CN106683329B - For coping with the site disposal robot of security risk event within the scope of plane domain - Google Patents
For coping with the site disposal robot of security risk event within the scope of plane domain Download PDFInfo
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- CN106683329B CN106683329B CN201710038842.XA CN201710038842A CN106683329B CN 106683329 B CN106683329 B CN 106683329B CN 201710038842 A CN201710038842 A CN 201710038842A CN 106683329 B CN106683329 B CN 106683329B
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- cavity
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- 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
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- 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
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- 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
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- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Burglar Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of for coping with the site disposal robot of security risk event within the scope of plane domain.Including wheeled electric drive chassis, automatically controlled rotatable cavity, fire extinguisher, smog bucket, power supply device, fire-fighting or smog switchable type injection apparatus, band electric shock steel fork device, power grid acquisition equipment, panoramic video monitoring device and control device.The present invention can be moved freely within the scope of plane domain by autonomous classification or remote control mode, and have the scenes such as limitation range suspect, quick extinguishing, protection zone of protection disposing capacity immediately；It is situations such as non-authorized infection, theft or robbery, burst fire can be handled simultaneously, low in cost, securely and reliably, it is convenient for mass production and application；To risk case, using scene, disposal options, first time exclude potential risk, can be reduced to personal injury or property loss minimum immediately.Present invention can apply to the plane domains range places such as house, small Office Area, warehouse, financial institution.
Description
Technical field
The present invention relates to robots, and in particular to a kind of for coping with the scene of security risk event within the scope of plane domain
Dispose robot.
Background technique
In daily life, the plane domains range place such as house, small Office Area, warehouse, financial institution often has non-public affairs
Many open features, 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
The mode of fixed video camera, intrusion detector cooperation remote alarms is realized.For the accidents such as burst fire, traditional fire
The emphasis of alarm system and fire-fighting system is equally detection, perception and alarm, except complementary fire extinguishing sides such as starting sprays
Outside case, there is still a need for carried out by the duty personnel of reception warning message for other related disposition to play a decisive role.
For the security risk event in plane domain range place, traditional safety monitoring alarming system, fire alarm
System and fire-fighting system, reaction treatment mode has the disadvantages that firstly, above system can occupy a large amount of manpower objects
Power is more attached most importance to not only due to each architectonical of above system causes plane domain place to need to invest and build respectively three sets of systems
What is wanted is above system substantially only a kind of warning device, it is still desirable to be equipped with a large amount of operator on duty and disposal personnel ability
Enough eliminate security risk；Secondly, above system disposes means because lacking scene immediately, for the reaction speed of risk case
Degree is slow, may be delayed disposition opportunity, result even in the serious consequence for being difficult to make up.
Summary of the invention
The purpose of the present invention is to provide a kind of for coping with the site disposal of security risk event within the scope of plane domain
Robot, the robot can be moved freely within the scope of plane domain by autonomous classification or remote control mode, and have limit
The scenes such as range suspect processed, quick extinguishing, protection zone of protection disposing capacity immediately.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
The present invention include: wheeled electric drive chassis, automatically controlled rotatable cavity, fire extinguisher, smog bucket, power supply device,
Fire-fighting or smog switchable type injection apparatus, band electric shock steel fork device, power grid acquisition equipment, panoramic video monitoring device and middle control
Device；Wherein:
1) automatically controlled rotatable cavity is mounted on wheeled electric drive chassis, and band electric shock steel fork device is mounted on automatically controlled rotatable
Cavity lateral surface, panoramic video monitoring device are mounted 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 installation
The emission port of mouth, sound and light alarm device installing port and power grid acquisition equipment；
3) automatically controlled rotatable inside cavity is hollow, fire extinguisher, smog bucket, the power supply for controlling power supply and high-voltage electric shock
Device, fire-fighting or smog switchable type injection apparatus, control device are installed in automatically controlled rotatable inside cavity；Wherein: fire-fighting
Fire extinguisher, smog bucket, control power supply and high-voltage electric shock power supply device be fixed on the interior bottom of automatically controlled rotatable cavity in isosceles triangle
Portion, fire-fighting or smog switchable type injection apparatus are fixed on fire extinguisher and smog bucket top, and power grid acquisition equipment is fixed on
Fire-fighting or smog switchable type injection apparatus top, control device are 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, fire detection and gain antenna component are connected 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 rotatable cavity lateral surface, acousto-optic
The output signal line of alarm appliance 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
The output signal line of device is connected to embedding assembly module；
3) fire detection device is fixed on the fire detection device installing port of automatically controlled rotatable cavity lateral surface, fire 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, the wireless communication module of wired mode and control device
It is connected；Wireless communication module is made 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 connect 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 connect with small air pump air inlet, the admission line other end and two-way electrically-controlled valve
Outlet end connection, an arrival end of two-way electrically-controlled valve connect with fire extinguisher, another arrival end of two-way electrically-controlled valve and
The connection of smog bucket.
