CN106683329A - Site disposal robot for coping safety risk accidents in plane zone scale - Google Patents
Site disposal robot for coping safety risk accidents in plane zone scale Download PDFInfo
- Publication number
- CN106683329A CN106683329A CN201710038842.XA CN201710038842A CN106683329A CN 106683329 A CN106683329 A CN 106683329A CN 201710038842 A CN201710038842 A CN 201710038842A CN 106683329 A CN106683329 A CN 106683329A
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- China
- Prior art keywords
- automatically controlled
- fire
- fixed
- smog
- robot
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
- G08B19/005—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow combined burglary and fire alarm systems
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B15/00—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives
- G08B15/005—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives by electric shock
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B15/00—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives
- G08B15/007—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives by trapping
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B15/00—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives
- G08B15/02—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives with smoke, gas, or coloured or odorous powder or liquid
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Abstract
The invention discloses a site disposal robot for coping safety risk accidents in a plane zone scale. The robot comprises a wheel type electric driving chassis, an electric control rotating cavity body, a fire extinguisher, a smoke bucket, a power device, a fire or smoke switchable spraying device, an electric shock steel fork device, a power grid capturing device, a full view video monitoring device and a center control device. The robot can freely move in the plane zone through autonomous identification or remote operation, and has the immediately site disposal ability of limiting criminal suspect, quickly extinguishing, and protecting the protective zone, and others; the robot also can treat unauthorized invasion, stealing or robbery, outburst fire disaster and other conditions at the same time; the robot is low in cost, safe and reliable in use, and convenient to batch production and application; the robot applies the immediate site disposal method to the risk accidents, and remove potential hidden troubles first time, minimize the personal injury or property loss. The site disposal robot can be applied to residence, small office zone, warehouse, financial institution, and other plane zone scale.
Description
Technical field
The present invention relates to robot, and in particular to a kind of scene for tackling security risk event in the range of plane domain
Dispose robot.
Background technology
In daily life, the plane domain scope place such as house, little Office Area, warehouse, financial institution often has non-public affairs
The characteristics of crowd is open, the security risk event in these places mainly include the crime dramas such as invasion theft, robbery, and burst
The accidents such as fire.
For crime dramas such as invasion theft and robberies, traditional indoor security monitoring and alarming system is mainly solid to install
Fixed video camera, intrusion detector coordinate the mode of remote alarmss to realize.For the accidents such as fire that happen suddenly, traditional fire
The emphasis of warning system and fire-fighting system is equally to detect, perceive and report to the police, except complementary fire extinguishing sides such as startup sprays
Outside case, the related disposal that other play a decisive role is there is still a need for carried out by the duty personnel for receiving warning message.
For the security risk event in plane domain scope place, traditional safety monitoring alarming system, fire alarm
System and fire-fighting system, its reaction treatment mode have the disadvantages that：First, said system can take a large amount of manpower things
Power, not only due to each architectonical of said system causes plane domain place to need to invest and build three sets of systems respectively, more attaches most importance to
Want be said system substantially be a class alarm device, it is still desirable to be equipped with substantial amounts of operator on duty and disposal personnel ability
Security risk is eliminated enough；Secondly, said system disposes means immediately because lacking scene, therefore for the reaction speed of risk case
Degree is slow, may be delayed disposal opportunity, result even in the serious consequence for being difficult to make up.
The content of the invention
It is an object of the invention to provide a kind of site disposal for tackling security risk event in the range of plane domain
Robot, the robot can be moved freely in the range of plane domain by autonomous classification or remote control mode, and have limit
The live disposing capacities immediately such as scope suspect processed, quick extinguishing, protection zone of protection.
