CN105854210A - Intelligent fire extinguishing system and method based on distributed pyroelectric sensing network - Google Patents
Intelligent fire extinguishing system and method based on distributed pyroelectric sensing network Download PDFInfo
- Publication number
- CN105854210A CN105854210A CN201610257892.2A CN201610257892A CN105854210A CN 105854210 A CN105854210 A CN 105854210A CN 201610257892 A CN201610257892 A CN 201610257892A CN 105854210 A CN105854210 A CN 105854210A
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- controller
- mechanical arm
- extinguishing device
- room
- master controller
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
Abstract
The invention discloses an intelligent fire extinguishing system based on a distributed pyroelectric sensing network. The intelligent fire extinguishing system is composed of a master controller, a rectangular coordinate guide rail, a movement slide rail, a servo motor, a mechanical arm installed on the movement slide rail, a slave controller, the distributed pyroelectric sensing network and a fire extinguishing device; the signal output end of the distributed pyroelectric sensing network is connected with the signal input end of the master controller; the signal output end of the master controller is connected with the signal input end of the slave controller; the motor control signal output end of the salve controller is connected with the control end of the servo motor; the mechanical arm control signal output end of the slave controller is connected with the control end of the mechanical arm; and the fire extinguishing device control signal output end of the slave controller is connected with the control end of the fire extinguishing device. The intelligent fire extinguishing system can monitor the fire behavior of a machine room in real time, prevention and fire extinguishment can be performed fast and efficiently, cost is low, and deployment and maintenance are easy.
Description
Technical field
The present invention relates to fire-extinguishing apparatus technical field, release fax in particular to one based on distributed heat
The Intelligent fire extinguishing system of sense network and method.
Background technology
The defect of the machine room fire-fighting modes such as current communication, data is in particular in:
1, warning system precision is low.The most rudimentary smoke alarm that major part machine room uses,
The suitability is the highest, does not has warning function, and presignal delay is the highest, when producing naked light one section often
Between the intensity of a fire more apparent after just trigger warning, the probability that erroneous judgement additionally occurs is the highest.
2, fire-fighting mode is unreasonable, and automaticity is low.Tradition fire-fighting mode mostly is variola flaggy
Sprinkler head array, it is impossible to realize pointing fire-extinguishing, this mode waste water resource, and water be to instrument
Equipment can cause permanent damage.Machine room fire-fighting mode specific aim is poor, the most abnormal, overall situation fire extinguishing,
Can not focus utilization fire extinguishing material, cause huge waste.
Deployment cost is high, and maintenance cost is huge.Many each racks of machine room dispose a set of fire extinguisher,
Whole machine room set is huge, causes huge deployment installation cost.Additionally, the maintenance of fire extinguisher
Cycle is short, and extinguishing device cluster needs the frequently security maintenance of complexity.
Summary of the invention
The present invention is aiming at above-mentioned technical problem, it is provided that one releases electricity Sensor Network based on distributed heat
The Intelligent fire extinguishing system of network and method, native system can the monitoring room condition of a fire in real time, and can be fast
The efficient prevention of speed and fire extinguishing, low cost, it is easy to dispose and safeguard.
For achieving the above object, the one designed by the present invention releases electricity sensing network based on distributed heat
Intelligent fire extinguishing system, it is characterised in that: it includes being fixed on the master controller at top, room, portion
Moving slide block that administration's rectangular coordinate guide rail on top, room coordinates with rectangular coordinate slide,
It is arranged on moving slide block and moving slide block can be driven at the servo electricity of rectangular coordinate slide on rails
Machine, the mechanical arm being arranged on moving slide block, install on the robotic arm from controller, be arranged in
Distributed heat in room is released electric transducer network, is installed extinguishing device on the robotic arm, described
Distributed heat releases the signal input part of the signal output part connection master controller of electric transducer network, main
The signal output part of controller connects the signal input part from controller, controls from the motor of controller
Signal output part connects the control end of servomotor, from the mechanical arm control signal outfan of controller
Connect the control end of mechanical arm, connect fire extinguishing dress from the extinguishing device control signal outfan of controller
The control end put.
