CN108014437A - A kind of multifunction remote-control metro fire-fighting robot and its control method - Google Patents
A kind of multifunction remote-control metro fire-fighting robot and its control method Download PDFInfo
- Publication number
- CN108014437A CN108014437A CN201711470577.9A CN201711470577A CN108014437A CN 108014437 A CN108014437 A CN 108014437A CN 201711470577 A CN201711470577 A CN 201711470577A CN 108014437 A CN108014437 A CN 108014437A
- Authority
- CN
- China
- Prior art keywords
- fire
- sensor
- robot
- control
- wind turbine
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000126 substance Substances 0.000 claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 239000007789 gas Substances 0.000 claims abstract description 16
- 230000003993 interaction Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 10
- 239000002341 toxic gas Substances 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000006260 foam Substances 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 10
- 238000004880 explosion Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 239000000779 smoke Substances 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000001627 detrimental effect Effects 0.000 description 2
- 239000003517 fume Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000883990 Flabellum Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 206010070834 Sensitisation Diseases 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010219 correlation analysis Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229910000510 noble metal Inorganic materials 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- 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
- A62C3/07—Fire prevention, containment or extinguishing specially adapted for particular objects or places in vehicles, e.g. in road vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
- A62C31/07—Nozzles specially adapted for fire-extinguishing with two or more outlets for different media
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/12—Nozzles specially adapted for fire-extinguishing for delivering foam or atomised foam
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire Alarms (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunction remote-control metro fire-fighting robot and its control method, belong to robotic technology field.It includes robot control unit and long-range multi information interaction console, robot control unit is connected with long-range multi information interaction console by wireless communication, temperature sensor, visual sensor and chemical sensor are further included, the temperature sensor, visual sensor and chemical sensor are electrically connected with robot control unit.The present invention passes through set temperature sensor, visual sensor and chemical sensor in robot, wherein temperature sensor finds burning things which may cause a fire disaster, chemical sensor real-time judge scene whether there is toxic gas and which kind of gas, visual sensor is by live intensity of a fire situation real-time Transmission, then the movement of remote-controlled robot, fully substitute fireman and enter subway, effectively put out burning things which may cause a fire disaster, ensure the life security of fireman.
Description
Technical field
The invention belongs to robotic technology field, more specifically to a kind of multifunction remote-control metro fire-fighting robot
And its control method.
Background technology
Fire-fighting robot is developed a kind of a in monitoring remote video and image for urban fire control rescue
Under aided case, there is multiple degrees of freedom operating mechanism, high-power, long-range, can be from walking climbing, the new dress of hydraulic-driven
It is standby.The machine integrates sprinkling fire, removes obstacles, discharges fume, wireless remote manipulation technical ability, can substitute fire fighter and show close to fire
Effective fire fighting and rescue operation is implemented in field, carries out every fire reconnaissance task, greatly improves fire department and put out malignant fire
Ability, has the function that the injures and deaths for reducing national wealth loss and fire fighting and rescue personnel important, can be applied to public affairs (iron) road
Iron tunnel, underground installation and goods yard, oil oil depot and oil plant fire, large area poison gas and dense smoke accident and personnel are not easy to connect
Nearly fire rescue field, stronger compared with traditional consumption equipment mobility, job area bigger, range is farther, intelligence degree higher,
It is the inexorable trend of future robot fire-fighting equipment.
In order to adapt to the fire-fighting robot of the means of transportation such as subway, through retrieval, currently for the knot of metro fire-fighting robot
Structure is varied, and function is also more and more various, such as patent document 1：Chinese patent CN201110028604.3 discloses one
Kind subway tunnel, subway fire protection rescue robot, are made of, deliverance apparatus passes through walking mechanism, deliverance apparatus and control device
Turntable is installed in walking mechanism, and deliverance apparatus is by wind turbine, fan drive device, water fog applicator, water pipe and elevation angle adjustment mechanism
Composition, wind turbine are fixed on turntable by stent, and elevation angle adjustment mechanism is rack-mount, and is connected with blower housing；Wind turbine drives
The output shaft of dynamic device is connected through elevation angle adjustment mechanism with the flabellum of wind turbine, and water fog applicator, water are housed at the air outlet of wind turbine
Pipe is connected on blower housing with water fog applicator, and water fog applicator is equipped with one week atomizer；Walking mechanism is by hover-skirt, car
Body, adjust nozzle, air inlet and wheel composition in the air, and wheel is housed below car body, and surrounding is equipped with hover-skirt, aerial adjustment spray
Mouth is installed on the front and rear top of car body and is communicated with lower surface, and air inlet is installed on above car body, when wind turbine rotation is downward, outlet air
Mouth and the air flue of air inlet composition sealing.The fire-fighting robot is walked using wheel, for empty inside subway subway tunnel
Between it is more narrow and small, and ground is paved with rail and bolster, and the wheel of fire-fighting robot can be blocked or stopped by rail, causes in subway
Walk in subway tunnel not smooth, detrimental effect is brought to fire extinguishing or demisting.