To reach above-mentioned purpose, the technical solution used in the present invention is as follows：
The present invention includes：Wheeled electric drive chassis, automatically controlled rotatable cavity, fire extinguisher, smog bucket, supply unit, fire-fighting
Or smog switchable type injection apparatus, band electric shock steel fork device, electrical network acquisition equipment, panoramic video monitoring device and middle control dress
Put；Wherein：
1）Automatically controlled rotatable cavity is arranged on wheeled electric drive chassis, and band electric shock steel fork device is arranged on automatically controlled rotatable cavity
Lateral surface, panoramic video monitoring device are arranged at the top of automatically controlled rotatable cavity；
2）Automatically controlled rotatable cavity lateral surface is provided with composite injection mouth, fire detector installing port, intrusion detector installing port, sound
The emission port of light alarm device installing port and electrical network acquisition equipment；
3）Automatically controlled rotatable inside cavity is hollow, the power supply dress of fire extinguisher, smog bucket, control power supply and high-voltage electric shock
Put, fire-fighting or smog switchable type injection apparatus, control device are installed in automatically controlled rotatable inside cavity；Wherein：Fire-fighting is gone out
The supply unit of firearm, smog bucket, control power supply and high-voltage electric shock is fixed on the inner bottom part of automatically controlled rotatable cavity in isosceles triangle,
Fire-fighting or smog switchable type injection apparatus are fixed on fire extinguisher and smog bucket top, and electrical network acquisition equipment is fixed on fire-fighting
Or smog switchable type injection apparatus top, control device is fixed on the inner top of automatically controlled rotatable cavity.
The control device, including embedding assembly module and wireless communication module；And in automatically controlled rotatable inside cavity
Sound and light alarm device, intrusion detection device, detection and gain antenna part are connected by wired mode；Wherein：
1）Sound and light alarm device is fixed on the sound and light alarm device installing port of automatically controlled rotatable cavity lateral surface（20）, sound and light alarm
The output signal line of device is connected to embedding assembly module；
2）Intrusion detection device is fixed on the intrusion detection device installing port of automatically controlled rotatable cavity lateral surface, intrusion detection device
Output signal line be connected to embedding assembly module；
3）Detection device is fixed on the detection device installing port of automatically controlled rotatable cavity lateral surface, detection device
Output signal line be connected to embedding assembly module；
4）Gain antenna is fixed on the side wall of automatically controlled rotatable cavity, and wired mode is connected with the wireless communication module of control device
Connect；Wireless communication module is made up of WLAN WLAN module and forth generation mobile communication 4G module.
The fire-fighting or smog switchable type injection apparatus, including small air pump, admission line, jet pipe and two-way electricity
Control valve；Wherein, jet pipe one end is connected with small air pump gas outlet, on the outside of the jet pipe other end and automatically controlled rotatable cavity
The connection of composite injection mouth, admission line one end is connected with small air pump air inlet, the admission line other end and two-way electrically-controlled valve
Port of export connection, an arrival end of two-way electrically-controlled valve is connected with fire extinguisher, another arrival end of two-way electrically-controlled valve and
Smog bucket connects.
The band electric shock steel fork device, including steel fork bar, small air pump, lift cylinder and electric shock conductor；Wherein, steel fork bar
Automatically controlled rotatable cavity lateral surface is separately fixed at lift cylinder, small air pump is fixed on automatically controlled rotatable inside cavity, electricity
Hit conductor and be connected in steel fork bar.
The electrical network acquisition equipment, including fleece, orientation block, cinch cord, conductive filament and catapult-launching gear；Wherein, two
Orientation block is separately fixed at the front end Liang Ge corners of fleece, and the front end of cinch cord is fixed as the grid in fleece is interspersed,
The rear end of cinch cord is fixed on catapult-launching gear bottom, and conductive filament is fixed on cinch cord outer surface.
The wheeled electric drive chassis, its bottom surface have four wheels, drivewheel and three driven pulleys, wherein, drive electricity
Machine is arranged on wheeled electric drive center chassis, is arranged on center below chassis, 360 ° of degree rotations by the drivewheel that motor drives
Three driven pulleys for turning, are fixed on wheeled electric drive chassis bottom in isosceles triangle.