The band electric shock steel fork device, including steel fork bar, small air pump, lifting cylinder and electric shock conductor；Wherein, steel fork bar
It is separately fixed at automatically controlled rotatable cavity lateral surface with lifting cylinder, small air pump is fixed on automatically controlled rotatable inside cavity, electricity
Conductor is hit to connect in steel fork bar.
The power grid acquisition equipment, including web, orientation block, cinch cord, conductive filament and catapult-launching gear；Wherein, two
Orientation block is separately fixed at the front end corner Liang Ge of web, and the front end of cinch cord is fixed as the grid in web 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, bottom surface share four wheels, driving wheel and three driven wheels, wherein driving electricity
Machine is mounted on wheeled electric drive center chassis, is mounted on center below chassis, 360 ° of degree rotations by the driving wheel that driving motor drives
Three driven wheels turned, are fixed on wheeled electric drive chassis lower part in isosceles triangle.
Compared with the background art, the invention has the advantages that:
1) present invention can be moved freely within the scope of plane domain by autonomous classification or remote control mode, and have limit
The scenes such as range suspect processed, quick extinguishing, protection zone of protection disposing capacity immediately.
2) present invention can handle situations such as non-authorized infection, theft or robbery, burst fire, low in cost, safety simultaneously
Reliably, it is convenient for mass production and application；
3) site disposal robot proposed by the present invention, to risk case using live disposal options immediately, at the first time
Potential risk is excluded, personal injury or property loss can be reduced to minimum.
Site disposal robot proposed by the present invention can be applied to the planes such as house, small Office Area, warehouse, financial institution
Regional scope place, and can multiple site disposal robots cooperate with each other.
Detailed description of the invention
Fig. 1 is outboard front view of the invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is wheeled electric drive chassis structure schematic diagram of the invention.
Fig. 4 is the assembly relation of automatically controlled rotatable inside cavity fire extinguisher of the invention, smog bucket and power supply device
Schematic diagram.
Fig. 5 is the assembly relation schematic diagram of each device inside automatically controlled rotatable cavity side of the invention.
Fig. 6 is the assembly relation schematic diagram of each device inside the automatically controlled rotatable cavity other side of the invention.
Fig. 7 is band electric shock steel fork device operation schematic diagram of the invention.
Fig. 8 is wheeled electric drive chassis operation schematic diagram of the invention.
Fig. 9 is power grid acquisition equipment operation schematic diagram of the invention.
In figure: 1, wheeled electric drive chassis, 2, driving wheel, 3, driven wheel, 4, automatically controlled rotatable cavity, 5, lifting cylinder,
6, steel fork electric shock conductor, 7, steel fork bar, 8, composite injection mouth, 9, power grid acquisition equipment, 9A, orientation block, 9B, catapult-launching gear, 9C,
Conductive filament, 9D, web, 9E, cinch cord, 10, intrusion detector installing port, 11, panoramic video monitoring device, 12, driving electricity
Machine, 13, power supply device, 14, fire extinguisher, 15, smog bucket, 16, two-way electrically-controlled valve, 17, small air pump, 18, control device,
19, fire detector installing port, 20, combined aural and visual alarm installing port.
Specific embodiment
Below in conjunction with attached drawing and tool embodiment, the present invention is described further.
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, power supply device 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 mounted on wheeled electric drive chassis 1, and band electric shock steel fork device is mounted on automatically controlled rotatable
4 lateral surface of cavity, panoramic video monitoring device 11 are mounted on automatically controlled 4 top of rotatable cavity；Automatically controlled 4 lateral surface of rotatable cavity
It is provided with composite injection mouth 8, fire detector installing port 19, intrusion detector installing port 10,20 and of sound and light alarm device installing port
The emission port of power grid acquisition equipment 9；It is hollow, fire extinguisher 14, smog bucket 15, control electricity inside automatically controlled rotatable cavity 4
The power supply device 13 of source and high-voltage electric shock, fire-fighting or smog switchable type injection apparatus, control device 18 be installed in it is automatically controlled can
It rotates inside cavity 4；Wherein: fire extinguisher 14, smog bucket 15 control the power supply device 13 of power supply and high-voltage electric shock in product word
Shape is fixed on the interior bottom of automatically controlled rotatable cavity 4, and fire-fighting or smog switchable type injection apparatus are fixed on fire extinguisher 14
With 15 top of smog bucket, power grid acquisition equipment 9 is fixed on fire-fighting or smog switchable type injection apparatus top, and control device 18 is solid
Due to the inner top of automatically controlled rotatable cavity 4.The power supply of high-voltage electric shock is provided by the power supply device, but other component simultaneously, such as
Camera etc., required power supply is also by the means of power.
