is characterised in that：It is described to regard
Frequency probe is omnidirectional's video camera, and the remote control service end is equipped with stereoscopic display peripheral hardware.
4. fire-fighting robot video-aware according to claim 1 inspection warning device, it is characterised in that：On the car body
Also it is equipped with acoustic vocal acquisition module and sound voice broadcast service module, the acoustic vocal acquisition module and sound voice broadcast service
Module is electrically connected with described control centre of robot.
5. fire-fighting robot video-aware according to claim 1 inspection warning device, it is characterised in that：The positioning mark
Sign as RFID positions label, the positioning tag sensor receiver is RF card reader.
6. a kind of fire-fighting robot video-aware inspection alarm method, it is adaptable to which fire-fighting robot as claimed in claim 5 is regarded
Frequency perceives inspection warning device, it is characterised in that comprise the following steps：
Step one, rescuing robot for fire control initialization, executing agency, positioning tag sensor receiver, video acquisition align member,
Heat transfer agent acquisition module, control centre of robot, signal instruction receiver module, drive control center module and motion positions are anti-
Feedback module must be electrically activated,
Step 2, rescuing robot for fire control is calculated according to positioning result according to positioning tag location, rescuing robot for fire control using OBB
The automatic pathfinding of method, realizes automatic patrol, and heat transfer agent acquisition module is judged current environment variable and is uploaded to by communication network
Remote control service end, video acquisition align member is carried out captured in real-time and is uploaded to remotely by communication network to current environment
Control service end, when remote control service end judges to have hidden fire-fighting danger or fire origin, interrupts automatic patrol and performs step 3,
Step 3, rescuing robot for fire control carries out target positioning to hidden fire-fighting danger or fire origin, is then positioned according to target automatically
Result carries out fire-fighting and fire extinguishing according to remote command, redirects execution step 2 after the completion of fire extinguishing again.
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| CN105617579A (en) * | 2016-03-22 | 2016-06-01 | 陕西思尔生物科技有限公司 | Fire-extinguishing robot |
| CN107009366A (en) * | 2016-11-28 | 2017-08-04 | 国网山东省电力公司日照供电公司 | A kind of firefighting of warehouse safety automation inspecting robot |
| WO2018137056A1 (en) * | 2017-01-24 | 2018-08-02 | 广东兴达顺科技有限公司 | Outdoor display screen- and robot-incorporated information delivery system and method |
| WO2018137054A1 (en) * | 2017-01-24 | 2018-08-02 | 广东兴达顺科技有限公司 | Vehicle and robot participation-based alarm system and method |
| WO2018137106A1 (en) * | 2017-01-24 | 2018-08-02 | 深圳益创信息科技有限公司 | Information exchange method and system based on robot and building display screen |
| WO2018137070A1 (en) * | 2017-01-24 | 2018-08-02 | 深圳益创信息科技有限公司 | Information exchange method and system combining robot and big data |
| CN107846462B (en) * | 2017-11-03 | 2021-08-31 | 北京红云融通技术有限公司 | Remote control method and system of medical equipment and remote cooperation device |
| 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 |
| CN108829003A (en) * | 2018-06-27 | 2018-11-16 | 苏州健雄职业技术学院 | A kind of search and rescue intelligent carriage acquisition control system based on NB-IOT communication mode |
| CN110251863A (en) * | 2019-07-11 | 2019-09-20 | 张兰勇 | A kind of forest fit-extinguishing robot integrated system |
| CN110673603B (en) * | 2019-10-31 | 2023-10-24 | 郑州轻工业大学 | Fire scene autonomous navigation reconnaissance robot |
| CN112034751A (en) * | 2020-08-14 | 2020-12-04 | 山东交通职业学院 | Intelligent educational administration management system |
| CN112034722B (en) * | 2020-08-14 | 2022-04-15 | 山东交通职业学院 | Intelligent teaching system |
| CN113877111A (en) * | 2021-10-08 | 2022-01-04 | 智能移动机器人(中山)研究院 | Remote electric control fire extinguisher for intelligent security patrol car |
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| CN102406998A (en) * | 2011-07-27 | 2012-04-11 | 江苏中瑞电保智能装备有限公司 | Intelligent robot fire extinguishing system and intelligent robot fire extinguishing method |
| CN102692911B (en) * | 2012-06-11 | 2014-10-29 | 广东海洋大学 | Watching monitoring system for remote robot |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
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| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
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Effective date of registration: 20171129 Address after: 310000 room B2094, six and 368, Binjiang District, Hangzhou, Zhejiang Province, room two (North), room B2094 Patentee after: Hangzhou Rongsheng Intelligent Technology Co Ltd Address before: 322000 Liandu City, Zhejiang Province, street, Beacon Street, No. 101, Patentee before: Li Zhanping |
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| TR01 | Transfer of patent right |
Effective date of registration: 20180815 Address after: 323060 Lishui 7 Liandu tower, Liandu City, China, 7 Patentee after: Zhejiang red dot intelligent Polytron Technologies Inc Address before: 310000 B2094, two floor, North (two), six and 368 Road, Binjiang District, Hangzhou, Zhejiang. Patentee before: Hangzhou Rongsheng Intelligent Technology Co Ltd |