Compared with background technology, the invention has the advantages that：
1) present invention can be moved freely in the range of plane domain by autonomous classification or remote control mode, and has restriction model
Enclose the scenes such as suspect, quick extinguishing, protection zone of protection disposing capacity immediately.
2) situations such as present invention can process non-authorized infection, theft or robbery, burst fire simultaneously, with low cost, safety
It is reliable, it is easy to mass production and application；
3) site disposal robot proposed by the present invention, to risk case using live disposal options immediately, the very first time excludes
Personnel's injury or property loss can be reduced to minimum by potential risk.
Site disposal robot proposed by the present invention, can be applicable to the planes such as house, little Office Area, warehouse, financial institution
Regional extent place, and can multiple site disposal robots cooperate work.
Description of the drawings
Fig. 1 is the outboard front view of the present invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the wheeled electric drive chassis structure schematic diagram of the present invention.
Fig. 4 is the assembly relation of the automatically controlled rotatable inside cavity fire extinguisher, smog bucket and supply unit of the present invention
Schematic diagram.
Fig. 5 is the assembly relation schematic diagram of each device inside the automatically controlled rotatable cavity side of the present invention.
Fig. 6 is the assembly relation schematic diagram of each device inside the automatically controlled rotatable cavity opposite side of the present invention.
Fig. 7 is the band electric shock steel fork device operating diagram of the present invention.
Fig. 8 is the wheeled electric drive chassis operating diagram of the present invention.
Fig. 9 is the electrical network acquisition equipment operating diagram of the present invention.
In figure：1st, wheeled electric drive chassis, 2, drivewheel, 3, driven pulley, 4, automatically controlled rotatable cavity, 5, lift cylinder,
6th, steel fork electric shock conductor, 7, steel fork bar, 8, composite injection mouth, 9, electrical network acquisition equipment, 9A, orientation block, 9B, catapult-launching gear, 9C,
Conductive filament, 9D, fleece, 9E, cinch cord, 10, intrusion detector installing port, 11, panoramic video monitoring device, 12, drive electricity
Machine, 13, supply unit, 14, fire extinguisher, 15, smog bucket, 16, two-way electrically-controlled valve, 17, small air pump, 18, control device,
19th, fire detector installing port, 20, audible-visual annunciator installing port.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described further with tool embodiment.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Fig. 6, the present invention include wheeled electric drive chassis 1, automatically controlled rotatable cavity 4,
Fire extinguisher 14, smog bucket 15, supply unit 13, fire-fighting or smog switchable type injection apparatus, band electric shock steel fork device, electricity
Net acquisition equipment 9, panoramic video monitoring device 11 and control device 18；Wherein：
Automatically controlled rotatable cavity 4 is arranged on wheeled electric drive chassis 1, and band electric shock steel fork device is arranged on automatically controlled rotatable cavity
4 lateral surface, panoramic video monitoring device 11 are arranged at the top of automatically controlled rotatable cavity 4；Automatically controlled 4 lateral surface of rotatable cavity is provided with
Composite injection mouth 8, fire detector installing port 19, intrusion detector installing port 10, sound and light alarm device installing port 20 and electrical network
The emission port of acquisition equipment 9；Inside automatically controlled rotatable cavity 4 be it is hollow, fire extinguisher 14, smog bucket 15, control power supply with
The supply unit 13, fire-fighting or smog switchable type injection apparatus, control device 18 of high-voltage electric shock is installed in automatically controlled rotatable
Inside cavity 4；Wherein：The supply unit 13 of fire extinguisher 14, smog bucket 15, control power supply and high-voltage electric shock is solid in isosceles triangle
The inner bottom part of automatically controlled rotatable cavity 4 is scheduled on, fire-fighting or smog switchable type injection apparatus are fixed on fire extinguisher 14 and cigarette
Fire-fighting or smog switchable type injection apparatus top are fixed in 15 top of mist bucket, electrical network acquisition equipment 9, and control device 18 is fixed on
The inner top of automatically controlled rotatable cavity 4.The power supply of high-voltage electric shock is provided by the supply unit, but while miscellaneous part, such as images
First-class, required power supply is also by the means of power.