Moving slide block on described rectangular coordinate guide rail has multiple, and it is right that each moving slide block is respectively arranged with
The servomotor answered and mechanical arm, each mechanical arm is respectively arranged with from controller；
A kind of extinguishing method utilizing said system, it is characterised in that it comprises the steps:
Step 1: the distributed heat being arranged in room is released electric transducer network and sensed room in real time
Heat distribution, and form the abnormal thermal source scattergram in room, distributed heat releases electric transducer network by institute
The abnormal thermal source scattergram stating room is sent to master controller；
Step 2: whether master controller is judged in room by the abnormal thermal source scattergram in described room
Having ignition point, if there being ignition point, then master controller determines according to the abnormal thermal source scattergram in room
The coordinate range of fire area, the coordinate range of fire area is sent out by master controller by master controller
Give from controller；
Step 3: control servomotor and mechanical arm according to the coordinate range of fire area from controller
Action, makes the extinguishing device alignment ignition point on mechanical arm；
Step 4: from controller according to the duty feedback signal of servomotor and the work of mechanical arm
Make status feedback signal, determine that mechanical arm arrives fire area, and the extinguishing device alignment of mechanical arm
After ignition point, control extinguishing device work from controller and realize fire extinguishing.
The present invention by distributed heat release in electric transducer network the fusion of multiple sensing datas and
Analyze, it is achieved pointing fire-extinguishing.Can the overall situation monitoring machine room abnormal thermal source, according to the heat recognized
Source carries out intelligent decision, it is possible to realize prevention, warning and the fire extinguishing rapidly and efficiently of accurately fixed point,
Significantly reduce the probability that large area fire occurs, decrease the loss of electronic equipment, thus protect
Data information.It is possible not only to reduce environmental pollution and the destruction that fire causes, it is also possible to prevent huge
Big economic loss.The multiple of the present invention can have linkage from controller more, concentrate fixed point to put out fire
Source.Being deployed in the guide tracked firefighting robot on machine room top, environmental suitability is high.Can realize autonomous
Study obstacle, the flexible comprehensive control machine room condition of a fire, it is to avoid blindness, it is achieved that fixed
Point puts out.Disposing flexibly, cost of installation and maintenance is far below traditional approach.Need not cluster install
Fire extinguisher, it is only necessary to a limited number of unit of periodic maintenance, it is possible to realize the fire prevention in whole room
Safety is deployed to ensure effective monitoring and control of illegal activities, and is particularly well-suited to large space and disposes.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the present invention；
Fig. 2 is middle rectangular coordinate guide rail, moving slide block and the structure of mechanical arm part of the present invention
Schematic diagram.
In figure: 1 master controller, 2 rectangular coordinate guide rails, 3 moving slide blocks, 4 machineries
Arm, 5 release electric transducer network, 7 servomotors from controller, 6 distributed heats, 8 go out
Fire device.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
A kind of intelligent fire fighting releasing electricity sensing network based on distributed heat as shown in Figures 1 and 2
System, it includes being fixed on the master controller 1 at top, room, being deployed in the right angle seat on top, room
Mark guide rail 2 be slidably matched with rectangular coordinate guide rail 2 moving slide block 3, be arranged on moving slide block
On 3 and servomotor 7 that moving slide block 3 slides on rectangular coordinate guide rail 2 can be driven, install
Mechanical arm 4 on moving slide block 3, be arranged on mechanical arm 4 from controller 5, be arranged in
The extinguishing device 8 that distributed heat in room is released electric transducer network 6, is arranged on mechanical arm 4,
The signal of the signal output part connection master controller 1 that described distributed heat releases electric transducer network 6 is defeated
Entering end, the signal output part of master controller 1 connects the signal input part from controller 5, from control
The motor control signal outfan of device 5 connects the control end of servomotor 7, from the machine of controller 5
Mechanical arm control signal outfan connects the control end of mechanical arm 4, from the extinguishing device control of controller 5
Signal output part processed connects the control end of extinguishing device 8.
In technique scheme, the distributed heat that distributed heat is released in electric transducer network 6 releases fax
Sensor is that unit is disposed with the machine room area of 3.0m × 3.0m, and is deployed in unit center,
All of distributed pyroelectric sensor sets up into network, and distributed heat releases electric transducer network
6.Distributed heat releases electric transducer network 6 with noncontact form, by detection environment mid-infrared spoke
The change penetrated realizes the tracking to target object.
In technique scheme, the moving slide block 3 on described rectangular coordinate guide rail 2 has multiple, often
Servomotor 7 and the mechanical arm 4 of correspondence it is respectively arranged with, on each mechanical arm 4 on individual moving slide block 3
It is respectively arranged with from controller 5 and extinguishing device 8；
In technique scheme, servomotor 7 realizes accurate motion positions.Servomotor 7
There is high-power scope, large inertia, feature that the highest velocity of rotation is low, and maximum speed is along with merit
Rate increases and quickly reduces, it is adaptable to low speed easy motion.
The signal output part of described master controller 1 connects corresponding inputting from the signal of controller 5
End, each control connecting corresponding servomotor 7 from the motor control signal outfan of controller 5
End processed, each control connecting corresponding mechanical arm from the mechanical arm control signal outfan of controller 5
End processed, each extinguishing device connecting correspondence from the extinguishing device control signal outfan of controller 5
The control end of 8.
