CN108853853A - A kind of detection device and robot based on thermal imaging system and flame scanner - Google Patents
A kind of detection device and robot based on thermal imaging system and flame scanner Download PDFInfo
- Publication number
- CN108853853A CN108853853A CN201810841166.4A CN201810841166A CN108853853A CN 108853853 A CN108853853 A CN 108853853A CN 201810841166 A CN201810841166 A CN 201810841166A CN 108853853 A CN108853853 A CN 108853853A
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- CN
- China
- Prior art keywords
- imaging system
- thermal imaging
- detection device
- flame scanner
- steering engine
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 238000001931 thermography Methods 0.000 title claims abstract description 36
- 238000007689 inspection Methods 0.000 claims 1
- 239000007921 spray Substances 0.000 claims 1
- 238000012806 monitoring device Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development 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
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0014—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation from gases, flames
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The present invention discloses a kind of detection device and robot based on thermal imaging system and flame scanner, detection device is set in robot, including thermal imaging system, flame scanner and steering engine, thermal imaging system and flame scanner are connect with steering engine respectively, and steering engine rotation drives thermal imaging system and flame scanner rotation.Robot includes detection device, chassis and driving wheel, and mounting plate is equipped in the detection device, and chassis is equipped with fixed frame, and detection device is set on fixed frame by mounting plate, and driving wheel is installed on chassis.By the way that thermal imaging system and flame scanner to be connect with steering engine, thermal imaging system and flame scanner are rotated with steering engine, increase detection range, and avoiding detection, there are blind areas；By will test device set on mobile robot, robot dexterity is strong, scope of activities is wide, increases detection range, is not required to that excessive fire behavior monitoring device is arranged, saves cost.
Description
Technical field
The present invention relates to fire behavior detection field, in particular to a kind of detection device based on thermal imaging system and flame scanner
And robot.
Background technique
With the development of economy, commodity circulation is more and more, and more and more commodity are stored in warehouse, due to various
Reason, it is more and more that there is a situation where fire in warehouse, and operator on duty is difficult to find when fire behavior has just occurred, until finding, often
Since the intensity of a fire is excessive, very big loss is caused even to cause casualties property.
Fire monitoring in warehouse at present mainly passes through flame sensor and is monitored to key area, accuracy compared with
It is low, and detection range is limited.The technological progress done on present society for fire monitoring is considerable, has also had now in society
Many fire monitoring early warning systems for having certain practicability, for example, Changchun gold at Science and Technology Ltd. March 21 in 2016
Filed in day, application No. is CN201620216681.X, Publication No. CN205405786U's《Intelligent fire monitoring early warning manipulation
System》, but the manpower and material resources cost needed for it is not still small, and the warehouse based on machine vision module is patrolled on present society
Line fire behavior crusing robot is still within open position.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of based on thermal imaging system and flame scanner
Detection device increases detection range, avoids by the way that thermal imaging system and flame scanner to be set on steering engine and as steering engine rotates
There are blind areas for detection, while avoiding that excessive monitoring device is arranged, and save cost.
Another object of the present invention is to provide a kind of robots with above-mentioned detection device, are set by will test device
In in robot, the mobile fast and flexible of robot so that detection range is wider, detection more rapidly, excessive monitoring that no setting is required
Device saves cost.
The technical scheme is that：A kind of detection device based on thermal imaging system and flame scanner is set to robot
On, including thermal imaging system, flame scanner and steering engine, thermal imaging system and flame scanner connect with steering engine respectively, steering engine rotation
Drive thermal imaging system and flame scanner rotation.
The detection device further includes front end panel, rear bearing sheet, the first connector and the second connector, front end panel and
Rear bearing sheet clamps thermal imaging system jointly, and the first connector is connect with front end panel, and one end of the second connector is connect with first
The steering wheel of part connection, the other end and steering engine connects, and flame scanner is set in the second connector.
Second connector has accommodating chamber, and flame scanner is contained in accommodating chamber, and flame scanner and second connects
Fitting is fixed by screw bolt and nut；Upper mounting portion has been upwardly extended above accommodating chamber, has been extended downwardly below accommodating chamber
Lower mounting portion, the first connector are fixed in upper mounting portion, the steering wheel connection of lower mounting portion and steering engine.
It is fixed between the front end panel and rear bearing sheet by screw bolt and nut, between the first connector and front end panel
It is fixed by screw bolt and nut.
The steering wheel of the steering engine has internal screw thread, and the second connector is fixed by the internal screw thread of bolt and steering wheel；Steering engine bottom
Portion is additionally provided with mounting plate, and steering engine is connect by mounting plate with robot.
The rotational angle of the steering engine is 0~360 °, so that detection range is bigger, avoiding detection, there are dead angles.
Robot with above-mentioned detection device, including detection device, chassis and driving wheel are equipped in the detection device
Mounting plate, chassis are equipped with fixed frame, and detection device is set on fixed frame by mounting plate, and driving wheel is installed on chassis.