As shown in figure 4, the whole machine balancing to increase site disposal robot, is fixed on automatically controlled 4 bottom of rotatable cavity
Fire extinguisher 14, smog bucket 15, supply unit 13 in isosceles triangle be distributed, while fire extinguisher 14, smog bucket 15, power supply
The weight of device 13 is of substantially equal and far overweights site disposal robot miscellaneous part or device.
Need to monitor whole plane domain in view of the panoramic video monitoring device 11 at the top of site disposal robot,
Site disposal robot also needs to illegal invasion personnel are implemented to limit personal action process, therefore site disposal robot simultaneously
Whole height between 1.7 meters to 2.1 meters, with electric shock steel fork device automatically controlled 4 lateral surface of rotatable cavity fixing point from
Ground level is between 1 meter to 1.4 meters.
The control device 18, including embedding assembly module and wireless communication module；And in automatically controlled rotatable cavity 4
Portion connects sound and light alarm device, intrusion detection device, detection and gain antenna part by wired mode；Wherein：
1）Sound and light alarm device is fixed on the sound and light alarm device installing port 20 of automatically controlled 4 lateral surface of rotatable cavity, sound and light alarm
The output signal line of device is connected to embedding assembly module；
2）Intrusion detection device is fixed on the intrusion detection device installing port 10 of automatically controlled 4 lateral surface of rotatable cavity, intrusion detection
The output signal line of device is connected to embedding assembly module；
3）Detection device is fixed on the detection device installing port 19 of automatically controlled 4 lateral surface of rotatable cavity, detection
The output signal line of device is connected to embedding assembly module；
4）Gain antenna is fixed on the side wall of automatically controlled rotatable cavity 4, the wireless communication module phase of wired mode and control device
Connection；Wireless communication module is made up of WLAN WLAN module and forth generation mobile communication 4G module.
As shown in Figure 5, Figure 6, the fire-fighting or smog switchable type injection apparatus, including small air pump 17, admission line,
Jet pipe and two-way electrically-controlled valve 16；Wherein, jet pipe one end is connected with 17 gas outlet of small air pump, the jet pipe other end
It is connected with the composite injection mouth 8 on the outside of automatically controlled rotatable cavity 4, admission line one end is connected with 17 air inlet of small air pump, is entered
The feed channel other end is connected with the port of export of two-way electrically-controlled valve 16, an arrival end and the fire extinguisher 14 of two-way electrically-controlled valve 16
Connection, another arrival end of two-way electrically-controlled valve 16 are connected with smog bucket 15.
When site disposal robot needs to carry out fire process, small air pump 17 can bring into operation, while electrically-controlled valve meeting
Fire extinguisher 14 is connected by switching with admission line, and then fire-fighting foams are by by automatically controlled 4 lateral surface of rotatable cavity
Composite injection mouth 8 is ejected, and realizes the function of fire extinguishing.It is when site disposal robot needs to carry out illegal invasion process, little
Type air pump 17 can also bring into operation, while electrically-controlled valve can switch smog bucket 15 is connected with admission line, then smog bucket 15
Interior material such as smog powder, Fructus Capsici powder etc. by by the composite injection mouth 8 of automatically controlled 4 lateral surface of rotatable cavity to illegal invasion people
Member's injection, to hinder the action of illegal invasion personnel to a certain extent.
As shown in fig. 7, described lead with electric shock steel fork device, including steel fork bar 7, small air pump 17, lift cylinder 5 and electric shock
Body 6；Wherein, steel fork bar 7 is separately fixed at automatically controlled 4 lateral surface of rotatable cavity with lift cylinder 5, and small air pump 17 is fixed on electricity
Control inside rotatable cavity 4, shock by electricity conductor 6 and be connected in steel fork bar 7.
