CN108815754A - A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven - Google Patents
A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven Download PDFInfo
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- CN108815754A CN108815754A CN201810638538.3A CN201810638538A CN108815754A CN 108815754 A CN108815754 A CN 108815754A CN 201810638538 A CN201810638538 A CN 201810638538A CN 108815754 A CN108815754 A CN 108815754A
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- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 20
- 241000876443 Varanus salvator Species 0.000 claims description 16
- 239000000725 suspension Substances 0.000 claims description 14
- 239000012530 fluid Substances 0.000 claims description 10
- 239000003921 oil Substances 0.000 claims description 10
- 239000002828 fuel tank Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 7
- 230000008520 organization Effects 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 231100001245 air toxic agent Toxicity 0.000 claims description 2
- 238000004886 process control Methods 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 2
- 238000002485 combustion reaction Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
Abstract
The invention discloses a kind of intelligent fire of hydraulic-driven fire extinguishing reconnaissance robots, belong to fire-fighting robot technical field, including：Vehicle body component, hydraulic power system, fire-fighting system, reconnaissance system and control system；Vehicle body component includes rack and walking mechanism；Hydraulic power system drives walking mechanism to move by hydraulic；Fire-fighting system is detachably connected with fire hose, is used for ejecting extinguishing medium；Reconnaissance system to fire source for being identified and positioned, being detected the barrier around robot in setting regions；The control system is used to carry out signal communication with remote control terminal, and the barrier that detects by the reconnaissance system controls robot obstacle-avoiding, the fire source that is identified and positioned by the reconnaissance system independently seeks fiery fire extinguishing；The robot during traveling can intelligent barrier avoiding, when operation can independently seek fiery fire extinguishing, solve the problems, such as that existing fire-fighting equipment is weak to fire extinguishing ability and intelligence degree is not high.
Description
Technical field
The invention belongs to fire-fighting robot technical fields, and in particular to a kind of intelligent fire fire extinguishing reconnaissance plane of hydraulic-driven
Device people.
Background technique
In recent years, fire incident takes place frequently, and fire fighter's injures and deaths message is continuous.It is shown according to ASSOCIATE STATISTICS, 2008 to 2016
Year, 1,690,000 fire incidents occur altogether for the whole nation, and line fireman's number of casualties reaches 776 people.With automatic control technology and intelligence
Can be technically constantly mature, fireman is replaced by sophisticated equipments such as fire-fighting robot, scounting aeroplanes, completes fire-fighting and rescue task
Have become possibility.
The one kind of fire-fighting robot as specialized robot, it can substitute fire fighter as special type fire control equipment and approach
Effective fire fighting and rescue operation is implemented in scene of fire, carries out every fire reconnaissance task, especially risk is big or fire-fighting
The application of the unapproachable occasion of team member, fire-fighting robot will greatly improve the ability that fire department puts out malignant fire, to subtracting
The injures and deaths of few national wealth loss and fire fighting and rescue personnel play an important role.
But the environment of scene of fire and landform are all more complicated, existing fire-fighting robot intelligent level is lower, continues
Boat ability is weak, poor for the complicated landform adaptability of scene of fire, and the popularization for largely limiting fire-fighting robot makes
With.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of intelligent fire of hydraulic-driven fire extinguishing reconnaissance robot, the machine
Device people during traveling can intelligent barrier avoiding and dynamic construction map, when operation can independently seek fiery fire extinguishing, energy after fulfiling assignment
According to the map backtracking of building, it is not high to fire extinguishing ability weakness and intelligence degree to solve existing fire-fighting equipment
The problem of.
The present invention is achieved through the following technical solutions：
A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven, including：Vehicle body component, hydraulic power system, fire-fighting
Fire extinguishing system, reconnaissance system and control system；
The vehicle body component includes rack and walking mechanism；The rack is the installation base body of robot, two vehicle with walking machine
Structure is separately mounted to the two opposite sides of rack, and walking mechanism is crawler type walking mechanism；
The hydraulic power system drives walking mechanism to move by hydraulic；
The fire-fighting system is detachably connected with external fire hose, is used for ejecting extinguishing medium；
The reconnaissance system is for acquiring the video image in robot kinematics in surrounding setting regions and being sent to
Remote control terminal carries out video and shows, identified and positioned to fire source, detecting obstacle around robot in setting regions
Object；
The control system is used to carry out signal communication, and the barrier detected by the reconnaissance system with remote control terminal
Object control robot obstacle-avoiding, the fire source that identifies and positions by the reconnaissance system is hindered independently to seek fiery fire extinguishing.
Further, the walking mechanism of the vehicle body component includes driving wheel, more than two thrust wheels, tensioning wheel, crawler belt
And suspension, suspension are fixed on the rack, and are mounted on side by side below horizontal positioned suspension before and after more than two thrust wheels, tensioning wheel
It is mounted on horizontal positioned suspension back upper place, driving wheel connect by shaft with hydraulic power system, and positioned at being horizontally arranged
Front upper place is hung, crawler belt is looped around on driving wheel, more than two thrust wheels and tensioning wheel, and more than two thrust wheels are supported on ground
On face.
Further, the hydraulic power system includes：Engine, duplex hydraulic pump, two hydraulic motors, hydraulic oil containers
And fuel tank；The output shaft of engine and the input shaft of duplex hydraulic pump are coaxially connected, and then are driven in duplex hydraulic pump simultaneously
Slippage pump by fluid pressure line oil suction from hydraulic oil container, duplex hydraulic pump passes through fluid pressure line and two hydraulic motors respectively
It is connected, the hydraulic oil sucked from hydraulic oil container is transferred to hydraulic motor, to drive the output shaft of hydraulic motor to rotate, hydraulic horse
It is turned again in hydraulic oil container up in rotation process, while by hydraulic oil；The output shaft of two hydraulic motors respectively with two rows
Walk mechanism driving wheel correspond to it is coaxially connected；Wherein, engine is connect by oil pipe with fuel tank.
Further, the hydraulic power system further includes radiator, and the radiator includes cycle of engine water-cooled
Device and hydraulic oil radiator are respectively used to radiate to engine and hydraulic oil container.
Further, the fire-fighting system include fire water monitor, inlet pipeline, automatic de- band device, from spray tube
Road and solenoid valve；The inlet pipeline is equipped with more than one water inlet and a water outlet；The inlet pipeline is mounted on rack
Bottom；The water outlet of inlet pipeline is connected with fire water monitor, and fire water monitor is located at the front end of rack, and fire water monitor can be upper and lower
It swings；Each water inlet of inlet pipeline is mounted on automatic de- band device, and automatic de- band device is used for inlet pipeline
It is disconnected with external fire hose；It is described to be equipped with more than two spray heads from spray tube road, for ejecting extinguishing medium to machine
People carries out cooling protection, is communicated from spray pipeline by being equipped with the pipeline of solenoid valve with inlet pipeline, passes through solenoid valve control
From the opening and closing of spray pipeline.
Further, the automatic de- band device includes relay, motor and de- band mechanism, de- band mechanism for connect into
Water lines and fire hose, the output shaft of motor with it is de- coaxially connected with gear within the organization, and between motor and control system
Relay is installed on circuit；Relay is in normally open, at this point, motor does not work, de- band mechanism by inlet pipeline with disappear
The locking of waterproof band connection；When control system control relay closure, motor control is de- to be rotated with gear within the organization, so that de-
Band mechanism disconnects inlet pipeline and fire hose.
Further, the reconnaissance system includes driving camera, temperature sensor, avoidance component and PTZ camera；
One driving camera is respectively at least installed in the front-end and back-end of the rack, for acquiring robot in robot walking process
The image of front and back；The PTZ camera is mounted on the upper shield of frame top, for being identified and positioned to fire source, and
Remote control terminal is sent to by control system to be monitored；The temperature sensor, gas sensor, avoidance component point
It is not mounted on the front end of rack, the temperature sensor is used to detect the environment temperature of robot surrounding, and electrical with solenoid valve
Connection, when environment temperature is more than setting value, control solenoid valve is opened from spray pipeline；The avoidance component include laser radar,
Inertial navigation, ultrasonic sensor and impact switch, laser radar are used to construct the map around robot by laser scanning；It is used
It leads and provides guide for the movement to robot；Ultrasonic sensor is used to detect the barrier around robot by sending sound wave
Hinder object；Impact switch is used for when barrier encounters impact switch, triggers impact switch, and then make machine by control system
People's emergent stopping.
It further, further include gas sensor, the gas sensor has for toxic to one or more of air
The concentration of evil gas is detected, and is sent to remote control terminal by control system to be monitored.
Further, the control system includes：Bobbin movement controller, intelligent navigation controller and master controller；Institute
Bobbin movement controller is stated by controlling the discharge capacity of duplex hydraulic pump to adjust the hydraulic fluid flow rate transmitted to hydraulic motor, thus
The revolving speed of hydraulic motor is controlled, and then controls the revolving speed of the driving wheel of the walking mechanism of vehicle body component；The intelligent navigation control
Device is used to receive the information of avoidance component, and according to the path of the information architecture dynamic map and planning intelligent barrier avoiding；The master
Controller with bobbin movement controller, intelligent navigation controller and remote control terminal for being communicated respectively, i.e., to long-range
Controlling terminal sends the scouting video information and unit information of reconnaissance system, and receives the control of remote control terminal sending
Instruction completes control action by cooperating jointly with bobbin movement controller, intelligent navigation controller.
It further, further include attachment, the attachment includes：Headlamp, combined aural and visual alarm and antenna；The headlamp peace
Mounted in front end of rack two sides, to provide illumination；The combined aural and visual alarm, antenna are mounted on the top for the upper shield that frame top is equipped with
Portion rear end；Combined aural and visual alarm is in normally open to warn, and control system is led to by antenna and remote control terminal
News.
Beneficial effect：Present invention environmental suitability with higher and intelligent level, are driven with hydraulic system, are drawn
Power is big, and cruise duration is long；It in the process of walking can be with the barrier on real-time detection periphery, dynamic construction map, thus from master ga(u)ge
Path is drawn with avoiding obstacles, reduces scene of fire rescue difficulty；After reaching specified job site intelligence can be carried out to fire source
It can identify and position, linkage fire water monitor carries out extinguishing operation；Water band can be disengaged after fulfiling assignment rapidly, and according to building
The automatic backtracking of map improves the autonomous fight capability of fire-fighting robot.
Detailed description of the invention
Fig. 1 is the main view of composed structure of the invention；
Fig. 2 is the top cross-sectional view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the top view of Fig. 1；
Wherein, 1- vehicle body component, 2- hydraulic power system, 3- fire-fighting system, 4- reconnaissance system, 5- control system,
6- attachment, 11- walking mechanism, 12- rack, 13- hydraulic oil container, 14- fuel tank, 21- engine, 22- shaft coupling, 23- duplex
Hydraulic pump, 24- hydraulic motor, 25- radiator, 31- fire water monitor, 32- inlet pipeline, 33- take off band device, 34- self-spray automatically
Shower pipe road, 35- solenoid valve, 41- driving camera, 42- temperature sensor, 43- gas sensor, 44- avoidance component, 45- cloud
Platform video camera, 51- bobbin movement controller, 52- intelligent navigation controller, 53- master controller, 61- upper shield, 62- headlamp,
63- combined aural and visual alarm, 64- antenna, 111- driving wheel, 112- thrust wheel, 113- tensioning wheel, 114- crawler belt.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The intelligent fire fire extinguishing reconnaissance robot for present embodiments providing a kind of hydraulic-driven, referring to attached drawing 1, including：Vehicle
Body component 1, for drive vehicle body component 1 move hydraulic power system 2, for ejecting extinguishing medium fire-fighting system 3,
For scouting with the reconnaissance system 4 of data acquisition, for controlling intelligent robot avoidance, independently seeking the fiery control system 5 put out a fire
And attachment 6；
The vehicle body component 1 includes rack 12, shield 61 and walking mechanism 11；The rack 12 is the installation base of robot
Body, shield 61 are fixed on the top of rack 12, for protecting the component being mounted in rack 12 and in shield 61；The shield
61 upper and lower two parts by being movably hinged of cover form, and its underpart and rack 12 are affixed, upper part can around hinge joint Unscrew,
Facilitate maintenance；Two walking mechanisms 11 are separately mounted to the two opposite sides of rack 12, and each walking mechanism 11 is that class is flat
The crawler type walking mechanism of row quadrilateral structure includes driving wheel 111, three thrust wheels 112, tensioning wheel 113, crawler belts 114
And suspension 115, suspension 115 are fixed in rack 12, three 112 front and backs of thrust wheel are mounted on horizontal positioned suspension 115 side by side
Lower section, tensioning wheel 113 are mounted on horizontal positioned 115 back upper place of suspension, and driving wheel 111 passes through shaft and hydraulic power system 2
Connection, and it is located at horizontal positioned 115 front upper place of suspension, crawler belt 114 is looped around 111, three thrust wheels 112 of driving wheel and tensioning
On wheel 113, class parallelogram sturcutre is formed, and three supports of thrust wheel 112 are on the ground；
Referring to attached drawing 2, the hydraulic power system 2 is mounted in rack 12, and is located in shield 61, including：Engine
21, shaft coupling 22,23, two hydraulic motors 24 of duplex hydraulic pump, radiator 25, hydraulic oil container 13 and fuel tank 14；Engine
21 output shaft is coaxially connected by shaft coupling 22 and the input shaft of duplex hydraulic pump 23, and then drives duplex hydraulic pump 23 simultaneously
Interior slippage pump passes through fluid pressure line and two liquid by fluid pressure line oil suction from hydraulic oil container 13, duplex hydraulic pump 23 respectively
Pressure motor 24 is connected, and the hydraulic oil sucked from hydraulic oil container 13 is transferred to hydraulic motor 24, to drive the defeated of hydraulic motor 24
Shaft rotates, and in 24 rotation process of hydraulic motor, while hydraulic oil being turned again in hydraulic oil container 13；Two hydraulic motors 24
Output shaft it is corresponding coaxially connected with the driving wheel 111 of two walking mechanisms 11 respectively；External remote control terminal controls hair
Motivation 21 rotates, and then controls two hydraulic motors 24 respectively by duplex hydraulic pump 23 and rotate, and realizes to two driving wheels 111
Rotate driving；Wherein, engine 21 is connect by oil pipe with fuel tank 14, and the fuel oil in fuel tank 14 is that engine 21 provides
Power；Duplex hydraulic pump 23 is communicated by fluid pressure line with the hydraulic oil in hydraulic oil container 13, in draw oil case 13
Hydraulic oil, hydraulic motor 24 is communicated by fluid pressure line with the oil liquid in hydraulic oil container 13, for hydraulic oil to be put back into liquid
In pressure oil case 13, i.e., the hydraulic oil in hydraulic oil container 13 passes sequentially through duplex hydraulic pump 23 and hydraulic motor 24 returns hydraulic oil
Case 13 forms closed model pump control hydraulic system；The duplex hydraulic pump 23 is automatically controlled duplex variable pump, and the hydraulic motor 24 is fixed
Measure motor；The radiator 25 includes cycle of engine water radiator and hydraulic oil radiator, is respectively used to 21 He of engine
Hydraulic oil container 13 radiates；
The fire-fighting system 3 include fire water monitor 31, inlet pipeline 32, automatic de- band device 33, from spray pipeline
34 and solenoid valve 35；The inlet pipeline 32 is equipped with more than one water inlet and a water outlet, each water inlet are equipped with only
Water baffle, sealing baffle can effectively prevent firing-fighting medium (water or foam) adverse current according to input pressure automatic open close；The water inlet
The bottom of rack 12 is installed through before and after pipeline 32；The water outlet of inlet pipeline 32 has fire water monitor 31 by flanged joint,
And fire water monitor 31 is located at the front end of rack 12, fire water monitor 31 can bob and weave；Each water inlet of inlet pipeline 32
It is mounted on automatic de- band device 33, automatic take off is used to disconnect inlet pipeline 32 and external fire hose with device 33；Institute
It states from spray pipeline 34 and is equipped with more than two spray heads, cooling protection is carried out to robot for ejecting extinguishing medium, two certainly
Spray pipeline 34 is symmetrically mounted on the upper side of two walking mechanisms 11, and respectively by be equipped with the pipeline of solenoid valve 35 with into
Water lines 32 communicate, and control the opening and closing from spray pipeline 34 by solenoid valve 35；Wherein, the automatic de- band device 33 include after
Electric appliance, motor and de- band mechanism, de- band mechanism is for connecting inlet pipeline 32 and fire hose, the output shaft of motor and de- band machine
Gear in structure is coaxially connected, and is equipped with relay on circuit between motor and control system 5；Relay is in normally opened shape
State, at this point, motor does not work, inlet pipeline 32 is connect locking with fire hose by de- band mechanism；When control system 5 controls relay
When device is closed, motor control is de- to be rotated with gear within the organization, so that de- band mechanism disconnects inlet pipeline 32 and fire hose；
Referring to attached drawing 3, the reconnaissance system 4 includes driving camera 41, temperature sensor 42, gas sensor 43, keeps away
Barrier component 44 and PTZ camera 45；One driving camera 41 is respectively at least installed in the front-end and back-end of the rack 12, is used
Image in acquisition robot walking process before and after robot；The PTZ camera 45 is mounted on upper shield 61, and cloud
Platform video camera 45 is binocular PTZ camera, is sent to remotely for identifying and positioning to fire source, and by control system 5
Controlling terminal is to be monitored；The temperature sensor 42, gas sensor 43, avoidance component 44 are separately mounted to rack 12
Front end, the temperature sensor 42 is used to detect the environment temperature of robot surrounding, and is electrically connected with solenoid valve 35, works as environment
Temperature is more than setting value, and control solenoid valve 35 is opened from spray pipeline 34, carries out cooling protection to robot；The gas sensing
Device 43 is sent to far for detecting to the concentration of one or more of air toxic and harmful gas, and by control system 5
Process control terminal is to be monitored；The avoidance component 44 includes laser radar, inertial navigation, ultrasonic sensor and impact switch,
Laser radar is used to construct the map around robot by laser scanning；Inertial navigation is used to refer to the movement offer of robot
Draw；Ultrasonic sensor is used to detect the barrier around robot by sending sound wave；Impact switch is for working as barrier
When encountering impact switch, impact switch is triggered, and then robot emergent stopping is made by control system 5；
Referring to attached drawing 4, the control system 5 is mounted in rack 12, and is located in shield 61, including：Bobbin movement control
Device 51, intelligent navigation controller 52 and master controller 53 processed；The bobbin movement controller 51 passes through control duplex hydraulic pump 23
Discharge capacity adjust the hydraulic fluid flow rate transmitted to hydraulic motor 24, to control the revolving speed of hydraulic motor 24, and then control vehicle
The revolving speed of the driving wheel 111 of the walking mechanism 11 of body component 1 realizes two-stage adjustment (the two-stage adjustment point to 111 revolving speed of driving wheel
The revolving speed of driving wheel 111 Wei not be controlled by engine 21 and control the revolving speed of driving wheel 111 by duplex hydraulic pump 23)；Institute
Intelligent navigation controller 53 is stated for receiving the information of avoidance component 44, and according to the information architecture dynamic map and planning intelligence
The path of avoidance；The master controller 53 for respectively with bobbin movement controller 51, intelligent navigation controller 52 and long-range control
Terminal processed is communicated, i.e., sends the scouting video information of reconnaissance system 4 to remote control terminal, unit information (is such as sent out
The fuel bulk of the revolving speed of motivation 21, the hydraulic oil of hydraulic oil container 13 and fuel tank 14), and receive remote control terminal sending
Control instruction, by the way that various control actions are completed in cooperation jointly with bobbin movement controller 51, intelligent navigation controller 52；
The attachment 6 includes：Headlamp 62, combined aural and visual alarm 63 and antenna 64；The headlamp 62 is mounted on rack 12
Front end two sides, to provide illumination；The combined aural and visual alarm 63, antenna 64 are mounted on the top rear of upper shield 61；Sound-light alarm
Device 63 is in normally open to warn, and antenna 64 is communicated for master controller 53 with remote control terminal.
The course of work is as follows：By passing through after taking off and connecting external fire hose with inlet pipeline 32 automatically with device
External remote control terminal starts robot, and control system 5 receives the instruction that remote control terminal issues, root by antenna 64
Setting operating location is moved to according to the order-driven robot；
In robot moving process, camera 41 of driving a vehicle passes the video pictures around robot back long-range control in real time
The display screen of terminal；The obstacle information of 44 real-time detection surrounding of avoidance component, intelligent navigation controller 52 is according to the barrier
Information planning path gets around barrier to control robot automatically；The environment of 42 real-time detection robot surrounding of temperature sensor
Temperature, when environment temperature is more than setting value, control solenoid valve 35 is acted, to open from spray pipeline 34, is dropped to robot
Temperature protection；
After robot reaches setting operating location, PTZ camera 45 carries out intelligent recognition and positioning to fire source, joins simultaneously
Dynamic fire water monitor 31 aims at fire source point, is gone out by fire hose, inlet pipeline 32 and 31 ejecting extinguishing medium of fire water monitor
Fire；
After robot completes extinguishing operation, automatic de- band device 33, automatic de- band device are opened in remote control terminal remote control
33 movement, inlet pipeline 32 is separated with fire hose, then remote control terminal remote control unlatching one key return, robot according to
The inertial navigation of map and avoidance component 44 that avoidance component 44 constructs, the with light packs return of Yan Yuanlu.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
- The reconnaissance robot 1. a kind of intelligent fire of hydraulic-driven is put out a fire, which is characterized in that including：It is vehicle body component (1), hydraulic dynamic Force system (2), fire-fighting system (3), reconnaissance system (4) and control system (5)；The vehicle body component (1) includes rack (12) and walking mechanism (11)；The rack (12) is the installation base body of robot, Two walking mechanisms (11) are separately mounted to the two opposite sides of rack (12), and walking mechanism (11) is crawler type walking mechanism；The hydraulic power system (2) drives walking mechanism (11) to move by hydraulic；The fire-fighting system (3) is detachably connected with external fire hose, is used for ejecting extinguishing medium；The reconnaissance system (4) is for acquiring the video image in robot kinematics in surrounding setting regions and being sent to remote Process control terminal carries out video and shows, identified and positioned to fire source, detecting barrier around robot in setting regions；The control system (5) is used to carry out signal communication with remote control terminal, and detected by the reconnaissance system (4) Barrier control robot obstacle-avoiding independently seeks fiery fire extinguishing by the fire source that the reconnaissance system (4) identifies and positions.
- The reconnaissance robot 2. a kind of intelligent fire of hydraulic-driven as described in claim 1 is put out a fire, which is characterized in that the vehicle The walking mechanism (11) of body component (1) includes driving wheel (111), more than two thrust wheels (112), tensioning wheel (113), crawler belt (114) and suspension (115), suspension (115) are fixed on rack (12), are mounted on side by side before and after more than two thrust wheels (112) Below horizontal positioned suspension (115), tensioning wheel (113) is mounted on horizontal positioned suspension (115) back upper place, driving wheel (111) it is connect by shaft with hydraulic power system (2), and is located at horizontal positioned suspension (115) front upper place, crawler belt (114) It is looped around on driving wheel (111), more than two thrust wheels (112) and tensioning wheel (113), and more than two thrust wheels (112) are propped up Support is on the ground.
- The reconnaissance robot 3. a kind of intelligent fire of hydraulic-driven as claimed in claim 2 is put out a fire, which is characterized in that the liquid Pressing Force system (2) includes：Engine (21), duplex hydraulic pump (23), two hydraulic motors (24), hydraulic oil container (13) and combustion Fuel tank (14)；The output shaft of engine (21) and the input shaft of duplex hydraulic pump (23) are coaxially connected, and then drive duplex simultaneously For slippage pump in hydraulic pump (23) by fluid pressure line oil suction from hydraulic oil container (13), duplex hydraulic pump (23) passes through liquid respectively Pressure pipe road is connected with two hydraulic motors (24), and the hydraulic oil sucked from hydraulic oil container (13) is transferred to hydraulic motor (24), To drive the output shaft of hydraulic motor (24) to rotate, in hydraulic motor (24) rotation process, while hydraulic oil is turned again into liquid In pressure oil case (13)；The output shaft of two hydraulic motors (24) is corresponding with driving wheel (111) of two walking mechanisms (11) respectively It is coaxially connected；Wherein, engine (21) is connect by oil pipe with fuel tank (14).
- The reconnaissance robot 4. a kind of intelligent fire of hydraulic-driven as claimed in claim 3 is put out a fire, which is characterized in that the liquid Pressing Force system (2) further includes radiator (25), and the radiator (25) includes that cycle of engine water radiator and hydraulic oil dissipate Hot device is respectively used to radiate to engine (21) and hydraulic oil container (13).
- The reconnaissance robot 5. a kind of intelligent fire of hydraulic-driven as described in claim 1 is put out a fire, which is characterized in that described to disappear Fire extinguishing system (3) include fire water monitor (31), inlet pipeline (32), automatic de- band device (33), from spray pipeline (34) and Solenoid valve (35)；The inlet pipeline (32) is equipped with more than one water inlet and a water outlet；Inlet pipeline (32) peace Mounted in the bottom of rack (12)；The water outlet of inlet pipeline (32) is connected with fire water monitor (21), and fire water monitor (31) is located at The front end of rack (12), fire water monitor (31) can bob and weave；Each water inlet of inlet pipeline (32) is mounted on certainly Dynamic de- band device (33), automatic take off are used to disconnect inlet pipeline (32) and external fire hose with device (33)；It is described from Spray pipeline (34) is equipped with more than two spray heads, cooling protection is carried out to robot for ejecting extinguishing medium, from spray tube Road (34) is communicated by being equipped with the pipeline of solenoid valve (35) with inlet pipeline (32), is controlled by solenoid valve (35) from spray tube The opening and closing on road (34).
- The reconnaissance robot 6. a kind of intelligent fire of hydraulic-driven as claimed in claim 5 is put out a fire, which is characterized in that it is described from Dynamic de- band device (33) includes relay, motor and de- band mechanism, and de- band mechanism is for connecting inlet pipeline (32) and fire water Band, the output shaft of motor with it is de- coaxially connected with gear within the organization, and be equipped on circuit between motor and control system (5) Relay；Relay is in normally open, at this point, motor does not work, takes off band mechanism and connects inlet pipeline (32) and fire hose Connect locking；When control system (5) control relay closure, motor control is de- to be rotated with gear within the organization, so that de- band machine Structure disconnects inlet pipeline (32) and fire hose.
- The reconnaissance robot 7. a kind of intelligent fire of hydraulic-driven as claimed in claim 5 is put out a fire, which is characterized in that described to detect Examining system (4) includes driving camera (41), temperature sensor (42), avoidance component (44) and PTZ camera (45)；Institute A driving camera (41) is respectively at least installed in the front-end and back-end for stating rack (12), for acquiring machine in robot walking process Image before and after device people；The PTZ camera (45) is mounted on the upper shield (61) at the top of rack (12), for fire source It is identified and positioned, and is sent to remote control terminal by control system (5) to be monitored；The temperature sensor (42), gas sensor (43), avoidance component (44) are separately mounted to the front end of rack (12), and the temperature sensor (42) is used It is electrically connected in the environment temperature of detection robot surrounding, and with solenoid valve (35), when environment temperature is more than setting value, control electricity Magnet valve (35) is opened from spray pipeline (34)；The avoidance component (44) includes laser radar, inertial navigation, ultrasonic sensor and touches Pass is rushed open, laser radar is used to construct the map around robot by laser scanning；Inertial navigation is used for the movement of robot It provides and guides；Ultrasonic sensor is used to detect the barrier around robot by sending sound wave；Impact switch is for working as When barrier encounters impact switch, impact switch is triggered, and then make robot emergent stopping by control system (5).
- The reconnaissance robot 8. a kind of intelligent fire of hydraulic-driven as claimed in claim 7 is put out a fire, which is characterized in that further include Gas sensor (43), the gas sensor (43) are used to carry out the concentration of one or more of air toxic and harmful gas Detection, and remote control terminal is sent to by control system (5) to be monitored.
- The reconnaissance robot 9. a kind of intelligent fire of hydraulic-driven as claimed in claim 3 is put out a fire, which is characterized in that the control System (5) processed includes：Bobbin movement controller (51), intelligent navigation controller (52) and master controller (53)；The chassis fortune Movement controller (51) adjusts the hydraulic fluid flow rate transmitted to hydraulic motor (24) by controlling the discharge capacity of duplex hydraulic pump (23), To control the revolving speed of hydraulic motor (24), and then control turn of the driving wheel (111) of the walking mechanism (11) of vehicle body component (1) Speed；The intelligent navigation controller (53) is used to receive the information of avoidance component (44), and according to the information architecture dynamic map And the path of planning intelligent barrier avoiding；The master controller (53) for respectively with bobbin movement controller (51), intelligent navigation control Device (52) processed and remote control terminal are communicated, i.e., the scouting video information of reconnaissance system (4) is sent to remote control terminal And unit information, and receive remote control terminal sending control instruction, by with bobbin movement controller (51), intelligence Control action is completed in cooperation to navigation controller (52) jointly.
- The reconnaissance robot 10. a kind of intelligent fire of hydraulic-driven as described in claim 1 is put out a fire, which is characterized in that also wrap It includes attachment (6), the attachment (6) includes：Headlamp (62), combined aural and visual alarm (63) and antenna (64)；The headlamp (62) Rack (12) front end two sides are mounted on, to provide illumination；The combined aural and visual alarm (63), antenna (64) are mounted on rack (12) top The top rear for the upper shield (61) that portion is equipped with；Combined aural and visual alarm (63) is in normally open to warn, control system (5) It is communicated by antenna (64) with remote control terminal.
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| CN114148424A (en) * | 2021-10-28 | 2022-03-08 | 江苏大学 | Small-size crawler-type fire-extinguishing robot |
| CN114011000A (en) * | 2021-11-10 | 2022-02-08 | 兖州煤业股份有限公司 | Fire fighting truck for underground coal mine tunnel fire |
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Application publication date: 20181116 |