CN106943693A - A kind of directing self-extinguishing module - Google Patents
A kind of directing self-extinguishing module Download PDFInfo
- Publication number
- CN106943693A CN106943693A CN201710176675.5A CN201710176675A CN106943693A CN 106943693 A CN106943693 A CN 106943693A CN 201710176675 A CN201710176675 A CN 201710176675A CN 106943693 A CN106943693 A CN 106943693A
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- module
- extinguishing chemical
- extinguishing
- fire
- head
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/08—Control of fire-fighting equipment comprising an outlet device containing a sensor, or itself being the sensor, i.e. self-contained sprinklers
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The present invention relates to a kind of directing self-extinguishing module, including vision sensor, foamite container, extinguishing chemical jet module, head, extinguishing chemical flexible pipe and processor, vision sensor is integrated in same head with extinguishing chemical jet module, vision sensor includes visible image capturing module and infrared thermal imaging module, it is seen that light photographing module and the camera lens of infrared thermal imaging module is identical with the nozzle direction of extinguishing chemical jet module and centerline parallel.The features such as fire suppression module of the present invention has high working efficiency, fire extinguishing accuracy rate is high, the fire suppression module of the present invention is equipped on mobile robot or other platforms, it is possible to increase the fire disaster emergency processing rapidity and accuracy in buried cable tunnel.
Description
Technical field
The present invention relates to a kind of fire suppression module, more particularly to it is a kind of can be equipped on mobile robot be applied to underground
The directing self-extinguishing module of cable tunnel fire fire extinguishing.
Background technology
The urban aerial transmission line of electricity of " cobweb " formula has a strong impact on city image, and buried cable tunnel replaces overhead transmission line
Corridor, passway for transmitting electricity is transferred to " underground " by " ground ", it has also become current each city of China changes defeated power-supplying forms and city image
Main Means.Fire once occurs for buried cable tunnel, easily burns a large amount of cables and other electrical equipments, seriously threatens city
Electric power netting safe running, can cause great economic loss and serious social influence.
Existing fixed fire-extinguishing unit is typically mounted at the intensive area of buried cable tunnel cable, effective coverage range
Limited, once fire incident occurs in cable tunnel, fire extinguishing personnel are difficult to rush towards scene in the very first time and make meeting an urgent need accordingly to locate
Reason measure, the rapidity of fire extinguishing, mobility are difficult to meet actual O＆M demand.Buried cable tunnel closure is strong, structure is more,
Fire can gather a large amount of toxic smogs when occurring, and easily cause casualties accident.Therefore, it is equipped on going out for mobile robot
Fiery module can effectively improve the rapidity, mobility and security of fire extinguishing.
At present, fire-fighting robot fire suppression module in buried cable tunnel is mainly made up of electric triggering type fire extinguisher bomb, for example specially
Profit number is 201310221593.X patent of invention：Suspension type intelligent fire robot, and Patent No. 201620136969
Utility model patent：Solution disclosed in cable tunnel inspection robot.The problem of this solution is present be：Should
Class fire suppression module spray angle is uncontrolled, causes the extinguishing chemical ejected can not effectively cover firing range, it is difficult to reach and go out
The purpose of fire.
In view of this, it is necessary to a kind of directing self-extinguishing module is provided, to solve the above problems.
The content of the invention
In view of the shortcomings of the prior art, mobile robot can be equipped on it is an object of the invention to provide one kind
Be applied to the directing self-extinguishing module that buried cable tunnel fire hazard is put out a fire, can accurately, quickly position ignition point, and from
Trend ignition point spray fire extinguishing agent, effectively covers firing range, reaches the purpose accurately put out a fire.
To achieve these goals, the technical solution adopted in the present invention is：A kind of directing self-extinguishing module, it is described
Fire suppression module includes vision sensor, foamite container, extinguishing chemical jet module, head, extinguishing chemical flexible pipe and processor, and it is special
Levy and be：
The vision sensor is integrated in same head with extinguishing chemical jet module, and vision sensor includes visible image capturing
Module and infrared thermal imaging module, it is seen that the spray of light photographing module and the camera lens of infrared thermal imaging module and extinguishing chemical jet module
Mouth direction is identical and centerline parallel；
The foamite container is connected with extinguishing chemical jet module by extinguishing chemical flexible pipe；
The head has pitching, two frees degree of rotation, by head driver control；
The processor drives with visible image capturing module, infrared thermal imaging module, extinguishing chemical jet module, head respectively
Device is electrically connected.
Preferably, the extinguishing chemical jet module includes nozzle, control valve actuator, control valve and flow sensor；Control
Valve processed is installed between extinguishing chemical flexible pipe and nozzle, inside extinguishing chemical jet module, for controlling extinguishing chemical injection flow；Flow
Sensor is installed between control valve and nozzle, for gathering extinguishing chemical injection flow；The processor with control valve actuator,
Flow sensor is electrically connected.
Preferably, the fire suppression module is fixedly installed in mobile robot, and foamite container is fixedly installed in moving machine
Inside device human body, the head is fixedly installed in mobile robot body bottom portion.
Compared with prior art, the present invention has following beneficial effect：
(1) efficiency high：The present invention is made up of visible image capturing module, infrared thermal imaging module, extinguishing chemical jet module etc.,
The condition of a fire in tunnel can be accomplished " find, i.e. processing ", it is to avoid fire in tunnel further spreads；
(2) accuracy rate is high：A kind of directing self-extinguishing module can pass through infrared thermal imaging module, visible image capturing mould
The relative position of block precise positioning ignition point and mobile robot, makes extinguishing chemical jet module be directed at ignition point, extinguishing chemical can
Effectively covered to catching fire, fire extinguishing accuracy rate is high.
(3) extinguishing chemical jet module is integrated on head with vision sensor, and centerline parallel, the benefit so brought
The step of can be dispensed with calculating three-dimensional coordinate, vision sensor " seeing " to burning things which may cause a fire disaster is where, and the center of head also corresponds to burning things which may cause a fire disaster,
Same fire extinguisher nozzle center also corresponds to burning things which may cause a fire disaster.This is a kind of uniformity mechanically, and nozzle, vision sensor are acted simultaneously；
And this mode is simple, and precision and reliability are very high.
(4) its spray angle of fire extinguisher and flow that the present invention is used can control, and can accomplish precisely fire extinguishing.Its efficiency
Higher, accuracy rate is high, and this is that the fire extinguisher bomb that prior art is used substantially does not possess.
(5) fire suppression module of the invention is not limited to apply on mobile robot platform, can also be carried to other platforms
Upper application, is with a wide range of applications.
Brief description of the drawings
Fig. 1 is directing self-extinguishing module application of the invention in the overall structure diagram of mobile robot；
Fig. 2 is the structural representation of the directing self-extinguishing module of the present invention；
Fig. 3 is present invention is generally directed to the control system pie graph of type self-extinguishing module.
Wherein, 1-vision sensor, 2-foamite container, 3-extinguishing chemical jet module, 4-head, 5-extinguishing chemical
Flexible pipe, 6-mobile robot, 7-processor, 101-visible image capturing module, 102-infrared thermal imaging module, 301-spray
Mouth, 302-control valve actuator, 303-control valve, 304-flow sensor, 401-head driver.
Embodiment
For a better understanding of the present invention, with reference to the embodiment content that the present invention is furture elucidated, but the present invention
Content is not limited solely to the following examples.Those skilled in the art can make various changes or modifications to the present invention, these
The equivalent form of value is same within the scope of claims listed by the application are limited.
As shown in figure 1, for the embodiment of the present invention directing self-extinguishing module application in the overall of mobile robot
Overall schematic；Fig. 2 is present invention is generally directed to the structure chart of type self-extinguishing module.Directing self-extinguishing module is passed including vision
Sensor 1, foamite container 2, extinguishing chemical jet module 3, head 4, extinguishing chemical flexible pipe 5, processor 7.
The vision sensor 1 is integrated in same head 4 with extinguishing chemical jet module 3, and vision sensor 1 includes visible ray
Photographing module 101 and infrared thermal imaging module 102, it is seen that light photographing module 101 and the camera lens of infrared thermal imaging module 102 are with going out
The nozzle direction of fiery agent jet module 3 is identical and centerline parallel.
The foamite container 2 is connected with extinguishing chemical jet module 3 by extinguishing chemical flexible pipe 5, and foamite container 2 fixes peace
Loaded on the body interior of mobile robot 6.The head 4 is fixedly installed in the body bottom portion of mobile robot 6, head 4 have pitching,
Two frees degree are rotated, are controlled by head driver 401.
As shown in figure 3, being the control system pie graph of the present invention.The extinguishing chemical jet module 3 includes nozzle 301, control
Valve actuator 302 processed, control valve 303, flow sensor 304；Control valve 303 be installed on extinguishing chemical flexible pipe 5 and nozzle 301 it
Between, extinguishing chemical injection flow can be controlled；Flow sensor 304 is installed between control valve 303 and nozzle 301, collection fire extinguishing
Agent injection flow；The processor 7 respectively with visible image capturing module 101, infrared thermal imaging module 102, control valve actuator
302nd, flow sensor 304, head driver 401 are electrically connected.
The fire suppression module of the present invention has extinguishing chemical jet velocity controllable, and the characteristics of spray angle is controllable can be to burning things which may cause a fire disaster
Carry out directive property fire extinguishing.Directing self-extinguishing module is equipped in mobile robot 6, and mobile robot 6 is laid along advance
Track travel.In walking process, it is seen that light photographing module 101 and infrared thermal imaging module 102 pass through image recognition and temperature
Identification, detects fire location.Video sensor 1 sends condition of a fire image information and temperature information to processor 7, and processor 7 is pressed
According to algorithm set in advance, the angle of head 4 is adjusted, flame temperature peak is located exactly at the center of whole image.This
When, the nozzle 301 of extinguishing chemical jet module 3 is just just to flame temperature peak, and processor 7 is sent out to control valve actuator 302
The instruction for opening control valve 303 is sent, nozzle 301 ejects extinguishing chemical to ignition point.Vision sensor 1 can gather extinguishing chemical spray
Ignition point situation after penetrating, and it is transferred to processor 7.Also, the fire suppression module of the present invention is not limited to mobile robot and put down
Applied on platform, can also be carried on other platforms and apply, be with a wide range of applications.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (3)
1. a kind of directing self-extinguishing module, the fire suppression module includes vision sensor (1), foamite container (2), fire extinguishing
Agent jet module (3), head (4), extinguishing chemical flexible pipe (5) and processor (7), it is characterised in that：
The vision sensor (1) is integrated in same head (4) with extinguishing chemical jet module (3), and vision sensor (1) includes can
See light photographing module (101) and infrared thermal imaging module (102), it is seen that light photographing module (101) and infrared thermal imaging module
(102) camera lens is identical with nozzle (301) direction of extinguishing chemical jet module (3) and centerline parallel；
The foamite container (2) is connected with extinguishing chemical jet module (3) by extinguishing chemical flexible pipe (5)；
The head (4) has pitching, two frees degree of rotation, is controlled by head driver (401)；
The processor (7) respectively with visible image capturing module (101), infrared thermal imaging module (102), extinguishing chemical jet module
(3), head driver (401) is electrically connected.
2. directing self-extinguishing module according to claim 1, it is characterised in that the extinguishing chemical jet module (3)
Including nozzle (301), control valve actuator (302), control valve (303) and flow sensor (304)；Valve (303) is controlled to install
Between extinguishing chemical flexible pipe (5) and nozzle (301), extinguishing chemical jet module (3) inside, for controlling extinguishing chemical injection flow；
Flow sensor (304) is installed between control valve (303) and nozzle (301), for gathering extinguishing chemical injection flow；The place
Device (7) is managed to be electrically connected with control valve actuator (302), flow sensor (304).
3. directing self-extinguishing module according to claim 1 or 2, it is characterised in that the fire suppression module fixes peace
Loaded in mobile robot (6), foamite container (2) is fixedly installed in mobile robot (6) body interior, the head (4)
It is fixedly installed in mobile robot (6) body bottom portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176675.5A CN106943693A (en) | 2017-03-23 | 2017-03-23 | A kind of directing self-extinguishing module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176675.5A CN106943693A (en) | 2017-03-23 | 2017-03-23 | A kind of directing self-extinguishing module |
Publications (1)
| Publication Number | Publication Date |
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| CN106943693A true CN106943693A (en) | 2017-07-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710176675.5A Pending CN106943693A (en) | 2017-03-23 | 2017-03-23 | A kind of directing self-extinguishing module |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107551423A (en) * | 2017-08-15 | 2018-01-09 | 许继电气股份有限公司 | A kind of converter valve extinguishing device |
| CN108686327A (en) * | 2018-07-04 | 2018-10-23 | 佛山科学技术学院 | A kind of Intelligent fire-fighting spray system |
| CN109966677A (en) * | 2019-03-13 | 2019-07-05 | 北京天剑维安科技发展有限公司 | Light-duty intelligence high-rise building fire extinguishing system |
| CN110354423A (en) * | 2019-07-12 | 2019-10-22 | 东南大学 | A kind of suspension type links work at selected spots with that in entire areas firefighting robot |
| CN113577617A (en) * | 2021-08-06 | 2021-11-02 | 广东三水合肥工业大学研究院 | A reverse hanging type fire-extinguishing robot for push pipe tunnel |
| CN114247073A (en) * | 2020-09-23 | 2022-03-29 | 许继集团有限公司 | Supporting type lifting fire extinguishing system suitable for converter valve |
| CN114669000A (en) * | 2022-04-15 | 2022-06-28 | 大仓机器人科技(佛山)有限公司 | Robot is patrolled and examined in embedding possesses control cloud platform of function of putting out a fire |
| CN116421907A (en) * | 2022-01-04 | 2023-07-14 | 中国科学院沈阳自动化研究所 | Automatic identification and fixed point elimination method for flame in cable tunnel |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107551423A (en) * | 2017-08-15 | 2018-01-09 | 许继电气股份有限公司 | A kind of converter valve extinguishing device |
| CN108686327A (en) * | 2018-07-04 | 2018-10-23 | 佛山科学技术学院 | A kind of Intelligent fire-fighting spray system |
| CN109966677A (en) * | 2019-03-13 | 2019-07-05 | 北京天剑维安科技发展有限公司 | Light-duty intelligence high-rise building fire extinguishing system |
| CN110354423A (en) * | 2019-07-12 | 2019-10-22 | 东南大学 | A kind of suspension type links work at selected spots with that in entire areas firefighting robot |
| CN110354423B (en) * | 2019-07-12 | 2021-08-20 | 东南大学溧阳研究院 | Suspension type point-surface combined fire extinguishing robot |
| CN114247073A (en) * | 2020-09-23 | 2022-03-29 | 许继集团有限公司 | Supporting type lifting fire extinguishing system suitable for converter valve |
| CN113577617A (en) * | 2021-08-06 | 2021-11-02 | 广东三水合肥工业大学研究院 | A reverse hanging type fire-extinguishing robot for push pipe tunnel |
| CN116421907A (en) * | 2022-01-04 | 2023-07-14 | 中国科学院沈阳自动化研究所 | Automatic identification and fixed point elimination method for flame in cable tunnel |
| CN114669000A (en) * | 2022-04-15 | 2022-06-28 | 大仓机器人科技(佛山)有限公司 | Robot is patrolled and examined in embedding possesses control cloud platform of function of putting out a fire |
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Application publication date: 20170714 |