And for example patent document 2：Chinese patent CN201610624954.9 discloses a kind of multi-functional lifting and removes obstacles type fire-fighting
Firefighting robot, including water pot car body and the barrier clearing device arranged on its front end, water pot car body are supported by impact gun by beam mechanism
Mechanism, beam mechanism include arm support seat and arm support, and arm support is connected with arm support oil cylinder, and impact gun mechanism includes gun barrel, gun barrel and arm support
Seat rotation connection, gun barrel middle part are connected with impact gun oil cylinder, and gun barrel top is equipped with swivel joint, booster pump is equipped with water pot car body,
Booster pump is connected by connecting tube with gun barrel；Barrier clearing device includes body, walking mechanism, dozer and soil-shifting oil cylinder.The present invention
By being equipped with barrier clearing device in water pot car body front end, the running gear of barrier clearing device uses triangular track device, stability compared with
Good, dozer and soil-shifting oil cylinder are good with the use of the lifting produced effect of removing obstacles so that firefighting fire extinguishing robot can be in fire
The complex road surface at scene advances.The firefighting fire extinguishing robot uses crawler belt as walking mechanism, similarly for subway subway
Tunnel internal space is more narrow and small, and ground is paved with rail and bolster, and the wheel of fire-fighting robot can be blocked or stopped by rail,
Cause to walk in subway subway tunnel not smooth, detrimental effect is brought to fire extinguishing or demisting.
The content of the invention
1. to solve the problems, such as
For fire, large area poison gas and dense smoke accident in existing subway, the not accessible fire rescue field of fire fighter
The problem of, the present invention provides a kind of multifunction remote-control metro fire-fighting robot, by that equipped with temperature sensor, can find accurately automatically
Burning things which may cause a fire disaster；Visual sensor, can monitor scene of a fire present situation in real time, chemical sensor, can analyze scene whether there is toxic gas in real time
And which kind of gas, effectively substitute fire fighter and rescued into subway, put out fire extinguishing source.
It is a further object of the present invention to provide a kind of control method of multifunction remote-control metro fire-fighting robot, pass through machine
People fully analyzes the situation in subway, draws relevant rescue method according to correlation analysis, realizes Quick rescue.
2. technical solution
To solve the above-mentioned problems, the technical solution adopted in the present invention is as follows：
A kind of multifunction remote-control metro fire-fighting robot of the present invention, including robot control unit and long-range multi information are handed over
Mutual console, robot control unit are connected with long-range multi information interaction console by wireless communication, further include temperature sensing
Device, visual sensor and chemical sensor, the temperature sensor, visual sensor and chemical sensor with robot control
Unit processed is electrically connected.
In a kind of possible embodiment of the present invention, the robot control unit is integrated with Robot remote reception
Device, control PLC and the first wireless communication module；The long-range multi information interaction controller is integrated with Robot remote transmitting
Device, operation handle, video display device and the second wireless communication module.
In a kind of possible embodiment of the present invention, which further includes walking mechanism and rack, the vehicle with walking machine
Structure includes chassis, wheel and engine, and engine is placed on domain, and wheel is installed on below chassis, and wheel underground railway track is matched somebody with somebody
Close；The rack is installed on the rear end of walking mechanism, and the temperature sensor, visual sensor and chemical sensor are respectively mounted
In the rack.
In a kind of possible embodiment of the present invention, rescue unit is further included, the rescue unit is installed by turntable
In walking mechanism, the rescue unit includes wind turbine, wind turbine driving mechanism, water cannon and foam monitor, wherein water cannon, foam monitor point
Both sides, wind turbine adjustment mechanism mounting base and elevating ram An Zhuan not be included above blower housing, elevating ram one end is fixed on
In rack, the other end is fixed in mounting base；Mounting base is rotated and is fixed in rack.
In a kind of possible embodiment of the present invention, the rescue unit further includes elevation angle adjustment mechanism, elevation angle adjustment
Mechanism includes a hydraulic cylinder, and the cylinder body of its hydraulic cylinder is fixed in mounting base, and telescopic rod is hinged on blower housing.
In a kind of possible embodiment of the present invention, the temperature sensor is non-contact temperature sensor, its work
Make temperature more than 200 DEG C.
In a kind of possible embodiment of the present invention, the visual sensor is Array CCD Camera；The chemistry passes
Sensor is gas sensor, and the sensing element of gas sensor is mostly oxide semiconductor, adds your micro gold wherein sometimes
Category makees sensitizer, increases the activation to gas.
A kind of control method of multifunction remote-control metro fire-fighting robot of the present invention, including：
(1) after confirming that robot power supply, long-range multi information interaction controller power supply are all normally opened, remote signal is matched；
(2) walking mechanism is utilized, control fire-fighting robot is moved in track, into scene of fire, while opens vision biography
Sensor, by live intensity of a fire situation real-time Transmission to video display device, to video information process, record, manipulates fire tower in time
Device people walking path and other operations；
(3) temperature sensor is by obtaining the temperature of air, and judges to determine fire location, controls the position of wind turbine, adjusts
Elevating ram is saved, makes horizontal fan, moves vertically to burning things which may cause a fire disaster, wind turbine rotates forward, and wind direction is facing forward, blows out burning things which may cause a fire disaster；At the same time water cannon and
Work at foam monitor alignment burning things which may cause a fire disaster；
(4) after burning things which may cause a fire disaster is put out, chemical sensor real-time judge scene whether there is toxic gas and which kind of gas, while record has
Malicious, harmful, inflammable, explosion hazard gases species, concentration and variation tendency, wind turbine reversion empty smog in subway tunnel.
3. beneficial effect
Compared with the prior art, beneficial effects of the present invention are：
(1) multifunction remote-control metro fire-fighting robot of the invention, passes through set temperature sensor, vision in robot
Sensor and chemical sensor, wherein temperature sensor find burning things which may cause a fire disaster, and chemical sensor real-time judge scene whether there is toxic gas
And which kind of gas, visual sensor is by live intensity of a fire situation real-time Transmission, and then the movement of remote-controlled robot, fully substitutes fire-fighting
Member enters subway, effectively puts out burning things which may cause a fire disaster, ensures the life security of fireman；
(2) multifunction remote-control metro fire-fighting robot of the invention, the control unit of the robot and long-range multi information are handed over
Mutual controller can realize remote remote control, and for the subway of long range, robot can be deep into the depths of subway, be easy to
The remote work of robot；
(3) multifunction remote-control metro fire-fighting robot of the invention, its rescue unit include wind turbine, wind turbine driving mechanism,
Water cannon and foam monitor, wind turbine rotate forward, and wind direction is facing forward, blow out burning things which may cause a fire disaster, while work at water cannon and foam monitor alignment burning things which may cause a fire disaster, and wind turbine is anti-
Turn smog in emptying subway tunnel, easy to the cleaning of marching into the arena of follow-up personnel；
(4) multifunction remote-control metro fire-fighting robot architecture of the invention is simple, and design is reasonable, easily fabricated.
Brief description of the drawings
Technical scheme is described in further detail below with reference to drawings and examples, but should
To know, these attached drawings only design for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
Point out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the stereogram of the multifunction remote-control metro fire-fighting robot of the present invention；
Fig. 2 is the front view of the multifunction remote-control metro fire-fighting robot of the present invention；
Fig. 3 is the side view of the multifunction remote-control metro fire-fighting robot of the present invention；
Fig. 4 is the top view of the multifunction remote-control metro fire-fighting robot of the present invention.
Description of symbols in figure：
1st, rack；2nd, chassis；3rd, wheel；4th, engine；5th, wind turbine；6th, mounting base；7th, elevating ram；8th, water cannon；9th, steep
Foam big gun；10th, hydraulic cylinder；11st, temperature sensor；12nd, visual sensor；13rd, chemical sensor.
Embodiment
Attached drawing hereafter with reference to the detailed description of the exemplary embodiment of the present invention, which forms one of description
Point, in the figure the enforceable exemplary embodiment of the present invention is shown as example.Although these exemplary embodiment quilts
Fully describe in detail so that those skilled in the art can implement the present invention, it is to be understood that can realize other embodiment and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to the embodiment of the present invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature, to propose to perform the best mode of the present invention, and is sufficient so that those skilled in the art
It can implement the present invention.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment can be more fully understood with reference to attached drawing, wherein the present invention
Element and feature are identified by reference numeral.
Embodiment 1
As shown in Figures 1 to 4, the multifunction remote-control metro fire-fighting robot of the present embodiment, including robot control unit,
Long-range multi information interaction console, walking mechanism, rack, rescue unit, temperature sensor, visual sensor and chemical sensitisation
Device.
Wherein robot control unit is connected with long-range multi information interaction console by wireless communication, is further included, temperature
Sensor, visual sensor and chemical sensor are electrically connected with robot control unit, and robot control unit integrates organic
Device people receiver of remote-control sytem, control PLC and the first wireless communication module；Long-range multi information interaction controller is integrated with Robot remote
Transmitter, operation handle, video display device and the second wireless communication module.
The control unit of the robot and long-range multi information interaction controller can realize remote remote control, for it is long away from
From subway, robot can be deep into the depths of subway, easy to the remote work of robot.
With reference to Fig. 1 and Fig. 2, wherein walking mechanism includes chassis, wheel and engine, and engine is placed on domain, wheel
Below chassis, and wheel underground railway track coordinates；Rack is installed on the rear end of walking mechanism, and temperature sensor, vision pass
Sensor and chemical sensor are installed in rack.
Wherein rescue unit is installed in walking mechanism by turntable, and rescue unit includes wind turbine, elevation angle adjustment mechanism, wind
Machine driving mechanism, water cannon and foam monitor, wherein water cannon, foam monitor are separately mounted to both sides above blower housing, wind turbine adjustment machine
Structure includes mounting base and elevating ram, and elevating ram one end is fixed in rack, and the other end is fixed in mounting base；Mounting base turns
It is dynamic to be fixed in rack；Elevation angle adjustment mechanism includes a hydraulic cylinder, and the cylinder body of its hydraulic cylinder is fixed in mounting base, stretches
Bar is hinged on blower housing.
In addition, temperature sensor is non-contact temperature sensor, its operating temperature is more than 200 DEG C；Visual sensor is
Array CCD Camera；Chemical sensor is gas sensor, and the sensing element of gas sensor is mostly oxide semiconductor, is had
When add minute amount of noble metal wherein and make sensitizer, increase the activation to gas.
In the traffic accident of subway, injury to personnel is often caused, robot is while putting out the fire and discharging fume, it is also necessary to
Look for the people to survive as far as possible, therefore what deserves to be explained is, the present embodiment is equipped with acoustical signal identification of seeking help in wind turbine inner casing
Module, acoustical signal of seeking help identification module include weak acoustic signal receiver, voice locating module, voice identification module and semantic knowledge
Other module, these modules integrate an entirety, and wherein weak acoustic signal receiver receives the weak acoustic signal in subway, faint sound
Signal transmission is to voice identification module, by amplifying, filtering the emergency sound carried out in preliminary identification weak acoustic signal, and using existing
Some voice recognition technologies, such as method disclosed in patent CN201510977077.9, emergency sound are identified by semantics recognition module
After confirmation, voice locating module is positioned by real-time voice, and definite emergency sound orientation is transmitted to robot control unit.
A kind of voice localization method of multifunction remote-control metro fire-fighting robot, voice locating module include at least four wheats
Gram wind sound pick-up, including specific steps：The potential noise in voice signal is removed by the wave filter of a processor first, is obtained
To voice as pure as possible；Then time delay estimation is done by a GCC-PHAT formula；Finally geometrical relationship is built again to estimate
Calculate the locus of voice；Specifically GCC-PHAT formula are：Voice reaches microphone sound pick-up i's and microphone sound pick-up j
Range difference=voice reaches the distance of distance-voice arrival microphone sound pick-up j of microphone sound pick-up i, i.e.,：
Definition voice reaches microphone sound pick-up i and the range difference of arrival microphone sound pick-up j is：
di,j=Di-Dj=c@tij(1)
Wherein tI, jRepresent that voice signal reaches the time difference of microphone sound pick-up i and microphone sound pick-up j, c is the velocity of sound；
The center that No. 0 microphone sound pick-up is array is made, then formula chooses it as reference, can then extend formula (1)
For：
By N-1 equation merger into matrix form：
The wherein structure of wind turbine opening, can be in large-scale environment, as far as possible by sound collecting to sound letter of seeking help
Number identification module, when having determined emergency sound, robot is quickly moved to around emergency sound, at this time, visual sensor transmission week
The situation enclosed, wind turbine reversion smoke evacuation, breathing space is provided for survivor.
Embodiment 2
A kind of control method of the multifunction remote-control metro fire-fighting robot of the present embodiment, including：
(1) after confirming that robot power supply, long-range multi information interaction controller power supply are all normally opened, remote signal is matched；
(2) walking mechanism is utilized, control fire-fighting robot is moved in track, into scene of fire, while opens vision biography
Sensor, by live intensity of a fire situation real-time Transmission to video display device, to video information process, record, manipulates fire tower in time
Device people walking path and other operations；
(3) temperature sensor is by obtaining the temperature of air, and judges to determine fire location, controls the position of wind turbine, adjusts
Elevating ram is saved, makes horizontal fan, moves vertically to burning things which may cause a fire disaster, wind turbine rotates forward, and wind direction is facing forward, blows out burning things which may cause a fire disaster；At the same time water cannon and
Work at foam monitor alignment burning things which may cause a fire disaster；
(4) after burning things which may cause a fire disaster is put out, chemical sensor real-time judge scene whether there is toxic gas and which kind of gas, while record has
Malicious, harmful, inflammable, explosion hazard gases species, concentration and variation tendency, wind turbine reversion empty smog in subway tunnel.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (8)
1. a kind of multifunction remote-control metro fire-fighting robot, including robot control unit and long-range multi information interaction console,
Robot control unit is connected with long-range multi information interaction console by wireless communication, it is characterised in that further includes temperature biography
Sensor (11), visual sensor (12) and chemical sensor (13), the temperature sensor (11), visual sensor (12) and
Chemical sensor (13) is electrically connected with robot control unit.
2. multifunction remote-control metro fire-fighting robot according to claim 1, it is characterised in that the robot control is single
Member integrates organic device people receiver of remote-control sytem, control PLC and the first wireless communication module；The long-range multi information interaction controller
It is integrated with Robot remote transmitter, operation handle, video display device and the second wireless communication module.
3. multifunction remote-control metro fire-fighting robot according to claim 2, it is characterised in that the robot further includes row
Mechanism and rack (1) are walked, the walking mechanism includes chassis (2), wheel (3) and engine (4), engine (4) and is placed in domain
On, wheel (3) is installed on below chassis (2), and wheel (3) underground railway track coordinates；The rack (1) is installed on walking mechanism
Rear end, the temperature sensor (11), visual sensor (12) and chemical sensor (13) are installed in the rack (1)
On.
4. multifunction remote-control metro fire-fighting robot according to claim 3, it is characterised in that rescue unit is further included,
The rescue unit by turntable be installed on walking mechanism on, the rescue unit include wind turbine (5), wind turbine (5) driving mechanism,
Water cannon (8) and foam monitor (9), wherein water cannon (8), foam monitor (9) are separately mounted to both sides above wind turbine (5) shell, wind turbine (5)
Adjustment mechanism includes mounting base (6) and elevating ram (7), and elevating ram (7) one end is fixed in rack (1), and the other end is fixed
In mounting base (6)；Mounting base (6) is rotated and is fixed in rack (1).
5. multifunction remote-control metro fire-fighting robot according to claim 4, it is characterised in that the rescue unit is also wrapped
Elevation angle adjustment mechanism is included, elevation angle adjustment mechanism includes a hydraulic cylinder (10), and the cylinder body of its hydraulic cylinder (10) is fixed on installation
On seat (6), telescopic rod is hinged on wind turbine (5) shell.
6. multifunction remote-control metro fire-fighting robot according to claim 5, it is characterised in that the temperature sensor
(11) it is non-contact temperature sensor, its operating temperature is more than 200 DEG C.
7. multifunction remote-control metro fire-fighting robot according to claim 6, it is characterised in that the visual sensor
(12) it is Array CCD Camera；The chemical sensor (13) is gas sensor.
8. a kind of control method according to any one of claim 1 to the 7 multifunction remote-control metro fire-fighting robot, its feature
It is, including：
(1) after confirming that robot power supply, long-range multi information interaction controller power supply are all normally opened, remote signal is matched；
(2) walking mechanism is utilized, control fire-fighting robot carries out obstacle detouring, into scene of fire, while opens visual sensor
(12), by live intensity of a fire situation real-time Transmission to video display device, to video information process, record, fire tower is manipulated in time
Device people walking path and other operations；
(3) temperature sensor (11) is by obtaining the temperature of air, and judges to determine fire location, controls the position of wind turbine (5),
Elevating ram (7) is adjusted, makes wind turbine (5) horizontal, moves vertically to burning things which may cause a fire disaster, wind turbine rotates forward, and wind direction is facing forward, blows out burning things which may cause a fire disaster；Together
When water cannon (8) and foam monitor (9) alignment burning things which may cause a fire disaster at work；
(4) after burning things which may cause a fire disaster is put out, chemical sensor (13) real-time judge scene whether there is toxic gas and which kind of gas, while record has
Malicious, harmful, inflammable, explosion hazard gases species, concentration and variation tendency, wind turbine (5) reversion empty smog in subway tunnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470577.9A CN108014437A (en) | 2017-12-29 | 2017-12-29 | A kind of multifunction remote-control metro fire-fighting robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470577.9A CN108014437A (en) | 2017-12-29 | 2017-12-29 | A kind of multifunction remote-control metro fire-fighting robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108014437A true CN108014437A (en) | 2018-05-11 |
Family
ID=62072215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711470577.9A Pending CN108014437A (en) | 2017-12-29 | 2017-12-29 | A kind of multifunction remote-control metro fire-fighting robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108014437A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109779671A (en) * | 2019-01-14 | 2019-05-21 | 天津亨通利铁道工程机械配件有限公司 | Tunnel fire-fighting robot and fire plant |
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| CN110812762A (en) * | 2019-12-15 | 2020-02-21 | 华南理工大学广州学院 | Control method of intelligent fire truck |
| EP3897877A4 (en) * | 2018-12-20 | 2022-09-21 | Scania CV AB | A modular fire extinguishing vehicle, and a method for operating a modular fire extinguishing vehicle |
| CN115445125A (en) * | 2022-09-02 | 2022-12-09 | 山东国兴智能科技股份有限公司 | Reconnaissance fire-fighting operation method |
| CN116440443A (en) * | 2023-04-18 | 2023-07-18 | 广东工业大学 | Intelligent fire extinguishing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19516157A1 (en) * | 1995-05-03 | 1996-11-07 | Klaus Schaefer | Fire fighting method and extinguishing system |
| CN201399172Y (en) * | 2009-04-21 | 2010-02-10 | 抚顺起运工程机械有限公司 | Multifunctional firefighting robot |
| CN102058944A (en) * | 2011-01-27 | 2011-05-18 | 大连交通大学 | Tunnel and subway fire protection rescue robot |
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN206133039U (en) * | 2016-10-28 | 2017-04-26 | 唐明贤 | Earthquake rescue assistor |
| CN207755657U (en) * | 2017-12-29 | 2018-08-24 | 宣城市安工大工业技术研究院有限公司 | A kind of multifunction remote-control metro fire-fighting robot |
-
2017
- 2017-12-29 CN CN201711470577.9A patent/CN108014437A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19516157A1 (en) * | 1995-05-03 | 1996-11-07 | Klaus Schaefer | Fire fighting method and extinguishing system |
| CN201399172Y (en) * | 2009-04-21 | 2010-02-10 | 抚顺起运工程机械有限公司 | Multifunctional firefighting robot |
| CN102058944A (en) * | 2011-01-27 | 2011-05-18 | 大连交通大学 | Tunnel and subway fire protection rescue robot |
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN206133039U (en) * | 2016-10-28 | 2017-04-26 | 唐明贤 | Earthquake rescue assistor |
| CN207755657U (en) * | 2017-12-29 | 2018-08-24 | 宣城市安工大工业技术研究院有限公司 | A kind of multifunction remote-control metro fire-fighting robot |
Non-Patent Citations (1)
| Title |
|---|
| 刘真旭: "基于麦克风阵列的实时声源定位", 计算机应用与软件, vol. 27, no. 6, pages 43 - 45 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| EP3897877A4 (en) * | 2018-12-20 | 2022-09-21 | Scania CV AB | A modular fire extinguishing vehicle, and a method for operating a modular fire extinguishing vehicle |
| US11992715B2 (en) | 2018-12-20 | 2024-05-28 | Scania Cv Ab | Modular fire extinguishing vehicle, and a method for operating a modular fire extinguishing vehicle |
| CN109779671A (en) * | 2019-01-14 | 2019-05-21 | 天津亨通利铁道工程机械配件有限公司 | Tunnel fire-fighting robot and fire plant |
| CN110812762A (en) * | 2019-12-15 | 2020-02-21 | 华南理工大学广州学院 | Control method of intelligent fire truck |
| CN110812762B (en) * | 2019-12-15 | 2021-09-21 | 华南理工大学广州学院 | Control method of intelligent fire truck |
| CN115445125A (en) * | 2022-09-02 | 2022-12-09 | 山东国兴智能科技股份有限公司 | Reconnaissance fire-fighting operation method |
| CN116440443A (en) * | 2023-04-18 | 2023-07-18 | 广东工业大学 | Intelligent fire extinguishing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108014437A (en) | A kind of multifunction remote-control metro fire-fighting robot and its control method | |
| KR20200105747A (en) | Small mobile robot fire extinguishing system | |
| CN107875550A (en) | A kind of firefighting fire extinguishing robot towards complicated ground environment | |
| CN102755705A (en) | Smoke exhaust, fire extinguishment and dismantling robot | |
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| RU2580779C2 (en) | Mobile robotic fire extinguishing system | |
| CN106540391A (en) | A kind of crawler type firefighting fire extinguishing robot and its operational approach | |
| CN108815754A (en) | A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven | |
| CN109475763A (en) | For taking the unpiloted vehicles, system and the method for action | |
| CN106737744A (en) | A kind of security robot | |
| CN207755657U (en) | A kind of multifunction remote-control metro fire-fighting robot | |
| CN202724513U (en) | Robot for exhausting smoke, extinguishing and forcibly entering | |
| CN202459918U (en) | Fast response fire control robot system based on ultra-high water jet | |
| CN109499033A (en) | A kind of device of freeway tunnel fire rescue | |
| CN201264655Y (en) | Coal mine rescue detection robot | |
| CN111617415A (en) | Fully-autonomous fire-fighting robot operating system in complex environment and working method | |
| CN102058944A (en) | Tunnel and subway fire protection rescue robot | |
| CN105031857A (en) | Novel crawler type firefighting truck | |
| CN106075777A (en) | Unmanned relief car | |
| CN113805586A (en) | Autonomous fire-fighting special explosion-proof robot | |
| JP2003000746A (en) | Method of extinguishing tunnel fire and equipment therefor | |
| CN207928596U (en) | A kind of Novel aerial ladder fire-fighting robot | |
| CN206639039U (en) | A kind of cable tunnel robot device based on active rail-variable technology | |
| CN210502924U (en) | Intelligent fire-fighting exploration vehicle | |
| CN110053047A (en) | A kind of portable fire inspection machine people based on laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181204 Address after: No. 18-1 Jinxiu Road, Xuancheng Economic and Technological Development Zone, Anhui Province, 242000 Applicant after: ANHUI WALDORF SPECIAL ROBOT Co.,Ltd. Address before: 242000 Anhui Xuancheng economic and Technological Development Zone Management Committee Office Building Applicant before: RESEARCH INSTITUTE OF INDUSTRIAL TECHNOLOGY OF AHUT AT XUANCHENG CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210121 Address after: 242000 Anhui Xuancheng economic and Technological Development Zone Management Committee Office Building Applicant after: RESEARCH INSTITUTE OF INDUSTRIAL TECHNOLOGY OF AHUT AT XUANCHENG Co.,Ltd. Address before: No. 18-1 Jinxiu Road, Xuancheng Economic and Technological Development Zone, Anhui Province, 242000 Applicant before: ANHUI WALDORF SPECIAL ROBOT Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180511 |
|
| RJ01 | Rejection of invention patent application after publication |