CN105854210B - 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
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- CN105854210B CN105854210B CN201610257892.2A CN201610257892A CN105854210B CN 105854210 B CN105854210 B CN 105854210B CN 201610257892 A CN201610257892 A CN 201610257892A CN 105854210 B CN105854210 B CN 105854210B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- 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 sensor network, which comprises a main controller, a rectangular coordinate guide rail, a motion slider, a servo motor, a mechanical arm arranged on the motion slider, a slave controller, a distributed pyroelectric sensor network and a fire extinguishing device, wherein the signal output end of the distributed pyroelectric sensor network is connected with the signal input end of the main controller, the signal output end of the main controller is connected with the signal input end of the slave controller, the motor control signal output end of the slave 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. The fire monitoring system can monitor the fire condition of the machine room in real time, can quickly and efficiently prevent and extinguish fire, is low in cost and is easy to deploy and maintain.
Description
Technical Field
The invention relates to the technical field of fire extinguishing equipment, in particular to an intelligent fire extinguishing system and method based on a distributed pyroelectric sensing network.
Background
The defects of the fire extinguishing modes of the current machine rooms for communication, data and the like are specifically shown as follows:
1. the alarm system has low precision. The smoke alarm used in most machine rooms is a low-grade smoke alarm, the applicability is not high, the early warning function is not provided, the alarm delay is very high, the alarm is triggered after the fire is obvious for a period of time due to open fire, and the probability of misjudgment is also very high.
2. The fire extinguishing mode is unreasonable, and the automation degree is low. The traditional fire extinguishing mode is mostly the water nozzle array of ceiling layer, can not realize the fixed point and put out a fire, and this kind of mode wastes water resource, and water can cause permanent damage to equipment. The fire extinguishing mode of the machine room is poor in pertinence, is abnormal in a little, extinguishes fire globally, cannot utilize fire extinguishing materials in a centralized manner, and causes huge waste.
The deployment cost is high and the maintenance cost is huge. A set of fire extinguisher is deployed in each cabinet of a plurality of machine rooms, and the whole machine room is huge in set, so that huge deployment and installation cost is caused. In addition, the maintenance cycle of the fire extinguisher is short and the fire extinguishing apparatus cluster requires frequent and complicated safety maintenance.
Disclosure of Invention
The invention aims at the technical problems and provides an intelligent fire extinguishing system and method based on a distributed pyroelectric sensing network.
In order to achieve the purpose, the invention designs an intelligent fire extinguishing system based on a distributed pyroelectric sensing network, which is characterized in that: it comprises a main controller fixed on the top of a room, a rectangular coordinate guide rail arranged on the upper part of the room, a moving slide block in sliding fit with the rectangular coordinate guide rail, a servo motor which is arranged on the moving slide block and can drive the moving slide block to slide on the rectangular coordinate guide rail, a mechanical arm arranged on the moving slide block, a slave controller arranged on the mechanical arm, a distributed pyroelectric sensor network arranged in the room, and a fire extinguishing device arranged on the mechanical arm, the signal output part of the distributed pyroelectric sensor network is connected with the signal input part of the main controller, the signal output part of the main controller is connected with the signal input part of the slave controller, the motor control signal output part of the slave controller is connected with the control end of the servo motor, the mechanical arm control signal output part of the slave controller is connected with the control end of the mechanical arm, and the fire extinguishing device control signal output part of the slave controller is connected with the control end of the fire extinguishing device.
A plurality of moving sliding blocks are arranged on the rectangular coordinate guide rail, each moving sliding block is provided with a corresponding servo motor and a corresponding mechanical arm, and each mechanical arm is provided with a slave controller;
a method of extinguishing a fire using the system described above, comprising the steps of:
step 1: the distributed pyroelectric sensor network is arranged in a room and used for sensing the heat distribution of the room in real time and forming an abnormal heat source distribution map of the room, and the distributed pyroelectric sensor network is used for sending the abnormal heat source distribution map of the room to the main controller;
step 2: the main controller judges whether an ignition point exists in the room or not through the abnormal heat source distribution diagram of the room, if so, the main controller determines the coordinate range of the ignition area according to the abnormal heat source distribution diagram of the room, and the main controller sends the coordinate range of the ignition area to the slave controller through the main controller;
and step 3: the slave controller controls the servo motor and the mechanical arm to act according to the coordinate range of the ignition area, so that the fire extinguishing device on the mechanical arm is aligned to the ignition point;
and 4, step 4: and the slave controller determines that the mechanical arm reaches a fire area according to the working state feedback signal of the servo motor and the working state feedback signal of the mechanical arm, and controls the fire extinguishing device to work from the slave controller to extinguish the fire after the fire extinguishing device of the mechanical arm is aligned to a fire point.