Under peacetime state, the valve rod of lift cylinder 5 contracts in cylinder interior, and steel fork bar 7 is also vertically sagging to be attached to automatically controlled rotation
Turn 4 lateral surface of cavity.Under working condition, small air pump 17 is started, and the valve rod of lift cylinder 5 starts overhanging, promotes steel fork bar 7 to lift
Rise, then steel fork can just be withstood on the waist of illegal invasion personnel for site disposal robot, so as to limit illegal invasion personnel
Personal freedom of action, while the electric shock conductor 6 on 7 surface of steel fork bar is initially powered up, when illegal invasion personnel attempt with the hands to push away
When driving steel fork bar 7, the electric shock in the range of safe voltage can be received, so as to steel fork bar 7 cannot be pushed open.
As shown in figure 8, when being that band electric shock steel fork device works, the cooperating view on wheeled electric drive chassis 1.
When steel fork bar 7 limits illegal invasion personnel, the drivewheel in wheeled electric drive chassis 1 can bounce back with driving wheel so that wheel
The plane directly contact ground on formula electric drive chassis 1, strengthens the steadiness of site disposal robot, prevents by illegal invasion personnel
Push over.
As shown in figure 9, the electrical network acquisition equipment 9, including fleece 9D, orientation block 9A, cinch cord 9E, conductive filament 9C and
Catapult-launching gear 9B；Wherein, two orientation block 9A are separately fixed at the front end Liang Ge corners of fleece 9D, the front end of cinch cord 9E with
The interspersed fixation of grid in fleece 9D, the rear end of cinch cord 9E is fixed on catapult-launching gear 9B bottoms, and conductive filament 9C is fixed on
Cinch cord 9E outer surface.In the electrical network acquisition equipment 9, fleece 9D and cinch cord 9E are used cooperatively, and are capable of achieving to illegally entering
The body formation for invading personnel is shrouded and is bundled, so as to limit the body freedom of illegal invasion personnel to a certain extent；Conductive filament 9C
So that fleece 9D has charging effect, so that it is guaranteed that fleece 9D will not be torn apart easily；Orientation block 9A and catapult-launching gear
9B is used cooperatively, and is capable of achieving transformations of the fleece 9D from contraction state to deployed condition, while realizing to illegal invasion personnel's
Orientation capture transmitting.
Under peacetime state, fleece 9D is folded and is accommodated in inside catapult-launching gear 9B, and two orientation block 9A are respectively disposed on
The right and left of catapult-launching gear 9B front ends.During transmitting, two orientation block 9A are first launched away by catapult-launching gear 9B so that two fixed
Outwards launched via 9 emission port of electrical network acquisition equipment to block 9A with certain initial velocity, while driving the exhibition of fleece 9D
Open and transmitting.After fleece 9D covers illegal invasion personnel from top to down, the rotating disk of catapult-launching gear 9B rear ends starts to rotate simultaneously
By cinch cord 9E toward returning, so as to fleece 9D is secured firmly to outside illegal invasion personnel's body.Then, conductive filament 9C is opened
Begin conductive（Voltage adopts 5kV to 10kV short-time pulse voltage systems, not higher than 10 milliseconds of pulse duration, to guarantee to people
Body has sensation of pricking while and will not form life security threat）, to prevent illegal invasion personnel to be ripped with handss to a certain extent
Fleece 9D.
As shown in figure 3, the wheeled electric drive chassis 1, its bottom surface has four wheels, drivewheel 2 and three driven pulleys
3, wherein, motor 12 is arranged on wheeled 1 center of electric drive chassis, is arranged on bottom by the drivewheel 2 that motor 12 drives
Center below disk, three driven pulleys 3 of 360 ° of degree rotations, is fixed on wheeled 1 bottom of electric drive chassis in isosceles triangle.
Panoramic video monitoring device involved in the present invention can be using the big magnificent H.265 starlight panoramic camera or similar in Zhejiang
Product, the computing unit in control device involved in the present invention can select DSP2812 or similar embedded chips, institute of the present invention
The detection device being related to can select the JTY-GW-PEW001/B or similar products of MAT, involved in the present invention
Intrusion detector can select the big magnificent WP3 infrared intrusion detectors in Zhejiang or other principles（Such as ultrasound wave）Similar products.
The operation principle of the present invention：
Site disposal robot proposed by the present invention, can autonomous classification risk case carry out active operation, or pass through after reporting to the police
Wireless communication system realizes that Remote is operated.The site disposal robot is free in planar range by wheel type drive device
Activity, and risk case region enforcement Disposal Strategies can be entered：For burst fire, combustible gas leakage can be carried by adopting
After the perception of fire information such as detection, cigarette sense detection, flame warming, independently judge that conflagration area carries out extinguishing chemical injection, or it is logical
Cross long-range video observing and survey and determine target injection；For illegal invasion behavior, can be infrared, super using what is carried by the mechanism of deploying troops on garrison duty
The perceptrons such as sound wave intrusion detector, image recognition determine illegal invasion actor, autonomous to be close to or observe mesh by long-distance video
Mark remote control and be close to unlatching sound and light alarm, remote control injection safety high-pressure acquisition equipment or safety high-pressure robot arm device, or using shifting
Dynamic block channel pattern is intercepted control.Disposed in the protective range of robot authorization activities, in the face of accident at the scene
Disposal process, can be divided into perception, confirm and dispose three phases.
When in Autoattendant period, the sensor carried by the fixed sensor and robot of zone of protection is to risk
Event is perceived：
Scene 1, region are fixed intrusion alarm unit and produce warning, and Surveillance center's Attended mode passes through wireless network after specifying alert
Site disposal robot dependent instruction is transferred to, remote control is formed, robot carries out planar movement according to remote control instruction,
And feed back to the position of itself and live video situation.Enter when Surveillance center personnel check discovery suspicion personnel by live video
When invading, remote field disposes robot fast approaching target, opens sound and light alarm, injection apparatus are switched to smoke condition, and
Remotely propagandaed directed to communicate, observed by robot video feed, such as suspect's resistance, then starting electric shock steel fork carries out isolation stop
Or projecting fog, when needing to limit its behavior, start electrical network acquisition equipment and steel wire safety electric network is shed to goal orientation；Work as prison
When control center finds the clear and definite condition of a fire, remote-controlled robot command is moved near burning things which may cause a fire disaster, robotic spraying's device is switched to and is disappeared
Fire extinguishing state, receives instruction and performs fire extinguishing injection.
Scene 2, region are fixed intrusion alarm unit and produce warning, and warning message is directly passed through by Surveillance center's unmanned
Wireless device transmissions open from carry sensors to site disposal robot, site disposal robot, are recognized by video object
Or programme path moves closer to alarm region and sends radio alarming information to related personnel, determines whether to deposit according to perceptual signal
Invade in suspicion personnel, such as find suspicion personnel, open sound and light alarm, fast approaching target immediately, and injection apparatus are switched
To smoke condition, such as suspect's resistance, then starting electric shock steel fork carries out isolation stop, when needing to limit its behavior, starts
Electrical network acquisition equipment sheds steel wire safety electric network to goal orientation；As perceptual signal finds burning things which may cause a fire disaster situation, then move near burning things which may cause a fire disaster,
Injection apparatus are switched to into fire-fighting fire extinguishing state, fire extinguishing injection is performed according to temperature and the intensity of a fire of the sensing condition of a fire.
Without fixed intrusion alarm unit in scene 3, zone of protection, site disposal robot is opened from carry sensors, is opened
Patrol pattern, is recognized by video object or programme path carries out patrol guard, when perceptual signal occurs to report to the police, quick mobile
Proximity sensing region simultaneously sends radio alarming information to related personnel, determines whether there is suspicion personnel according to perceptual signal and enters
Invade, such as find suspicion personnel, open sound and light alarm, fast approaching target immediately, and injection apparatus are switched to into smoke condition, such as
Suspect revolt, then start electric shock steel fork carry out isolation stop, when needing to limit its behavior, start electrical network acquisition equipment to
Goal orientation sheds steel wire safety electric network；As perceptual signal finds burning things which may cause a fire disaster situation, then move near burning things which may cause a fire disaster, injection apparatus are switched
To fire-fighting fire extinguishing state, fire extinguishing injection is performed according to temperature and the intensity of a fire of the sensing condition of a fire.
When zone of protection is in routine work state, site disposal robot is in safe standby state, can be filled
The working conditions such as electricity, cavity presentation of information, once there is exception safety event, then receive Remote, move to relevant range
Complete mandatory operation, using the protective characteristic of robot itself, realize the route to suspect stop or the intensity of a fire it is climing
Prolong, in protection zone the safe escape of personnel with withdraw.
Multiple stage site disposal robot can form collaborative operation, and formation encloses circle, limit suspect's range of activity, or association
Biconditional operation puts out burning things which may cause a fire disaster jointly.
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, any modifications and changes made to the present invention both fall within the protection model of the present invention
Enclose.
Claims (6)
1. a kind of site disposal robot for tackling security risk event in the range of plane domain, it is characterised in that：Including
Wheeled electric drive chassis（1）, automatically controlled rotatable cavity（4）, fire extinguisher（14）, smog bucket（15）, supply unit（13）, disappear
Anti- or smog switchable type injection apparatus, band electric shock steel fork device, electrical network acquisition equipment（9）, panoramic video monitoring device（11）
And control device（18）；Wherein：
1）Automatically controlled rotatable cavity（4）Installed in wheeled electric drive chassis（1）On, band electric shock steel fork device is arranged on automatically controlled rotation
Turn cavity（4）Lateral surface, panoramic video monitoring device（11）Installed in automatically controlled rotatable cavity（4）Top；
2）Automatically controlled rotatable cavity（4）Lateral surface is provided with composite injection mouth（8）, fire detector installing port（19）, intrusion detection
Device installing port（10）, sound and light alarm device installing port（20）With electrical network acquisition equipment（9）Emission port；
3）Automatically controlled rotatable cavity（4）Internal is hollow, fire extinguisher（14）, smog bucket（15）, control power supply and high-tension electricity
The supply unit for hitting（13）, fire-fighting or smog switchable type injection apparatus, control device（18）It is installed in automatically controlled rotatable chamber
Body（4）It is internal；Wherein：Fire extinguisher（14）, smog bucket（15）, control power supply and high-voltage electric shock supply unit（13）In product
Font is fixed on automatically controlled rotatable cavity（4）Inner bottom part, fire-fighting or smog switchable type injection apparatus are fixed on fire-fighting fire extinguishing
Device（14）With smog bucket（15）Top, electrical network acquisition equipment（9）Fire-fighting or smog switchable type injection apparatus top are fixed on, in
Control device（18）It is fixed on automatically controlled rotatable cavity（4）Inner top.
2. a kind of site disposal machine for tackling security risk event in the range of plane domain according to claim 1
People, it is characterised in that：The control device（18）, including embedding assembly module and wireless communication module；And revolve automatically controlled
Turn cavity（4）It is internal that sound and light alarm device, intrusion detection device, detection and gain antenna portion are connected by wired mode
Part；Wherein：
1）Sound and light alarm device is fixed on automatically controlled rotatable cavity（4）The sound and light alarm device installing port of lateral surface（20）, acousto-optic
The output signal line of alarm appliance is connected to embedding assembly module；
2）Intrusion detection device is fixed on automatically controlled rotatable cavity（4）The intrusion detection device installing port of lateral surface（10）, invasion
The output signal line of sensitive detection parts is connected to embedding assembly module；
3）Detection device is fixed on automatically controlled rotatable cavity（4）The detection device installing port of lateral surface（19）, fire
The output signal line of sensitive detection parts is connected to embedding assembly module；
4）Gain antenna is fixed on automatically controlled rotatable cavity（4）Side wall, the wireless communication module of wired mode and control device
It is connected；Wireless communication module is made up of WLAN WLAN module and forth generation mobile communication 4G module.