As shown in figure 4, being fixed on automatically controlled 4 bottom of rotatable cavity to increase the whole machine balancing of site disposal robot
Fire extinguisher 14, smog bucket 15, power supply device 13 be distributed in isosceles triangle, while fire extinguisher 14, smog bucket 15, power supply
The weight of device 13 is of substantially equal and far overweights site disposal robot other component or device.
In view of the needs of panoramic video monitoring device 11 at the top of site disposal robot can monitor entire plane domain,
Site disposal robot also needs to implement illegal invasion personnel to limit personal action processing, therefore site disposal robot simultaneously
Whole height between 1.7 meters to 2.1 meters, with electric shock steel fork device automatically controlled rotatable 4 lateral surface of cavity fixed point from
Ground height 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, fire detection and gain antenna component 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, acousto-optic
The output signal line of alarm appliance 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, invasion
The output signal line of sensitive detection parts is connected to embedding assembly module；
3) fire detection device is fixed on the fire detection device installing port 19 of automatically controlled 4 lateral surface of rotatable cavity, fire
The output signal line of sensitive detection parts is connected to embedding assembly module；
4) gain antenna is fixed on the side wall of automatically controlled rotatable cavity 4, the radio communication mold of wired mode and control device
Block is connected；Wireless communication module is made 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 connect with 17 gas outlet of small air pump, the jet pipe other end
It being connect with the composite injection mouth 8 in automatically controlled rotatable 4 outside of cavity, admission line one end is connect with 17 air inlet of small air pump, into
The feed channel other end is connect with the outlet end of two-way electrically-controlled valve 16, the arrival end and fire extinguisher 14 of two-way electrically-controlled valve 16
Connection, another arrival end of two-way electrically-controlled valve 16 are connect with smog bucket 15.
When site disposal robot needs to carry out fire processing, 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 will pass through automatically controlled rotatable 4 lateral surface of cavity
Composite injection mouth 8 ejects, and realizes the function of fire extinguishing.It is small when site disposal robot needs to carry out illegal invasion processing
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 substance such as smog powder, chilli powder etc. by by the composite injection mouth 8 of automatically controlled rotatable 4 lateral surface of cavity to illegal invasion people
Member's injection, to hinder the action of illegal invasion personnel to a certain extent.
The steel fork device as shown in fig. 7, the band shocks by electricity, including steel fork bar 7, small air pump 17, lifting cylinder 5 and electric shock are led
Body 6；Wherein, steel fork bar 7 and lifting cylinder 5 are separately fixed at automatically controlled 4 lateral surface of rotatable cavity, and small air pump 17 is fixed on electricity
It controls inside rotatable cavity 4, electric shock conductor 6 is connect in steel fork bar 7.
Under peacetime state, in cylinder interior, steel fork bar 7 is also sagging vertically to be attached to automatically controlled revolve for the valve rod contracting of lifting cylinder 5
Turn 4 lateral surface of cavity.Under working condition, small air pump 17 is started, and the valve rod of lifting cylinder 5 starts overhanging, the promotion act of steel fork bar 7
It rises, then steel fork can be withstood on the waist of illegal invasion personnel by site disposal robot, 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 opening steel fork bar 7, the electric shock within the scope of safe voltage will receive, so that steel fork bar 7 can not be pushed open.
As shown in figure 8, when working for band electric shock steel fork device, the cooperating status diagram on wheeled electric drive chassis 1.
When steel fork bar 7 limits illegal invasion personnel, the driving wheel in wheeled electric drive chassis 1 can bounce back with driving wheel, so that wheel
The plane on formula electric drive chassis 1 directly touches the ground, and enhances the stability of site disposal robot, prevents by illegal invasion personnel
It pushes over.