In technique scheme, native system has a master controller 1 and multiple from controller 5, main
Controller 1 is fixed on a certain position, room, is connected to one from controller 5 and top firefighting robot
Rise.The signal of electric transducer network 6 released by master controller 1 by receiving distributed heat, to from control
Device 5 is controlled, and calculates control from controller 5 proportion of utilization, integration, differential (PID)
Servomotor 7, mechanical arm 4 and extinguishing device 8 are controlled by amount.
In technique scheme, mechanical arm 4 is the multi-shaft interlocked structure of multi-joint, is divided into three joints, often
Save and controlled by a motor, can rotate around joint.By mechanical arm 4 is carried out Kinematic Model,
Set up forward kinematics equation, obtain the mechanical arm tail end pose relative to straight line positioning unit, set up
Inverse kinematics equation also seeks Inverse Kinematics Solution, obtains the joint variable under specific pose, by constantly
Seek forward kinematics solution and inverse solve, control motor and rotate accurately, it is achieved mechanical arm tail end point
Accurately moving between point, thus the fire extinguishing sprayer of extinguishing device is delivered to abnormal near heating sources.
In technique scheme, described distributed heat is released electric transducer network 6 and is included multiple pyroelectricity
Sensing unit, each pyroelectricity sensing unit includes pyroelectric sensor, wireless transport module and light
Learning filter, described optical filter is arranged on the sensor probe of pyroelectric sensor, described pyroelectricity
The signal output part of sensor connects the signal input part of master controller 1 by wireless transport module.
In technique scheme, described distributed heat releases electric transducer network 6 for realizing based on frequency
The identification of the multiple spot exception thermal source of analysis of spectrum and data fusion.
In technique scheme, the duty feedback signal output of described servomotor 7 connects
From the motor feedback signals input of controller 5, the duty feedback signal output of mechanical arm 4
End connects the mechanical arm feedback signal input terminal from controller 5, and the duty of extinguishing device 8 is anti-
Feedback signal outfan connects the extinguishing device feedback signal input terminal from controller 5, described from control
The servomotor of device 5, mechanical arm and extinguishing device duty feedback signal output connect master control
The feedback signal input terminal of device 1 processed.The design achieves the closed loop control of native system, it is ensured that go out
The accuracy of fire control.
In mechanical arm 4, single-unit mechanical arm is provided with gyro module, during system start-up, passes through gyro
The vertical acceleration of instrument is by robotic arm alignment to level, using current code-disc value as system initial value.So
According to system control amount, motor is carried out two ring PID controls of position ring and speed ring afterwards, it is achieved
Mechanical arm gesture stability.In conjunction with Kalman filtering, systematic error is allowed to be preferably minimized.
In technique scheme, described rectangular coordinate guide rail 2 is deployed in machine room top away from rack top
At 0.7 meter.Utilize the extinguishing effect of extinguishing device 8.
A kind of extinguishing method utilizing said system, it comprises the steps:
Step 1: the distributed heat being arranged in room is released electric transducer network 6 and sensed room in real time
Heat distribution, and form the abnormal thermal source scattergram in room, distributed heat releases electric transducer network 6
The abnormal thermal source scattergram in described room is sent to master controller 1；
Step 2: master controller 1 in judging room by the abnormal thermal source scattergram in described room is
No have ignition point, if there being ignition point, then master controller 1 is according to the abnormal thermal source scattergram in room
Determine that the coordinate range of fire area is passed through master control by the coordinate range of fire area, master controller 1
Device 1 processed is sent to from controller 5；
Step 3: control servomotor 7 and machine according to the coordinate range of fire area from controller 5
Mechanical arm action, makes the extinguishing device 8 on mechanical arm 4 be directed at ignition point；
Step 4: from controller 5 according to the duty feedback signal of servomotor 7 and mechanical arm
Duty feedback signal, determine that mechanical arm 4 arrives fire area, and the fire extinguishing of mechanical arm 4
After device 8 is directed at ignition point, controls extinguishing device 8 work from controller 5 and realize fire extinguishing.
The content that this specification is not described in detail belongs to existing known to professional and technical personnel in the field
There is technology.