The chassis is equipped with jet pipe locator, and jet pipe locator is located at the front of fixed frame, the side of fixed frame or two
Side has fixing groove, is equipped with fire extinguisher in fixing groove, the jet pipe of fire extinguisher connect with jet pipe locator, sets at the handle of fire extinguisher
There is lead screw motor.When detecting that fire behavior occurs, robot rushes at fire behavior immediately, and jet pipe locator is directed at point of origin, screw rod
Motor starts to work and presses the handle of fire extinguisher delays fire behavior to putting out a fire at fire behavior at the first time, and loss is avoided to expand
Greatly.
The chassis is equipped with fire-fighting lamp and alarm device, and when detecting fire behavior, the fire-fighting lamp and alarm device are opened rapidly,
Staff is set to know fire behavior at the first time.
The driving wheel is four Mecanum wheels, realizes the omnidirectional moving on chassis, improves the freedom of motion of robot
Property.
The present invention compared with the existing technology, has the advantages that：
Detection device based on thermal imaging system and flame scanner of the invention, flame scanner can be within 20 meters
Small flame carries out recognition detection and early warning, it is possible to reduce the cost of fire monitoring.
Detection device based on thermal imaging system and flame scanner of the invention, by by thermal imaging system and fire defector
Instrument is connect with steering engine, and thermal imaging system and flame scanner are rotated with steering engine, increases detection range, and avoiding detection, there are blind
Area.
Robot with above-mentioned detection device of the invention, by will test device set on mobile robot, robot
Strong flexibility, scope of activities are wide, increase detection range, are not required to that excessive fire behavior monitoring device is arranged, save cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of detection device of the present invention；
Fig. 2 is the exploded view of detection device of the present invention；
Fig. 3 is the structural schematic diagram of robot of the present invention；
Fig. 4 is the enlarged drawing of the lead screw motor of robot of the present invention.
Chassis 1, driving wheel 2, fixed frame 3, fixing groove 31, thermal imaging system 4, flame scanner 5, front end panel 6, rear support
Plate 7, the first connector 8, the second connector 9, accommodating chamber 90, steering engine 10, mounting plate 11, fire extinguisher 12, lead screw motor 13, jet pipe
Locator 14, upper mounting portion 15, lower mounting portion 16.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail, and embodiments of the present invention are not limited thereto.
Embodiment 1
As depicted in figs. 1 and 2, a kind of detection device based on thermal imaging system and flame scanner of the present embodiment, including heat
Imager 4, flame scanner 5, steering engine 10, front end panel 6, rear bearing sheet 7, the first connector 8, the second connector 9 and installation
Plate 11, front end panel and rear bearing sheet clamp thermal imaging system jointly, and front end panel and rear bearing sheet are fixed by bolt and nut, the
A connection piece is fixed on front end panel by bolt and nut, and the second connector has accommodating chamber 90, and flame scanner is contained in
In cavity, flame scanner is fixed with the second connector by screw bolt and nut, and installation has been upwardly extended above accommodating chamber
Portion 15 has extended downwardly lower mounting portion 16 below accommodating chamber, and the first connector is fixed in upper mounting portion, lower mounting portion and rudder
The steering wheel of machine connects, and the steering wheel of steering engine has internal screw thread, and the steering wheel of steering engine is fixed with by bolt and the second connector, and steering engine is logical
It crosses bolt and nut and is fixed on mounting plate, mounting plate is fixed on chassis by bolt and nut.Thermal imaging system and flame scanner with
360 degree of steering engine or so rotations, increase detection range, and avoiding detection, there are blind areas.
Embodiment 2
As shown in Figure 3 and Figure 4, the present embodiment has the robot of detection device, including chassis 1, driving wheel 2 and detection dress
It sets, chassis is equipped with driving wheel, and in the present embodiment, chassis is set there are four Mecanum wheel, realizes the omnidirectional moving on chassis, improves
The freedom of motion of robot；Chassis is equipped with fixed frame 3 and jet pipe locator 14, and the mounting plate of detection device is fixed on fixation
Frame, the two sides of fixed frame have fixing groove 31, are equipped with fire extinguisher 12 in fixing groove, and jet pipe locator is located at the front of fixed frame,
The jet pipe of fire extinguisher is connected to jet pipe locator, is equipped with lead screw motor 13 at the handle of fire extinguisher；Fire-fighting lamp is additionally provided on chassis
And alarm device.
Wherein, it thermal imaging system, flame scanner, the driving circuit of driving wheel, fire-fighting lamp, alarm device, lead screw motor and goes out
Firearm etc. distinguishes the master controller of external robot, detects signal to it by master controller or switching motion is handled and controlled
The existing same quasi-controller in market can be used in system, the master controller.In use, robot band motion detection device is gone on patrol, examine
It surveys thermal imaging system and flame scanner in device constantly to rotate, master controller examines thermal imaging system and flame by OpenCV algorithm
Instrument institute acquired image is surveyed to be handled in real time, when discovery fire behavior, master controller can control driving wheel to rush for point of origin rapidly,
Main controller controls fire-fighting lamp, alarm device and lead screw motor work simultaneously, start fire extinguisher, slow down fire behavior at the first time, reduce
Loss.
