CN107376141B

CN107376141B - Self-moving type fire-fighting lifesaving air cushion

Info

Publication number: CN107376141B
Application number: CN201710813199.3A
Authority: CN
Inventors: 栾振辉; 刘肖; 李海龙; 张旭
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2017-09-11
Filing date: 2017-09-11
Publication date: 2022-05-10
Anticipated expiration: 2037-09-11
Also published as: CN107376141A

Abstract

The utility model provides a self-moving formula fire control lifesaving air cushion, including running gear, the air cushion, the gas cylinder, the fan, the battery, binocular vision system and control system etc. when arriving the scene of distress, binocular vision system discovers the target after, carry out the location tracking, the point of falling of prediction target, and give control system with information transfer, control system sends control command, on the one hand control running gear removes to the target point of falling, on the other hand starts fan and gas cylinder and aerifys to the air cushion, make the air cushion full of gas in the shortest time, reach the requirement of quick rescue, when falling person falls on the gas cushion, the air cushion internal pressure sharply rises, when reaching the set pressure of relief valve, the relief valve opens, the air cushion releases the percussion pressure step by step, can reduce the impact to the person who falls. The invention has the advantages of high inflation speed, automatic movement, accurate positioning, gradual pressure release and the like, and can effectively protect falling people.

Description

Self-moving type fire-fighting lifesaving air cushion

Technical Field

The invention relates to a fire-fighting lifesaving air cushion, in particular to a self-moving fire-fighting lifesaving air cushion.

Background

With the increasing of high-rise buildings and the increasing of the heights of the buildings, the number of accidents is more and more, and higher requirements are provided for the emergency lifesaving of high-altitude operation personnel or the falling lifesaving of building-skipping suicide personnel. The fire-fighting lifesaving air cushion is a high-altitude lifesaving device, is suitable for ground rescue of people in danger in high-rise buildings or suicide people jumping from buildings, and is a necessary safety lifesaving device for fire-fighting and disaster-relief departments. Although the maximum rescue height of the fire-fighting rescue air cushion (GA 631-2006) is limited to be not more than 16 meters, the fire-fighting rescue air cushion is still an effective rescue tool without other effective rescue measures, and in practice, the successful rescue of the building jump personnel by the fire-fighting rescue air cushion is often reported. Generally, the fire-fighting lifesaving air cushion is made of high-strength fiber materials with the flame-retardant performance, air with the pressure slightly larger than one atmospheric pressure is filled in the fire-fighting lifesaving air cushion, and the fire-fighting lifesaving air cushion is a closed type inflatable flexible cushion, so that when falling personnel in high altitude impact on the lifesaving air cushion, the casualties of the falling personnel can be effectively avoided. However, with the increase of high-rise buildings and the increase of the heights of the buildings, the prior rescue air cushions are exposed to the following disadvantages in use: (1) the falling point of the falling person is determined by visual inspection and judgment of the rescue personnel, and the judgment error is very large along with the increase of the height of the falling person, sometimes even disastrous; (2) in order to improve the rescue effect, the rescue air cushion should have a large enough size, however, the large size of the rescue air cushion leads to a long inflation time, and the fire or building-jumping field situation is generally critical, and the rescue air cushion is often used in time to cause casualties; (3) the lifesaving air cushion can drift after being inflated, and when the lifesaving air cushion is used, the four corners of the lifesaving air cushion are usually held by the fire fighters through ropes, so that the manpower is occupied; (4) because the height of the falling person is high, strong impact force is generated on the lifesaving air cushion, the impact force is enough to cause the injury of the spine and the cervical vertebra of the falling person, and meanwhile, the falling person can be ejected out of the air cushion by the strong impact force to cause the secondary impact of the falling person with the ground or other objects.

Disclosure of Invention

In order to solve the problems, the invention provides a fire-fighting lifesaving air cushion which can be quickly inflated, can limit the pressure of the air cushion and can move automatically.

The technical measures adopted for realizing the technical scheme are that the self-moving type fire-fighting lifesaving air cushion comprises a walking device, an air cushion, an air cylinder, a fan, a battery, a binocular vision system and a control system; the walking device comprises a frame and 4 Mecanum wheels arranged below the frame; the frame is of a cuboid structure, stand columns are fixed to four corners of the frame respectively, and a flat plate covers the upper surface of the frame; the Mecanum wheels are respectively driven by a direct-current servo motor through a speed reducer, the Mecanum wheels are connected with the frame through a suspension device, the suspension device comprises a mounting frame, a spring, a groove-shaped mounting base, a guide rail and a baffle, the groove-shaped mounting base is fixed on the frame, the guide rail is fixed on the groove-shaped mounting base, sliding grooves are formed in two sides of the mounting frame and are in sliding fit with the guide rail, the baffle is mounted at the lower end of the guide rail, the Mecanum wheels are mounted on the outer side of the mounting frame, the speed reducer and the direct-current servo motor are mounted on the inner side of the mounting frame, an output shaft of the speed reducer penetrates through the mounting frame and is fixedly connected with the Mecanum wheels, and the spring is mounted between the mounting frame and the groove-shaped mounting base; the air cushion is placed on the flat plate, four corners of the air cushion are fixed on the upright posts through ropes, the air cushion is in a rectangular shape, the front and the back of the air cushion are respectively provided with an air door, the air doors are positioned above the front and the back of the air cushion, the front and the back of the air cushion are respectively provided with a safety valve, the two safety valves are positioned at the front and the back of the air cushion and close to the bottom, the pressure of the safety valves can be adjusted, the pressure of the two safety valves has a difference value, the right side surface of the air cushion is provided with an air cushion pressure gauge close to the bottom, and the safety valves and the air cushion pressure gauge are both fixed on the frame; the number of the gas cylinders is two, the two gas cylinders are respectively fixed in front of and behind the frame, the gas cylinders are of a cylindrical structure with two closed ends, the end parts of the gas cylinders are provided with switch valves, the outlets of the switch valves are provided with a gas cylinder pressure gauge and a pressure reducing valve, and the outlets of the pressure reducing valves are connected with the air cushion hoses; the fan is arranged at the left end part of the frame, the fan is driven by a direct current motor, and an air outlet pipe of the fan is connected with the air cushion hose through a one-way air valve; the battery is arranged in the middle of the frame and is a rechargeable battery; the binocular vision system comprises two parts, namely hardware and software, wherein the hardware part comprises two vision cameras, the software part comprises a camera calibration module, a target detection and identification module, a target positioning and tracking module and the like, and the two vision cameras are respectively arranged at the tops of two upright posts in front of the frame; the control system comprises two parts, namely hardware and software, wherein the hardware part comprises a controller and a control panel, the software part comprises a processing module, a control module, a communication module and the like, and the controller and the control panel are installed at the right end part of the frame.

The air door at the front and the back of the air cushion is used for exhausting air in the air cushion, and the safety valve is used for limiting the pressure in the air cushion.

Compressed air is pre-charged into the air cylinders, when the air cushion needs to be charged, on one hand, the switch valves of the air cylinders are opened, high-pressure air is charged into the air cushion through the pressure reducing valves, on the other hand, the fan is started to charge the air cushion, at the moment, the two air cylinders and the fan are used together to charge the air cushion simultaneously, the air cushion can be rapidly charged, and the charging time of the air cushion is greatly shortened. When the pressure gauge of the gas cylinder displays that the pressure in the gas cylinder is lower than 2MPa, the gas cylinder is required to be replaced. The cylinder should comply with the regulations of GA 124-2013.

Preferably, the frame is high strength aluminum alloy section bar mosaic structure, the stand be the aluminum alloy material, and with frame screwed connection, the flat board is the plastics material, and with frame screwed connection.

Preferably, the pressure of the air cushion safety valves is 0.1MPa higher than that of one safety valve.

Preferably, the two vision cameras are CMOS cameras.

Preferably, the controller is a PLC controller.

Preferably, the control panel is a touch screen.

Preferably, the battery is a lithium battery.

The invention has the advantages that (1) after finding the target, the binocular vision system carries out positioning and tracking, predicts the falling point of the target, transmits information to the control system, and the control system sends out a control command to control the rotation direction and the rotation speed of 4 direct current servo motors, so that the invention automatically moves to the falling point of the target to rescue the falling person; (2) because the air cylinders are pre-filled with compressed air with certain volume, when the air cushion needs to be filled with air, the switch valves of the air cylinders are opened, high-pressure air is filled into the air cushion through the pressure reducing valves, and the fans are simultaneously started to fill air into the air cushion, at the moment, the two air cylinders and the fans are simultaneously filled with air into the air cushion, so that the air cushion can be quickly filled with air, and the air filling time of the air cushion is greatly shortened; (3) because the air cushion is fixed on the walking device, and the walking device has enough weight, the air cushion can not drift, and the air cushion does not need to be held by firemen, thereby saving manpower; (4) the front and the back of the air cushion are provided with two safety valves, the pressure of the two safety valves can be adjusted according to the height of a falling person, and the set pressure difference of the two safety valves is 0.1MPa, so that the purpose of gradually releasing the impact force is achieved.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 1;

FIG. 4 is a schematic view of the construction of the suspension of the present invention;

FIG. 5 is a cross-sectional view B-B of FIG. 4;

fig. 6 is a three-dimensional structure diagram of the suspension device of the invention.