3. a kind of site disposal machine for tackling security risk event in the range of plane domain according to claim 1
People, it is characterised in that：The fire-fighting or smog switchable type injection apparatus, including small air pump（17）, admission line, air jet pipe
Road and two-way electrically-controlled valve（16）；Wherein, jet pipe one end and small air pump（17）Gas outlet connect, the jet pipe other end with
Automatically controlled rotatable cavity（4）The composite injection mouth in outside（8）Connection, admission line one end and small air pump（17）Air inlet connects
Connect, the admission line other end and two-way electrically-controlled valve（16）The port of export connection, two-way electrically-controlled valve（16）An arrival end with disappear
Fire extinguishing device（14）Connection, two-way electrically-controlled valve（16）Another arrival end and smog bucket（15）Connection.
4. a kind of site disposal machine for tackling security risk event in the range of plane domain according to claim 1
People, it is characterised in that：The band electric shock steel fork device, including steel fork bar（7）, small air pump（17）, lift cylinder（5）And electric shock
Conductor（6）；Wherein, steel fork bar（7）With lift cylinder（5）It is separately fixed at automatically controlled rotatable cavity（4）Lateral surface, small air pump
（17）It is fixed on automatically controlled rotatable cavity（4）Inside, shock by electricity conductor（6）With in steel fork bar（7）Connection.
5. a kind of site disposal machine for tackling security risk event in the range of plane domain according to claim 1
People, it is characterised in that：The electrical network acquisition equipment（9）, including fleece（9D）, orientation block（9A）, cinch cord（9E）, conductive filament
（9C）And catapult-launching gear（9B）；Wherein, two orientation blocks（9A）It is separately fixed at fleece（9D）Front end Liang Ge corners, tighten up
Rope（9E）Front end with fleece（9D）Interior grid is interspersed to be fixed, cinch cord（9E）Rear end be fixed on catapult-launching gear（9B）
Bottom, conductive filament（9C）It is fixed on cinch cord（9E）Outer surface.
6. a kind of site disposal machine for tackling security risk event in the range of plane domain according to claim 1
People, it is characterised in that：The wheeled electric drive chassis（1）, its bottom surface has four wheels, drivewheel（2）With three driven pulleys
（3）, wherein, motor（12）Installed in wheeled electric drive chassis（1）Center, by motor（12）The drivewheel of driving
（2）Installed in center below chassis, three driven pulleys of 360 ° of degree rotations（3）, wheeled electric drive is fixed in isosceles triangle
Chassis（1）Bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710038842.XA CN106683329B (en) | 2017-01-19 | 2017-01-19 | For coping with the site disposal robot of security risk event within the scope of plane domain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038842.XA CN106683329B (en) | 2017-01-19 | 2017-01-19 | For coping with the site disposal robot of security risk event within the scope of plane domain |
Publications (2)
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| CN106683329A true CN106683329A (en) | 2017-05-17 |
| CN106683329B CN106683329B (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710038842.XA Active CN106683329B (en) | 2017-01-19 | 2017-01-19 | For coping with the site disposal robot of security risk event within the scope of plane domain |
Country Status (1)
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| CN112634564A (en) * | 2020-12-30 | 2021-04-09 | 重庆赤木科技有限公司 | Community safety monitoring system |
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| CN117152897A (en) * | 2023-09-18 | 2023-12-01 | 国网江苏省电力有限公司南通供电分公司 | Self-monitoring anti-blocking system and method based on power substation engineering safety construction |
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