Claims (7)
1. the Intelligent fire extinguishing system releasing electricity sensing network based on distributed heat, it is characterised in that:
Master controller (1) that it includes being fixed on top, room, the rectangular coordinate being deployed in top, room are led
Moving slide block (3) that rail (2) and rectangular coordinate guide rail (2) are slidably matched, it is arranged on motion
Slide block (3) is upper and can drive moving slide block (3) watching in the upper slip of rectangular coordinate guide rail (2)
The mechanical arm (4) that take motor (7), is arranged on moving slide block (3), it is arranged on mechanical arm (4)
On release electric transducer network (6), peace from controller (5), the distributed heat that is arranged in room
The extinguishing device (8) being contained on mechanical arm (4), described distributed heat releases electric transducer network (6)
Outfan connect master controller (1) signal input part, master controller (1) signal output
End connects the signal input part from controller (5), defeated from the motor control signal of controller (5)
Go out end and connect the control end of servomotor (7), defeated from the mechanical arm control signal of controller (5)
Go out end and connect the control end of mechanical arm (4), defeated from the extinguishing device control signal of controller (5)
Go out end and connect the control end of extinguishing device (8).
The intelligent fire fighting releasing electricity sensing network based on distributed heat the most according to claim 1
System, it is characterised in that: the moving slide block (3) on described rectangular coordinate guide rail (2) has multiple,
Servomotor (7) and the mechanical arm (4) of correspondence it is respectively arranged with on each moving slide block (3), each
It is respectively arranged with on mechanical arm (4) from controller (5) and extinguishing device (8)；
The signal output part of described master controller (1) connects the corresponding signal from controller (5)
Input, each servo electricity connecting correspondence from the motor control signal outfan of controller (5)
The control end of machine (7), each right from the mechanical arm control signal outfan connection of controller (5)
The control end of the mechanical arm answered, each extinguishing device control signal outfan from controller (5)
Connect the control end of corresponding extinguishing device (8).
The intelligent fire fighting releasing electricity sensing network based on distributed heat the most according to claim 1
System, it is characterised in that: described distributed heat is released electric transducer network (6) and is included that multiple heat is released
Electricity sensing unit, each pyroelectricity sensing unit include pyroelectric sensor, wireless transport module and
Optical filter, described optical filter is arranged on the sensor probe of pyroelectric sensor, and described heat is released
The signal that the signal output part of electric transducer connects master controller (1) by wireless transport module is defeated
Enter end.
The intelligent fire fighting releasing electricity sensing network based on distributed heat the most according to claim 1
System, it is characterised in that: described distributed heat release electric transducer network (6) for realize based on
The identification of the multiple spot exception thermal source of spectrum analysis and data fusion.
The intelligent fire fighting releasing electricity sensing network based on distributed heat the most according to claim 1
System, it is characterised in that: the duty feedback signal output of described servomotor (7) is even
Connect the motor feedback signals input from controller (5), the duty feedback of mechanical arm (4)
Signal output part connects the mechanical arm feedback signal input terminal from controller (5), extinguishing device (8)
Duty feedback signal output connect defeated from the extinguishing device feedback signal of controller (5)
Entering end, the described servomotor from controller (5), mechanical arm and extinguishing device duty are anti-
Feedback signal outfan connects the feedback signal input terminal of master controller (1).
The intelligent fire fighting releasing electricity sensing network based on distributed heat the most according to claim 1
System, it is characterised in that: described rectangular coordinate guide rail (2) is deployed in machine room top away from rack top
At holding 0.7 meter.
7. the extinguishing method utilizing system described in claim 1, it is characterised in that its bag
Include following steps:
Step 1: the distributed heat being arranged in room is released electric transducer network (6) and sensed in real time
The heat distribution in room, and form the abnormal thermal source scattergram in room, distributed heat releases electric sensor web
The abnormal thermal source scattergram in described room is sent to master controller (1) by network (6)；
Step 2: master controller (1) judges room by the abnormal thermal source scattergram in described room
The most whether having ignition point, if there being ignition point, then master controller (1) is warm according to the exception in room
Source distribution figure determines the coordinate range of fire area, and master controller (1) is by the coordinate of fire area
Scope is sent to from controller (5) by master controller (1)；
Step 3: control servomotor (7) according to the coordinate range of fire area from controller (5)
With mechanical arm action, make extinguishing device (8) the alignment ignition point on mechanical arm (4)；
Step 4: from controller (5) according to the duty feedback signal of servomotor (7) and
The duty feedback signal of mechanical arm, determines that mechanical arm (4) arrives fire area, and machinery
After extinguishing device (8) the alignment ignition point of arm (4), control extinguishing device from controller (5)
(8) work realizes fire extinguishing.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106267622A (en) * | 2016-08-18 | 2017-01-04 | 肖振清 | Dangerous goods store security personnel and automatic fire extinguisher |
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Effective date of registration: 20230920 Address after: No. 147 Zhoumeng Road, Shuangliu Street, Xinzhou District, Wuhan City, Hubei Province, 430416 Patentee after: Hubei Zhonghengjian Technology Co.,Ltd. Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |