CN107009366A - A kind of firefighting of warehouse safety automation inspecting robot - Google Patents
A kind of firefighting of warehouse safety automation inspecting robot Download PDFInfo
- Publication number
- CN107009366A CN107009366A CN201611085573.4A CN201611085573A CN107009366A CN 107009366 A CN107009366 A CN 107009366A CN 201611085573 A CN201611085573 A CN 201611085573A CN 107009366 A CN107009366 A CN 107009366A
- Authority
- CN
- China
- Prior art keywords
- firefighting
- inspecting robot
- safety automation
- warehouse safety
- warehouse
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
Abstract
The present invention proposes a kind of firefighting of warehouse safety automation inspecting robot, specifically land formula firefighting of warehouse safety automation inspecting robot, including：Sensing module：For realizing the perception to the firefighting of warehouse safety automation inspecting robot surrounding environment；Control module：For realizing the control to the firefighting of warehouse safety automation inspecting robot；Motor and drive module：For realizing the driving to the firefighting of warehouse safety automation inspecting robot；Photographing module：For realizing that the object occurred to the firefighting of warehouse safety automation inspecting robot periphery is shot and recorded a video；Power module：For providing power supply for the firefighting of warehouse safety automation inspecting robot.The requirement for meeting firefighting of warehouse safety and patrol work to the full extent of the inspecting robot of the present invention, it is accurate quick, it is simple to operate, after, the daily tour work of firefighting of warehouse can only be completed with automatic inspecting robot, and can carry out uninterrupted tour in 24 hours, reduce workload, teams and groups' operating pressure is alleviated, labour cost is saved, operating efficiency is improved.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of firefighting of warehouse safety automation inspecting robot.
Background technology
According to the statistical analysis of Chinese fire protection yearbook, by taking Shanghai City as an example, this area can be drawn according to Fire Data
From the Warehouse Fire occurred since the establishment of the nation, wherein the fire more than great is just up to 88, dead 6 people hinders 192 people.The analysis of causes
It is as follows：
1st, kindling material control is not tight.It is main against nutating fire, play with fire, set on fire, firecracker of setting off fireworks, smoking, in handling operation
The kindling material of initiation；Play with fire, set on fire, firecracker of setting off fireworks etc.；The initiations such as the smokings such as interim Migrant women, appliance crew, crewman
Kindling material；Handling operation triggers kindling material (temporary lighting and the short-circuit excess load of powered wire, friction Mars, electric wire spreading etc.), breaks rules and regulations
Cut, get angry without card, violate the rules operation.
2nd, warehouse lighting is managed improperly.Mainly have warehouse lighting light fixture from improper, stacking superelevation do not keep lamp away from, illumination
Construction quality difference causes lamp to come off, temporary lighting sets improper etc.；Illuminated using high temperature, lamp position setting is improper, do not cut off after
Power supply, radiates heat localization and triggers stacking fire；Temporary lighting sets improper, and wind-engaging or electric wire are pulled and toppled over, unattended
And cause fire.
3rd, hazardous chemical ventilation and heat condition is bad, and damp-proof and fireproof, measures of heat control are ineffective, stacks lack of standardization, lacks
Weary professional knowledge cause stock article occur it is biological, physically or chemically reaction cause spontaneous combustion, burning or explode.
4th, lightning Protection Design has blind area or lightning protection facility maintenance to be not good at.Blind area, lightening protection installation maintenance is designed with to be not good at, to ball
Thunder, induced lightening, banding thunder should be studied and protected not enough.
5th, dangerous goods warehouse do not classify subitem storage, handling operation without effective anti-static precautions, change warehouse without authorization
Stored substance property.
6th, disorderly take and disorderly build, huddle, even eating and stay in reservoir area；Personnel and goods and materials turnover are in great disorder；Change fire prevention point without authorization
Area, firebreak, fire fighting device can not be completely handy etc..
Trigger it can be seen that leading cause of fire is kindling material or line short spark, and warehouse is the field that goods and materials concentrate storage
Institute, stores the storage article such as all kinds of power equipment materials of company, once generation fire loss is huge, all sectors of society influence
Greatly, consequence is serious, and firefighting of warehouse is the most important thing of Materials Service Center trouble free service safely, and company is model depot safety specification
Operation, strengthens to warehouse personnel's automatic management, has put into effect a variety of specifications such as firefighting of warehouse Security Administration.Such as disappeared with dividing
Anti- region, specifies reservoir area person liable, forbids various naked light inflammable articles to appear in warehouse etc., only find fire-fighting by manpower tour
Potential safety hazard, the real-time of way to manage is poor, passivity is larger, even if being provided with monitoring device in warehouse, complete to accomplish
Weather monitoring in real time uninterruptedly checks warehouse monitoring interface, it is necessary to which personnel are round-the-clock in shifts, and labour consumes larger, operating efficiency
Lowly.
When being maked an inspection tour by randomly selecting the firefighting of warehouse in sunshine company Materials Service Center in June, 2014 in December, 2014
Between count, investigated and analysed, refer to table 1.
The artificial firefighting of warehouse tour time data statistics of table 1
Sunshine company Materials Service Center personnel depaly rate, which is only reached, should configure the 33% of personnel, during the work of such personnel
Between it is urgent, workload is big, and operating pressure is also increased therewith, by data above, and can only explain manual patrol needs to take manpower
And the time, because warehouse daily management is tight, above-mentioned data can not illustrate that personnel can successfully have found disaster hidden-trouble in tour
Probability.
By simulated experiment, 10 electronic simulation burning type candles are placed on to the different corners in warehouse, not informed in advance
Tour personnel, proceeds by manual patrol experiment, statistical result such as table 2：
The manual patrol test data of table 2 is counted
As can be seen from Table 2, in the fire-fighting of 6 times is maked an inspection tour, manual patrol is all used, the used time is longer, and due to people
For factor, different personnel's tour times, the careful degree of tour are also differed, and manual patrol averagely finds that the probability of burning things which may cause a fire disaster is only
85%.
In summary, the manual patrol used at present is cumbersome and time consuming, and human factor is not during tour
The situation that hidden danger can be given is likely occurred.Group considers：A kind of storage security against fire whether can be developed and make an inspection tour machine automatically
People, instead of manpower, uninterrupted tour in 24 hours can find and recognize burning things which may cause a fire disaster, rapid alarm, and self-extinguishing.So as to liberate people
Power resource, improves operating efficiency, it is ensured that firefighting of warehouse safety.
There is presently no the automatic inspection device of the firefighting of warehouse that disclosure satisfy that requirement.
The content of the invention
To solve above-mentioned technical problem present in prior art, the present invention proposes that a kind of firefighting of warehouse safety automation is maked an inspection tour
Robot, including：
Firefighting of warehouse safety automation inspecting robot proposed by the present invention, realizes and is maked an inspection tour automatically in warehouse, energy
It was found that and recognize burning things which may cause a fire disaster, it is rapid to alarm and can upload tour video recording, and available pc machines remote control tour, reach burning things which may cause a fire disaster identification
Accuracy 100%, automatic tour traversal rate 100%.
The requirement for meeting firefighting of warehouse safety and patrol work to the full extent of the inspecting robot of the present invention is accurate fast
Speed, simple to operate, after, the daily tour work of firefighting of warehouse can only be completed with automatic inspecting robot, and can be entered
Row uninterrupted tour in 24 hours, reduces workload, alleviates teams and groups' operating pressure, save labour cost, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the structure chart of firefighting of warehouse safety automation inspecting robot of the present invention；
Fig. 2 is an example structure figure of firefighting of warehouse safety automation inspecting robot of the present invention；
Fig. 3 uses the flow chart that planning type universe coverage mode is realized for the automatic cruising module of the present invention.
Embodiment
Below in conjunction with the accompanying drawing of the present invention, technical scheme is clearly and completely described.
As shown in figure 1, firefighting of warehouse safety automation inspecting robot proposed by the present invention, specifically land formula firefighting of warehouse
Safety automation inspecting robot, including：
Sensing module：For realizing the perception to the firefighting of warehouse safety automation inspecting robot surrounding environment；
Control module：For realizing the control to the firefighting of warehouse safety automation inspecting robot；
Motor and drive module：For realizing the driving to the firefighting of warehouse safety automation inspecting robot；
Photographing module：For realizing that the object occurred to the firefighting of warehouse safety automation inspecting robot periphery is clapped
Take the photograph and record a video；
Power module：For providing power supply for the firefighting of warehouse safety automation inspecting robot.
As shown in Fig. 2 the sensing module of the present invention further comprises：
Avoidance module, the distance for testing barrier, avoiding obstacles；
Tracking module：Tracking for realizing the firefighting of warehouse safety automation inspecting robot；
Flame sensing module：For the perception to flame；
Smog sensing module：For the perception to smog.
It is preferred that, avoidance module of the invention uses avoiding obstacles by supersonic wave, by sending the ultrasonic wave of certain frequency, when running into
Reflected during barrier, by receiving the back wave, further according to transmitting and the time difference acquired disturbance object location signal received,
Determine Obstacle Position.It is long using avoiding obstacles by supersonic wave measurement distance, be affected by temperature it is small, when scene of fire works relatively stablize.
It is preferred that, tracking module of the invention uses infrared acquisition tracking, and light is launched to road surface by infrared transmitting tube,
Infrared light runs into white background and then reflected, and reception pipe receives reflected light, and low level is exported after Schmidt trigger shaping；It is hot
Outer light is then absorbed when running into black line, and reception pipe is not received by reflected light, and high level is exported after Schmidt trigger shaping.
It is preferred that, flame sensing module of the invention uses far infrared flame sensor, directly detects that flame medium wave is a length of
4.35 ± 0.15 μm of infrared spectrum.
It is preferred that, smog sensing module of the invention uses photoelectric mist perceptron.
The control module of the present invention further comprises：
Host computer system module：For sending and receiving the various instructions of processing, completion is patrolled to the firefighting of warehouse safety automation
Depending on the control of robot；
Remote transmission module：For remote transmission data；
Automatic cruising module：Complete the automatic cruising of the firefighting of warehouse safety automation inspecting robot；
Host computer remote control module：Realize the remote control to the firefighting of warehouse safety automation inspecting robot.
It is preferred that, host computer system module of the invention uses chip microcontroller.
It is preferred that, remote transmission module of the invention uses wifi transmission means.
Automatic cruising function is to realize the emphasis and difficult point of the firefighting of warehouse safety automation inspecting robot, should be accomplished
The all standing of tour, accomplishes that make an inspection tour path does not repeat as far as possible again, to reach the quick accurate of tour.It is preferred that, such as Fig. 3 institutes
Show, automatic cruising module of the invention is realized using planning type universe coverage mode, is specially：
S1, the firefighting of warehouse safety automation inspecting robot straight trip；
S2, judges whether the firefighting of warehouse safety automation inspecting robot encounters barrier, if so, then turning, then
Step S1 is gone to, if it is not, then continuing step S3；
S3, whether judge the left and right sides in the firefighting of warehouse safety automation inspecting robot straight trip direction has " recessed " place,
If so, then continuing step S4, if it is not, then going to step S1；
S4, turns and enters " recessed " place；
S5, the distance directly walked and recorded away；
S6, judges whether to encounter barrier, if so, step S7 is gone to, if it is not, going to step S14；
S7, according to the Distance Judgment walked to walk it is N number of back and forth；
S8, turning is turned around；
S9, is directly walked；
S10, judges whether to encounter barrier, if so, step S11 is gone to, if it is not, going to step S9；
S11, N=N-1
S12, judges whether N is more than 0, if so, step S7 is gone to, if it is not, going to step S13；
S13, turns away along barrier, goes to step S1；
S14, whether judge the left and right sides in the firefighting of warehouse safety automation inspecting robot straight trip direction has " recessed " place,If, then step S4 is gone to,If not, then step S15 is gone to；
S15, backtracking " recess " entrance, goes to step S1.
It is preferred that, host computer remote control module of the invention includes the double combinations control of PC and portable terminal device, PC
Machine is used for the shooting picture of firefighting of warehouse safety automation inspecting robot transmission described in real-time reception and stored, portable terminal device
For by radio transmission apparatus, obtaining the shooting picture of the firefighting of warehouse safety automation inspecting robot transmission.
The motor and drive module of the present invention includes motor and drive module, and the motor uses stepper motor, the drive
Dynamic model block is realized using L289N chips.
The photographing module of the present invention uses infrared high-definition camera, it is possible to achieve make an inspection tour within 24 hours.
The power module of the present invention uses chargeable lithium cell, it is ensured that endurance.
Simulated test is carried out to firefighting of warehouse safety automation inspecting robot proposed by the present invention, simulated test finds burning things which may cause a fire disaster
Correct alarm rate situation, which is shown in Table under 3, turn-off and (imitates night), finds that flame, the correct alarm rate situation of smog are shown in Table 4.
The simulated test of table 3 finds the correct alarm rate of burning things which may cause a fire disaster
(night, which is imitated, under the turn-off of table 4) finds flame, the correct alarm rate of smog
The requirement for meeting firefighting of warehouse safety and patrol work to the full extent of the inspecting robot of the present invention is accurate fast
Speed, simple to operate, after, the daily tour work of firefighting of warehouse can only be completed with automatic inspecting robot, and can be entered
Row uninterrupted tour in 24 hours, reduces workload, alleviates teams and groups' operating pressure, save labour cost, improve operating efficiency.
Claims (10)
1. a kind of firefighting of warehouse safety automation inspecting robot, specifically land formula firefighting of warehouse safety automation inspecting robot,
Including：
Sensing module：For realizing the perception to the firefighting of warehouse safety automation inspecting robot surrounding environment；
Control module：For realizing the control to the firefighting of warehouse safety automation inspecting robot；
Motor and drive module：For realizing the driving to the firefighting of warehouse safety automation inspecting robot；
Photographing module：For realize to the firefighting of warehouse safety automation inspecting robot periphery occur object carry out shoot and
Video recording；
Power module：For providing power supply for the firefighting of warehouse safety automation inspecting robot.
2. firefighting of warehouse safety automation inspecting robot as claimed in claim 1, wherein the sensing module further comprises：
Avoidance module, the distance for testing barrier, avoiding obstacles；
Tracking module：Tracking for realizing the firefighting of warehouse safety automation inspecting robot；
Flame sensing module：For the perception to flame；
Smog sensing module：For the perception to smog.
3. firefighting of warehouse safety automation inspecting robot as claimed in claim 2, wherein the avoidance module uses ultrasonic wave
Avoidance, by sending the ultrasonic wave of certain frequency, is reflected when running into barrier, by receiving the back wave, further according to
Transmitting and the time difference acquired disturbance object location signal received, determine Obstacle Position.It is long using avoiding obstacles by supersonic wave measurement distance,
Be affected by temperature it is small, when scene of fire works relatively stablize.
4. firefighting of warehouse safety automation inspecting robot as claimed in claim 2, wherein the tracking module uses infrared spy
Tracking is surveyed, light is launched to road surface by infrared transmitting tube, infrared light runs into white background and then reflected, and reception pipe receives reflection
Light, low level is exported after Schmidt trigger shaping；Then absorbed when infrared light runs into black line, reception pipe is not received by
Reflected light, high level is exported after Schmidt trigger shaping.
5. firefighting of warehouse safety automation inspecting robot as claimed in claim 2, wherein the flame sensing module is using remote
Infra red flame sensor, directly detects the infrared spectrum of a length of 4.35 ± 0.15 μm of flame medium wave.
6. firefighting of warehouse safety automation inspecting robot as claimed in claim 2, wherein the smog sensing module uses light
Electric smog perceptron.
7. firefighting of warehouse safety automation inspecting robot as claimed in claim 1, wherein the control module further comprises：
Host computer system module：For sending and receiving the various instructions of processing, complete to make an inspection tour machine to the firefighting of warehouse safety automation
The control of device people；
Remote transmission module：For remote transmission data；
Automatic cruising module：Complete the automatic cruising of the firefighting of warehouse safety automation inspecting robot；
Host computer remote control module：Realize the remote control to the firefighting of warehouse safety automation inspecting robot.
8. firefighting of warehouse safety automation inspecting robot as claimed in claim 7, wherein the host computer system module is using single
Piece machine is realized；The remote transmission module uses wifi transmission means.
9. firefighting of warehouse safety automation inspecting robot as claimed in claim 7, wherein the automatic cruising module is using rule
Draw formula universe coverage mode to realize, be specially：
S1, the firefighting of warehouse safety automation inspecting robot straight trip；
S2, judges whether the firefighting of warehouse safety automation inspecting robot encounters barrier, if so, then turning, then goes to
Step S1, if it is not, then continuing step S3；
S3, whether judge the left and right sides in the firefighting of warehouse safety automation inspecting robot straight trip direction has " recessed " place, if so,
Then continue step S4, if it is not, then going to step S1；
S4, turns and enters " recessed " place；
S5, the distance directly walked and recorded away；
S6, judges whether to encounter barrier, if so, step S7 is gone to, if it is not, going to step S14；
S7, according to the Distance Judgment walked to walk it is N number of back and forth；
S8, turning is turned around；
S9, is directly walked；
S10, judges whether to encounter barrier, if so, step S11 is gone to, if it is not, going to step S9；
S11, N=N-1
S12, judges whether N is more than 0, if so, step S7 is gone to, if it is not, going to step S13；
S13, turns away along barrier, goes to step S1；
S14, whether judge the left and right sides in the firefighting of warehouse safety automation inspecting robot straight trip direction has " recessed " place,If It is, then step S4 is gone to,If not, then step S15 is gone to；
S15, backtracking " recess " entrance, goes to step S1.
10. firefighting of warehouse safety automation inspecting robot as claimed in claim 7, wherein the host computer remote control module
Double combinations control including PC and portable terminal device, PC is used for firefighting of warehouse safety automation described in real-time reception and makes an inspection tour machine
The shooting picture of people's transmission is simultaneously stored, and portable terminal device is used for by radio transmission apparatus, obtains the firefighting of warehouse safety
The shooting picture of automatic inspecting robot transmission.
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| CN201611085573.4A CN107009366A (en) | 2016-11-28 | 2016-11-28 | A kind of firefighting of warehouse safety automation inspecting robot |
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| CN201611085573.4A CN107009366A (en) | 2016-11-28 | 2016-11-28 | A kind of firefighting of warehouse safety automation inspecting robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262736A (en) * | 2018-02-06 | 2018-07-10 | 南京苏京智能机器人科技有限公司 | Indoor intelligent crusing robot and system |
| CN108908361A (en) * | 2018-07-19 | 2018-11-30 | 安徽共生物流科技有限公司 | A kind of warehouse patrol robot system and its inspection method |
| CN110196591A (en) * | 2019-04-24 | 2019-09-03 | 河池学院 | A kind of patrol unmanned vehicle system of fire |
| CN111496806A (en) * | 2020-04-17 | 2020-08-07 | 成都时空穿梭智能科技有限公司 | Security robot for chemical warehouse and gas station |
| CN112405624A (en) * | 2020-08-11 | 2021-02-26 | 深圳好逸多科技有限公司 | Intelligent patrol robot system |
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| CN111496806A (en) * | 2020-04-17 | 2020-08-07 | 成都时空穿梭智能科技有限公司 | Security robot for chemical warehouse and gas station |
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