The invention realizes fixed-point fire extinguishing by fusing and analyzing data of a plurality of sensors in the distributed pyroelectric sensor network. The abnormal heat source of the machine room can be monitored globally, intelligent judgment is carried out according to the identified heat source, accurate fixed-point prevention, alarming and quick and efficient fire extinguishing can be achieved, the probability of large-area fire occurrence is remarkably reduced, the loss of electronic equipment is reduced, and therefore data information is protected. Not only can reduce environmental pollution and damage caused by fire, but also can prevent huge economic loss. The multiple slave controllers can be linked to extinguish fire sources in a centralized and fixed-point manner. The guide rail type fire-extinguishing robot deployed at the upper part of the machine room is high in environmental adaptability. The automatic fire extinguishing device can realize independent learning of barriers, flexibly and flexibly control fire conditions of the machine room in an all-dimensional manner, avoids blindness and realizes fixed-point fire extinguishing. The deployment is flexible, and the installation and maintenance cost is far lower than that of the traditional mode. Fire extinguishers do not need to be installed in a cluster, fire prevention safety control of the whole room can be achieved only by regularly maintaining a limited number of single machines, and the fire prevention safety control system is particularly suitable for large-scale space deployment.
Drawings
FIG. 1 is a functional block diagram of the present invention;
fig. 2 is a schematic structural diagram of a middle rectangular coordinate guide, a motion block and a manipulator arm part of the present invention.
In the figure: the fire extinguishing system comprises a main controller, a 2-rectangular coordinate guide rail, a 3-motion sliding block, a 4-mechanical arm, a 5-slave controller, a 6-distributed pyroelectric sensor network, a 7-servo motor and a 8-fire extinguishing device.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 and fig. 2, the intelligent fire extinguishing system based on the distributed pyroelectric sensing network comprises a main controller 1 fixed on the top of a room, a rectangular coordinate guide rail 2 arranged on the upper part of the room, a moving slider 3 in sliding fit with the rectangular coordinate guide rail 2, a servo motor 7 mounted on the moving slider 3 and capable of driving the moving slider 3 to slide on the rectangular coordinate guide rail 2, a mechanical arm 4 mounted on the moving slider 3, a slave controller 5 mounted on the mechanical arm 4, a distributed pyroelectric sensor network 6 arranged in the room, and a fire extinguishing device 8 mounted on the mechanical arm 4, wherein a signal output end of the distributed pyroelectric sensor network 6 is connected with a signal input end of the main controller 1, a signal output end of the main controller 1 is connected with a signal input end of the slave controller 5, a motor control signal output end of the slave controller 5 is connected with a control end of the servo motor 7, and a mechanical arm control signal output end of the slave controller 5 is connected with a control end of the mechanical arm 4, and a fire extinguishing device control signal output end of the slave controller 5 is connected with a control end of a fire extinguishing device 8.
In the above technical solution, the distributed pyroelectric sensors in the distributed pyroelectric sensor network 6 are deployed in units of machine room area of 3.0 × 3.0m and at a unit center position, and all the distributed pyroelectric sensors form a network and the distributed pyroelectric sensor network 6. The distributed pyroelectric sensor network 6 realizes the tracking of the target object by detecting the change of infrared radiation in the environment in a non-contact mode.
In the technical scheme, a plurality of moving sliding blocks 3 are arranged on the rectangular coordinate guide rail 2, each moving sliding block 3 is provided with a corresponding servo motor 7 and a corresponding mechanical arm 4, and each mechanical arm 4 is provided with a slave controller 5 and a fire extinguishing device 8;
in the above technical scheme, the servo motor 7 realizes accurate motion positioning. The servo motor 7 has the characteristics of large power range, large inertia and low highest rotation speed, the highest rotation speed is rapidly reduced along with the increase of power, and the servo motor is suitable for low-speed stable motion.
The signal output part of the main controller 1 is connected with the corresponding signal input part from the controller 5, the motor control signal output part of each controller 5 is connected with the control end of the corresponding servo motor 7, the mechanical arm control signal output part of each controller 5 is connected with the control end of the corresponding mechanical arm, and the fire extinguishing device control signal output part of each controller 5 is connected with the control end of the corresponding fire extinguishing device 8.
In the technical scheme, the system is provided with a main controller 1 and a plurality of sub-controllers 5, wherein the main controller 1 is fixed at a certain position in a room, and the sub-controllers 5 are connected with an upper fire-extinguishing robot. The master controller 1 receives signals of the distributed pyroelectric sensor network 6 to control the slave controller 5, and the slave controller 5 calculates control quantity by using proportion, integral and differential (PID) to control the servo motor 7, the mechanical arm 4 and the fire extinguishing device 8.