As shown in figure 9, the power grid acquisition equipment 9, including web 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 corner Liang Ge of web 9D, the front end of cinch cord 9E with
Grid in web 9D is interspersed fixes, the rear end of cinch cord 9E is fixed on the bottom catapult-launching gear 9B, and conductive filament 9C is fixed on
The outer surface cinch cord 9E.In the power grid acquisition equipment 9, web 9D and cinch cord 9E are used cooperatively, it can be achieved that illegally entering
The body formation for invading personnel is shrouded and is bundled, so that the body for limiting illegal invasion personnel to a certain extent is free；Conductive filament 9C
So that web 9D has charging effect, so that it is guaranteed that web 9D will not be torn apart easily；Orient block 9A and catapult-launching gear
9B is used cooperatively, it can be achieved that transformation of the web 9D from contraction state to unfolded state, while being realized to illegal invasion personnel's
Orientation capture transmitting.
Under peacetime state, web 9D, which is folded, to be accommodated in inside catapult-launching gear 9B, and two orientation block 9A are respectively disposed on
The right and left of the front end catapult-launching gear 9B.When transmitting, catapult-launching gear 9B first launches away two orientation block 9A, so that two fixed
It is launched outward away to block 9A with certain initial velocity via 9 emission port of power grid acquisition equipment, while driving the exhibition of web 9D
It opens and emits.After web 9D covers illegal invasion personnel from top to down, the turntable of the rear end catapult-launching gear 9B is started turning simultaneously
Cinch cord 9E is past back, so that web 9D is secured firmly to outside illegal invasion personnel's body.Then, conductive filament 9C is opened
(voltage uses the voltage system of 5kV to 10kV short-time pulse to the conduction that begins, and the pulse duration is not higher than 10 milliseconds, to ensure to people
Body has tingling sensation simultaneously and not will form life security threat again), to prevent illegal invasion personnel to be ripped with hand to a certain extent
Web 9D.
As shown in figure 3, the wheeled electric drive chassis 1, bottom surface shares four wheels, driving wheel 2 and three driven wheels
3, wherein driving motor 12 is mounted on wheeled 1 center of electric drive chassis, and the driving wheel 2 driven by driving motor 12 is mounted on bottom
Center below disk, three driven wheels 3 of 360 ° of degree rotations, is fixed on wheeled 1 lower part of electric drive chassis in isosceles triangle.
The big China in Zhejiang H.265 starlight panoramic camera or similar can be used in panoramic video monitoring device according to the present invention
DSP2812 or similar embedded chip, institute of the present invention can be selected in product, the computing unit in control device according to the present invention
The JTY-GW-PEW001/B or similar products of Matsushita Corporation of Japan can be selected in the fire detection device being related to, involved in the present invention
Intrusion detector the big China's WP3 infrared intrusion detector in Zhejiang or other principle (such as ultrasonic wave) similar products can be selected.
The working principle of the invention:
Site disposal robot proposed by the present invention, can autonomous classification risk case carry out active operation, or alarm after
System realizes remote control operation by wireless communication.The site disposal robot is by wheel type drive device in planar range
It move freely, and risk case region can be entered and implement Disposal Strategies:, can be by using included fuel gas for the fire that happens suddenly
After the perception of fire informations such as leak detection, cigarette sense detection, flame warming, independently judge that conflagration area carries out extinguishing chemical injection,
Or it is observed by long-distance video and determines target injection；It, can be by deployment mechanism, using included red for illegal invasion behavior
Outside, the perceptrons such as ultrasonic wave intrusion detector, image recognition determine illegal invasion actor, autonomous to approach or seen by long-distance video
Target remote control is surveyed close to sound-light alarm is opened, is remotely controlled injection safety high-pressure acquisition equipment or safety high-pressure robot arm device, or adopt
Control is intercepted with mobile block channel mode.In the protective range for disposing robot authorization activities at the scene, in face of burst
The disposal process of event can be divided into perception, confirmation and disposition three phases.
When being in Autoattendant period, by the included sensor of the fixation sensor and robot of zone of protection to risk
Event is perceived:
Scene 1, the fixed intrusion alarm unit in region generate alarm, and monitoring center Attended mode passes through wirelessly after specifying alert
Network transmission gives site disposal robot dependent instruction, forms remote control, and robot instructs according to remote control and carries out plane
Movement, and feed back to itself position and live video situation.When monitoring center personnel check discovery suspicion by live video
When personnel invade, remote field disposes robot fast approaching target, opens sound-light alarm, injection apparatus is switched to smoke-like
State, and remotely propagandaed directed to communicate, it is observed by robot video feed, if suspect revolts, then starts electric shock steel fork and be isolated
Property stop or projecting fog, when needing to limit its behavior, starting power grid acquisition equipment to goal orientation shed steel wire safety electricity
Net；When monitoring center finds clear fire behavior, remote-controlled robot command is moved near fire source, and robotic spraying's device is cut
Fire-fighting fire extinguishing state is changed to, instruction execution fire extinguishing injection is received.
Scene 2, the fixed intrusion alarm unit in region generate alarm, and monitoring center is unattended, directly passes through warning message
Wireless device transmissions give site disposal robot, and site disposal robot is opened from carry sensors, identified 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
It is invaded in suspicion personnel, such as finds suspicion personnel, open sound-light alarm, fast approaching target immediately, and injection apparatus is switched
It is revolted to smoke condition, such as suspect, then starts electric shock steel fork and carry out isolation blocking, when needing to limit its behavior, starting
Power grid acquisition equipment sheds steel wire safety electric network to goal orientation；If perceptual signal finds fire source situation, then move near fire source,
Injection apparatus is switched to fire-fighting fire extinguishing state, fire extinguishing injection is executed according to the temperature of sensing fire behavior and the intensity of a fire.
Scene 3, zone of protection is interior without fixed intrusion alarm unit, and site disposal robot is opened from carry sensors, opens
Patrol mode carries out patrol guard by video object identification or programme path, when perceptual signal is alarmed, fast moves
Proximity sensing region simultaneously sends radio alarming information to related personnel, determines whether there is suspicion personnel according to perceptual signal and enters
It invades, such as finds suspicion personnel, open sound-light alarm, fast approaching target immediately, and injection apparatus is switched into smoke condition, such as
Suspect resistance, then start electric shock steel fork carry out isolation blocking, when needing to limit its behavior, starting power grid acquisition equipment to
Steel wire safety electric network is shed in goal orientation；If perceptual signal finds fire source situation, then moves near fire source, injection apparatus is switched
To fire-fighting fire extinguishing state, fire extinguishing injection is executed according to the temperature of sensing fire behavior and the intensity of a fire.
When zone of protection is in routine work state, site disposal robot is in safe standby state, can be filled
Electricity, cavity information show etc. that working conditions then receive remote control once being abnormal security incident, are moved to relevant range
Complete mandatory operation, using the protective characteristic of robot itself, realize the route of suspect is stopped or the intensity of a fire it is climing
Prolong, in protection zone the safe escape of personnel with withdraw.
Duo Tai site disposal robot can form collaborative operation, formed and enclose circle, limit suspect's scope of activities, or association
Biconditional operation puts out fire source jointly.
Above-mentioned specific embodiment is used to illustrate the present invention, rather than limits the invention, of the invention
In spirit and scope of protection of the claims, to any modifications and changes that the present invention makes, protection model of the invention is both fallen within
It encloses.
Claims (6)
1. a kind of for coping with the site disposal robot of security risk event within the scope 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), control power supply and high pressure
Power supply device (13), fire-fighting or the smog switchable type injection apparatus of electric shock, band electric shock steel fork device, power grid acquisition equipment (9),
Panoramic video monitoring device (11) and control device (18)；Wherein:
1) automatically controlled rotatable cavity (4) is mounted on wheeled electric drive chassis (1), and band electric shock steel fork device is mounted on automatically controlled revolve
Turn cavity (4) lateral surface, panoramic video monitoring device (11) is mounted at the top of automatically controlled rotatable cavity (4)；
2) automatically controlled rotatable cavity (4) lateral surface is provided with composite injection mouth (8), fire detection device installing port (19), invasion spy
Survey the emission port of device installing port (10), sound and light alarm device installing port (20) and power grid acquisition equipment (9)；
It 3) is hollow, fire extinguisher (14), smog bucket (15), control power supply and high-voltage electricity inside automatically controlled rotatable cavity (4)
Power supply device (13), fire-fighting or smog switchable type injection apparatus, the control device (18) hit is installed in automatically controlled rotatable chamber
Body (4) is internal；Wherein: fire extinguisher (14), smog bucket (15) control the power supply device (13) of power supply and high-voltage electric shock in product
Font is fixed on the interior bottom of automatically controlled rotatable cavity (4), and fire-fighting or smog switchable type injection apparatus are fixed on fire-fighting fire extinguishing
Device (14) and smog bucket (15) top, power grid acquisition equipment (9) are fixed on fire-fighting or smog switchable type injection apparatus top, in
The inner top of automatically controlled rotatable cavity (4) is fixed in control device (18).
2. according to claim 1 a kind of for coping with the site disposal machine of security risk event within the scope of plane domain
People, it is characterised in that: the control device (18), including embedding assembly module and wireless communication module；And it is revolved automatically controlled
It is internal by wired mode connection sound and light alarm device, intrusion detection device, fire detection and gain antenna portion to turn cavity (4)
Part；Wherein:
1) sound and light alarm device is fixed on the sound and light alarm device installing port (20) of automatically controlled rotatable cavity (4) lateral surface, acousto-optic
The output signal line of alarm appliance is connected to embedding assembly module；
2) intrusion detection device is fixed on the intrusion detection device installing port (10) of automatically controlled rotatable cavity (4) lateral surface, invasion
The output signal line of sensitive detection parts is connected to embedding assembly module；
3) fire detection device is fixed on the fire detection device installing port (19) of automatically controlled rotatable cavity (4) lateral surface, fire
The output signal line of sensitive detection parts 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 of wired mode and control device
It is connected；Wireless communication module is made of WLAN WLAN module and forth generation mobile communication 4G module.
3. according to claim 1 a kind of for coping with the site disposal machine of security risk event within the scope of plane domain
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 is connect with small air pump (17) gas outlet, the jet pipe other end with
Composite injection mouth (8) connection on the outside of automatically controlled rotatable cavity (4), admission line one end and small air pump (17) air inlet connect
Connect, the admission line other end is connect with the outlet end of two-way electrically-controlled valve (16), an arrival end of two-way electrically-controlled valve (16) with disappear
Fire extinguishing device (14) connection, another arrival end of two-way electrically-controlled valve (16) are connect with smog bucket (15).
4. according to claim 1 a kind of for coping with the site disposal machine of security risk event within the scope of plane domain
People, it is characterised in that: the band electric shock steel fork device, including steel fork bar (7), small air pump (17), lifting cylinder (5) and electric shock
Conductor (6)；Wherein, steel fork bar (7) and lifting cylinder (5) are separately fixed at automatically controlled rotatable cavity (4) lateral surface, small air pump
(17) it is internal to be fixed on automatically controlled rotatable cavity (4), electric shock conductor (6) is connect with steel fork bar (7).
5. according to claim 1 a kind of for coping with the site disposal machine of security risk event within the scope of plane domain
People, it is characterised in that: the power grid acquisition equipment (9), including web (9D), orientation block (9A), cinch cord (9E), conductive filament
(9C) and catapult-launching gear (9B)；Wherein, two orientations block (9A) are separately fixed at the front end corner Liang Ge of web (9D), tightening
The front end of rope (9E) is fixed as the grid in web (9D) is interspersed, and the rear end of cinch cord (9E) is fixed on catapult-launching gear (9B)
Bottom, conductive filament (9C) are fixed on the outer surface cinch cord (9E).
6. according to claim 1 a kind of for coping with the site disposal machine of security risk event within the scope of plane domain
People, it is characterised in that: the wheeled electric drive chassis (1), bottom surface share four wheels, driving wheel (2) and three driven wheels
(3), wherein driving motor (12) is mounted on wheeled electric drive chassis (1) center, the driving wheel driven by driving motor (12)
(2) it is mounted on center below chassis, three driven wheels (3) of 360 ° of degree rotations are fixed on wheeled electric drive in isosceles triangle
Chassis (1) lower part.
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| 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 |
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| 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 |
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| CN106683329A CN106683329A (en) | 2017-05-17 |
| CN106683329B true CN106683329B (en) | 2019-01-01 |
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| CN107348909A (en) * | 2017-08-29 | 2017-11-17 | 王美航 | A kind of small-sized automatic cleaning apparatus of cell |
| KR102045416B1 (en) * | 2017-11-15 | 2019-12-02 | 신성재 | Remote fire extinguishing equipment and remote anti-crime equipment |
| CN112634564B (en) * | 2020-12-30 | 2022-09-06 | 重庆赤木科技有限公司 | Community safety monitoring system |
| CN113362562A (en) * | 2021-06-01 | 2021-09-07 | 国网山西省电力公司阳泉供电公司 | Transformer substation comprehensive monitoring alarm device based on artificial intelligence |
| CN113192279A (en) * | 2021-06-01 | 2021-07-30 | 中铁建设集团有限公司 | Artificial intelligence-based power facility comprehensive safety supervision and fire-fighting system and operation method |
| CN117152897B (en) * | 2023-09-18 | 2024-04-19 | 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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