In the figure, 1-running gear, 2-air cushion, 3-air bottle, 4-fan, 5-battery, 6-binocular vision system, 7-control system, 101-frame, 102-column, 103-flat plate, 104-Mecanum wheel, 105-mounting frame, 106-spring, 107-trough mounting base, 108-guide rail, 109-baffle, 110-reducer, 111-DC servo motor, 201-air door, 202-first safety valve, 203-rope, 204-second safety valve, 205-air cushion pressure gauge, 301-pressure reducing valve, 302-air bottle pressure gauge, 303-switch valve, 401-DC motor, 402-one-way air valve, 601-CMOS camera, 701-PLC controller, 702-touch screen.

Detailed Description

The embodiments of the present invention will be further explained with reference to the drawings.

Referring to fig. 1-6, the so-called front, rear, left, right, etc. orientations are described in the particular positions shown in fig. 1. The invention relates to a self-moving type fire-fighting lifesaving air cushion, which comprises a walking device 1, an air cushion 2, an air bottle 3, a fan 4, a battery 5, a binocular vision system 6 and a control system 7; the walking device 1 comprises a

frame

101 and 4 Mecanum wheels 104 arranged below the frame; the frame 101 is of a cuboid structure, stand columns 102 are fixed to four corners of the frame respectively, and a flat plate 103 covers the upper surface of the frame; the 4 mecanum wheels 104 are individually driven by 4 dc servomotors 111 through 4 reducers 110, the mecanum wheels are connected to the frame by means of suspension means comprising a mounting bracket 105, springs 106, a slotted mounting base 107, two rails 108, a stop plate 109, the slotted mounting base 107 being clipped on the frame 101 from the side, and is fixed on the frame 101 by screws, the two guide rails 108 are fixed on a groove-shaped mounting base 107, sliding grooves are arranged at two sides of the mounting rack 105, the sliding groove is in sliding fit with a guide rail 108, a baffle plate 109 is arranged at the lower end of the guide rail 108, the Mecanum wheels 104 are arranged on the outer side of the mounting frame 105, the reducer 110 and the direct current servo motor 111 are installed on the inner side of the mounting frame 105, the output shaft of the reducer 110 penetrates through the mounting frame 105 to be fixedly connected with the mecanum wheel 104, and the spring 106 is installed between the mounting frame 105 and the groove-shaped mounting base 107; the air cushion 2 is placed on the flat plate 103, four corners of the air cushion are fixed on the upright posts 102 through ropes 203, the air cushion is cuboid, the front and the back of the air cushion are respectively provided with an air door 201, the air doors 201 are positioned above the front and the back of the air cushion, the front of the air cushion is provided with a first safety valve 202, the back of the air cushion is provided with a second safety valve 204, the two safety valves are positioned at the front and the back of the air cushion and close to the bottom, the pressure of the safety valves can be adjusted, the pressure of the first safety valve 202 is 0.1MPa higher than that of the second safety valve 204, the right side of the air cushion is provided with an air cushion pressure gauge 205 close to the bottom, and the safety valves and the air cushion pressure gauge are both fixed on the frame 101; the number of the gas cylinders 3 is two, the two gas cylinders are respectively fixed in front of and behind the frame 101, the gas cylinders are of a cylindrical structure with two closed ends, the end parts of the gas cylinders are provided with switch valves 303, the outlets of the switch valves 303 are provided with gas cylinder pressure gauges 302 and pressure reducing valves 301, and the outlets of the pressure reducing valves 301 are connected with the air cushion 2 through hoses; the fan 4 is arranged at the left end part of the frame 101, the fan 4 is driven by a direct current motor 401, and an air outlet pipe of the fan 4 is connected with the air cushion 2 through a one-way air valve 402; the battery 5 is arranged in the middle of the frame 101, and the battery 5 is a rechargeable lithium battery; the binocular vision system 6 comprises two parts, namely hardware and software, wherein the hardware part comprises two CMOS cameras 601, the software part comprises a camera calibration module, a target detection and identification module, a target positioning and tracking module and the like, and the two CMOS cameras 601 are respectively arranged at the tops of two upright columns 102 in front of a frame 101; the control system 7 comprises two parts, namely hardware and software, wherein the hardware part comprises a PLC (programmable logic controller) 701 and a touch screen 702, the software part comprises a processing module, a control module and a communication module, and the PLC 701 and the touch screen 702 are installed at the right end part of the frame 101.

Further, the frame 101 is a high-strength aluminum alloy section splicing structure, the upright posts 102 are made of aluminum alloy, the upright posts 102 are connected with the frame 101 through screws, the flat plate 103 is made of plastic, and the flat plate 103 is connected with the frame 101 through screws.

The working principle of the self-moving type fire-fighting lifesaving air cushion of the invention is that when the self-moving type fire-fighting lifesaving air cushion reaches a site in danger, a binocular vision system 6 finds a target, performs positioning and tracking to predict a falling point of the target, and transmits information to a control system 7, the control system 7 sends out a control command, on one hand, the steering and rotating speed of 4 direct current servo motors 111 are controlled to enable the self-moving type fire-fighting lifesaving air cushion to automatically move to the target falling point, on the other hand, a direct current motor 401 is started to enable a fan 4 to rotate to inflate an air cushion 2, meanwhile, a switch valve 303 of two air bottles 3 is opened, high-pressure air inflates the air cushion 2 through a pressure reducing valve 301, in the common inflation of the fan 4 and the air bottles 3, the air cushion 2 is filled with air in the shortest time to achieve the requirement of quick rescue, when the pressure displayed by an air cushion pressure gauge 205 meets the requirement of a rescue site, the fan 4 and the air bottles 3 are closed to stop inflating the air cushion 2, when a falling person falls onto the air cushion, the pressure in the air cushion rises sharply, when the set pressure of the second safety valve 204 is reached, the safety valve is opened, high-pressure gas is discharged, the impact on a falling person is reduced, if the impact pressure continues to rise due to the fact that the height of the falling person is too high, the second safety valve 202 is opened, the air cushion releases the impact pressure step by step, and the impact on the falling person can be reduced.

When the pressure gauge 302 of the gas cylinder indicates that the pressure of the compressed air in the gas cylinder 3 is lower than 2MPa, the gas cylinder should be replaced. The cylinder should comply with the regulations of GA 124-2013.

The self-moving type fire-fighting lifesaving air cushion has the advantages of high inflation speed, automatic movement, accurate positioning, capability of gradually releasing impact force and the like, can effectively protect falling persons, and improves the rescue level of the lifesaving air cushion.

It should be understood that the above-described embodiments are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

Claims

1. The self-moving type fire-fighting lifesaving air cushion comprises a walking device (1), an air cushion (2), an air bottle (3), a fan (4), a battery (5), a binocular vision system (6) and a control system (7), and is characterized in that the walking device (1) comprises a frame (101) and 4 Mecanum wheels (104) arranged below the frame (101); the frame (101) is of a cuboid structure, stand columns (102) are fixed to four corners of the frame (101) respectively, and a flat plate (103) covers the upper surface of the frame (101); the Mecanum wheel (104) is connected with the frame (101) through a suspension device, the suspension device comprises a mounting frame (105), a spring (106), a groove-shaped mounting base (107), two guide rails (108) and a baffle (109), the groove-shaped mounting base (107) is clamped on the frame (101) from the side and is fixed on the frame (101) through screws, the two guide rails (108) are fixed on the groove-shaped mounting base (107), sliding grooves are formed in two sides of the mounting frame (105) and are in sliding fit with the guide rails (108), the baffle (109) is mounted at the lower ends of the guide rails (108), the Mecanum wheel (104) is mounted on the outer side of the mounting frame (105), the reducer (110) and the direct current servo motor (111) are mounted on the inner side of the mounting frame (105), and an output shaft of the reducer (110) penetrates through the mounting frame (105) and is fixedly connected with the Mecanum wheel (104), a spring (106) is arranged between the mounting rack (105) and the groove-shaped mounting base (107); the air cushion (2) is arranged on the flat plate (103), and four corners of the air cushion (2) are fixed on the upright posts (102) through ropes (203);

the air cushion (2) is rectangular, the front surface and the rear surface of the air cushion (2) are respectively provided with an air door (201), the air doors (201) are positioned above the front surface and the rear surface of the air cushion (2), the front surface of the air cushion (2) is provided with a first safety valve (202), the rear surface of the air cushion (2) is provided with a second safety valve (204), the two safety valves are positioned at the bottoms of the front surface and the rear surface of the air cushion (2), the pressure of the safety valves can be adjusted, the pressure of the first safety valve (202) is 0.1MPa higher than that of the second safety valve (204), the bottom of the right side surface of the air cushion (2) is provided with an air cushion pressure gauge (205), and the safety valves and the air cushion pressure gauge (205) are fixed on the frame (101);

the number of the gas cylinders (3) is two, the two gas cylinders are respectively fixed on the front surface and the rear surface of the frame (101), the gas cylinders (3) are of a cylindrical structure with two closed ends, the end parts of the gas cylinders are provided with switch valves (303), the outlets of the switch valves (303) are provided with gas cylinder pressure gauges (302) and pressure reducing valves (301), and the outlets of the pressure reducing valves (301) are connected with the air cushion (2) through hoses;

the fan (4) is installed at the left end of the frame (101), the fan (4) is driven by a direct current motor (401), and an air outlet pipe of the fan (4) is connected with the air cushion (2) through a one-way air valve (402).