Among the above-mentioned technical scheme, arm 4 is many joints multiaxis linkage structure, divide into the three sections, and every section is controlled by a motor, can rotate around the joint. The method comprises the steps of performing kinematic modeling on a mechanical arm 4, establishing a positive kinematic equation, obtaining the pose of the tail end of the mechanical arm relative to a linear positioning unit, establishing an inverse kinematic equation, solving an inverse solution of the kinematics, obtaining joint variables under a specific pose, and controlling a motor to rotate accurately by continuously solving the positive solution and the inverse solution of the kinematics to realize accurate movement between points at the tail end of the mechanical arm, so that a fire extinguishing nozzle of a fire extinguishing device is conveyed to the vicinity of an abnormal heat source.
In the above technical scheme, the distributed pyroelectric sensor network 6 includes a plurality of pyroelectric sensing units, each pyroelectric sensing unit includes a pyroelectric sensor, a wireless transmission module and an optical filter, the optical filter is installed on a sensing probe of the pyroelectric sensor, and a signal output end of the pyroelectric sensor is connected to a signal input end of the main controller 1 through the wireless transmission module.
In the above technical solution, the distributed pyroelectric sensor network 6 is used for identifying a multipoint abnormal heat source based on spectrum analysis and data fusion.
In the technical scheme, the operating state feedback signal output end of the servo motor 7 is connected with the motor feedback signal input end of the controller 5, the operating state feedback signal output end of the mechanical arm 4 is connected with the mechanical arm feedback signal input end of the controller 5, the operating state feedback signal output end of the fire extinguishing device 8 is connected with the fire extinguishing device feedback signal input end of the controller 5, and the servo motor, the mechanical arm and the fire extinguishing device operating state feedback signal output end of the controller 5 are connected with the feedback signal input end of the main controller 1. The design realizes the closed-loop control of the system and ensures the accuracy of fire extinguishing control.
A gyroscope module is installed on a single mechanical arm in the mechanical arm 4, when the system is started, the mechanical arm is calibrated to be horizontal through the vertical acceleration of the gyroscope, and the current code wheel value is used as the initial value of the system. And then carrying out two-ring PID control on a position ring and a speed ring of the motor according to the system control quantity to realize the attitude control of the mechanical arm. And combining Kalman filtering to minimize the system error.
In the technical scheme, the rectangular coordinate guide rail 2 is arranged at the upper part of the machine room 0.7 m away from the top end of the cabinet. The fire extinguishing effect of the fire extinguishing device 8 is utilized.
A method of extinguishing a fire using the system described above, comprising the steps of:
step 1: the distributed pyroelectric sensor network 6 arranged in the room senses the heat distribution of the room in real time and forms an abnormal heat source distribution map of the room, and the distributed pyroelectric sensor network 6 sends the abnormal heat source distribution map of the room to the main controller 1;
step 2: the main controller 1 judges whether there is an ignition point in the room through the abnormal heat source distribution diagram of the room, if there is an ignition point, the main controller 1 determines the coordinate range of the ignition area according to the abnormal heat source distribution diagram of the room, and the main controller 1 transmits the coordinate range of the ignition area to the slave controller 5 through the main controller 1;
and step 3: the slave controller 5 controls the servo motor 7 and the mechanical arm to act according to the coordinate range of the ignition area, so that the fire extinguishing device 8 on the mechanical arm 4 is aligned to the ignition point;
and 4, step 4: and determining that the mechanical arm 4 reaches a fire area from the controller 5 according to the working state feedback signal of the servo motor 7 and the working state feedback signal of the mechanical arm, and controlling the fire extinguishing device 8 to work from the controller 5 to extinguish the fire after the fire extinguishing device 8 of the mechanical arm 4 is aligned with the fire point.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (3)
1. An intelligence fire extinguishing systems based on distributed pyroelectric sensing network which characterized in that: the intelligent fire extinguishing system comprises a main controller (1) fixed at the top of a room, a rectangular coordinate guide rail (2) arranged at the upper part of the room, a moving slide block (3) in sliding fit with the rectangular coordinate guide rail (2), a servo motor (7) which is arranged on the moving slide block (3) and can drive the moving slide block (3) to slide on the rectangular coordinate guide rail (2), a mechanical arm (4) arranged on the moving slide block (3), a slave controller (5) arranged on the mechanical arm (4), a distributed pyroelectric sensor network (6) arranged in the room, and a fire extinguishing device (8) arranged on the mechanical arm (4), wherein the output end of the distributed pyroelectric sensor network (6) is connected with the signal input end of the main controller (1), the signal output end of the main controller (1) is connected with the signal input end of the slave controller (5), and the motor control signal output end of the slave controller (5) is, the mechanical arm control signal output end of the slave controller (5) is connected with the control end of the mechanical arm (4), and the fire extinguishing device control signal output end of the slave controller (5) is connected with the control end of the fire extinguishing device (8); the distributed pyroelectric sensor network (6) comprises a plurality of pyroelectric sensing units, each pyroelectric sensing unit comprises a pyroelectric sensor, a wireless transmission module and an optical filter, the optical filter is mounted on a sensing probe of the pyroelectric sensor, and a signal output end of the pyroelectric sensor is connected with a signal input end of the main controller (1) through the wireless transmission module; a plurality of moving sliding blocks (3) are arranged on the rectangular coordinate guide rail (2), each moving sliding block (3) is provided with a corresponding servo motor (7) and a corresponding mechanical arm (4), and each mechanical arm (4) is provided with a slave controller (5) and a fire extinguishing device (8); the signal output end of the master controller (1) is connected with the signal input end of the corresponding slave controller (5), the motor control signal output end of each slave controller (5) is connected with the control end of the corresponding servo motor (7), the mechanical arm control signal output end of each slave controller (5) is connected with the control end of the corresponding mechanical arm, and the fire extinguishing device control signal output end of each slave controller (5) is connected with the control end of the corresponding fire extinguishing device (8); the system is provided with a main controller (1) and a plurality of sub-controllers (5), wherein the main controller (1) is fixed at the top of a room, the sub-controllers (5) are connected with mechanical arms, the main controller (1) controls the sub-controllers (5) by receiving signals of a distributed pyroelectric sensor network (6), and the sub-controllers (5) calculate control quantity by utilizing proportion, integral and differential to control a servo motor (7), the mechanical arms (4) and a fire extinguishing device (8);
the working state feedback signal output end of the servo motor (7) is connected with the motor feedback signal input end of the slave controller (5), the working state feedback signal output end of the mechanical arm (4) is connected with the mechanical arm feedback signal input end of the slave controller (5), the working state feedback signal output end of the fire extinguishing device (8) is connected with the fire extinguishing device feedback signal input end of the slave controller (5), and the servo motor, the mechanical arm and the fire extinguishing device working state feedback signal output ends of the slave controller (5) are connected with the feedback signal input end of the master controller (1); the mechanical arm (4) is of a multi-joint multi-axis linkage structure and is divided into three sections, each section is controlled by one motor and can rotate around a joint, a forward kinematics equation is established by performing kinematics modeling on the mechanical arm (4), the pose of the tail end of the mechanical arm relative to a linear positioning unit is obtained, an inverse kinematics equation is established and inverse kinematics solution is solved to obtain joint variables under a specific pose, the motors are controlled to accurately rotate by continuously solving the forward solution and the inverse solution of the kinematics, accurate movement between points at the tail end of the mechanical arm is realized, and therefore a fire extinguishing nozzle of a fire extinguishing device is sent to the vicinity of an abnormal heat source; a gyroscope module is installed on a single mechanical arm in the mechanical arm (4), when the system is started, the mechanical arm is calibrated to be horizontal through the vertical acceleration of the gyroscope, the current code wheel value is used as the initial value of the system, then the two-ring PID control of a position ring and a speed ring is carried out on the motor according to the system control quantity, the attitude control of the mechanical arm is realized, and the system error is reduced to the minimum by combining Kalman filtering; the fire extinguishing method of the intelligent fire extinguishing system based on the distributed pyroelectric sensing network is characterized by comprising the following steps of:
step 1: the distributed pyroelectric sensor network (6) arranged in the room senses the heat distribution of the room in real time and forms an abnormal heat source distribution diagram of the room, and the distributed pyroelectric sensor network (6) sends the abnormal heat source distribution diagram of the room to the main controller (1);
step 2: the method comprises the following steps that the main controller (1) judges whether an ignition point exists in a room or not through an abnormal heat source distribution diagram of the room, if the ignition point exists, the main controller (1) determines a coordinate range of an ignition area according to the abnormal heat source distribution diagram of the room, and the main controller (1) sends the coordinate range of the ignition area to the slave controller (5) through the main controller (1);
and step 3: the slave controller (5) controls the servo motor (7) and the mechanical arm to act according to the coordinate range of the ignition area, so that a fire extinguishing device (8) on the mechanical arm (4) is aligned to the ignition point; and 4, step 4: and the slave controller (5) determines that the mechanical arm (4) reaches a fire area according to the working state feedback signal of the servo motor (7) and the working state feedback signal of the mechanical arm, and controls the fire extinguishing device (8) to work from the slave controller (5) to extinguish fire after the fire extinguishing device (8) of the mechanical arm (4) is aligned to a fire point.
2. The intelligent fire suppression system based on distributed pyroelectric sensing network as claimed in claim 1, wherein: the distributed pyroelectric sensor network (6) is used for realizing identification of multipoint abnormal heat sources based on spectrum analysis and data fusion.
3. The intelligent fire suppression system based on distributed pyroelectric sensing network as claimed in claim 1, wherein: the rectangular coordinate guide rail (2) is arranged at the upper part of the machine room and 0.7 meter away from the top end of the cabinet.
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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 |