As described above, the present invention can be better realized, above-described embodiment is only presently preferred embodiments of the present invention, is not used
To limit practical range of the invention；It is i.e. all according to equivalent changes and modifications made by the content of present invention, all wanted for right of the present invention
Range claimed is asked to be covered.
Claims (10)
1. a kind of detection device based on thermal imaging system and flame scanner, be set in robot, which is characterized in that including heat at
Picture instrument, flame scanner and steering engine, thermal imaging system and flame scanner are connect with steering engine respectively, and steering engine rotation drives thermal imaging system
It is rotated with flame scanner.
2. the detection device according to claim 1 based on thermal imaging system and flame scanner, which is characterized in that the inspection
Surveying device further includes front end panel, rear bearing sheet, the first connector and the second connector, and front end panel and rear bearing sheet press from both sides jointly
Hold thermal imaging system, the first connector is connect with front end panel, and one end of the second connector is connect with the first connector, the other end with
The steering wheel of steering engine connects, and flame scanner is set in the second connector.
3. the detection device according to claim 2 based on thermal imaging system and flame scanner, which is characterized in that described
Two connectors have accommodating chamber, and flame scanner is contained in accommodating chamber, flame scanner and the second connector pass through bolt and
Nut is fixed；Upper mounting portion has been upwardly extended above accommodating chamber, lower mounting portion has been extended downwardly below accommodating chamber, and first connects
Fitting is fixed in upper mounting portion, the steering wheel connection of lower mounting portion and steering engine.
4. the detection device according to claim 2 based on thermal imaging system and flame scanner, which is characterized in that before described
It is fixed between support plate and rear bearing sheet by screw bolt and nut, passes through screw bolt and nut between the first connector and front end panel
It is fixed.
5. the detection device according to claim 2 based on thermal imaging system and flame scanner, which is characterized in that the rudder
The steering wheel of machine has internal screw thread, and the second connector is fixed by the internal screw thread of bolt and steering wheel；Steering engine bottom is additionally provided with mounting plate,
Steering engine is connect by mounting plate with robot.
6. the detection device according to claim 1 based on thermal imaging system and flame scanner, which is characterized in that the rudder
The rotational angle of machine is 0~360 °.
7. have any detection device of claim 1-6 robot, which is characterized in that including detection device, chassis and
Driving wheel is equipped with mounting plate in the detection device, and chassis is equipped with fixed frame, and detection device is set to fixed frame by mounting plate
On, driving wheel is installed on chassis.
8. robot according to claim 7, which is characterized in that the chassis is equipped with jet pipe locator, jet pipe positioning
Device is located at the front of fixed frame, and the one or both sides of fixed frame have fixing groove, are equipped with fire extinguisher, the spray of fire extinguisher in fixing groove
Pipe is connect with jet pipe locator, and lead screw motor is equipped at the handle of fire extinguisher.
9. robot according to claim 7, which is characterized in that the chassis is equipped with fire-fighting lamp and alarm device.
10. robot according to claim 7, which is characterized in that the driving wheel is four Mecanum wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810841166.4A CN108853853B (en) | 2018-07-27 | 2018-07-27 | Detection device and robot based on thermal imaging instrument and flame detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810841166.4A CN108853853B (en) | 2018-07-27 | 2018-07-27 | Detection device and robot based on thermal imaging instrument and flame detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108853853A true CN108853853A (en) | 2018-11-23 |
| CN108853853B CN108853853B (en) | 2023-08-22 |
Family
ID=64305657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810841166.4A Active CN108853853B (en) | 2018-07-27 | 2018-07-27 | Detection device and robot based on thermal imaging instrument and flame detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108853853B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606089A (en) * | 2018-11-27 | 2019-04-12 | 北京建筑大学 | A kind of extinguishing vehicle |
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|---|---|---|---|---|
| US20050139363A1 (en) * | 2003-07-31 | 2005-06-30 | Thomas Michael S. | Fire suppression delivery system |
| CN2770706Y (en) * | 2005-01-25 | 2006-04-12 | 郝福俊 | Automatic fire extinguisher |
| CN103198606A (en) * | 2013-04-01 | 2013-07-10 | 常熟理工学院 | Intelligent household alarming robot |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
| CN204050742U (en) * | 2013-10-29 | 2014-12-31 | 上海大学 | A kind of Intelligent extinguishment trolley |
| CN106169219A (en) * | 2016-08-10 | 2016-11-30 | 微普安全科技（徐州）股份有限公司 | A kind of for fire detection microrobot |
-
2018
- 2018-07-27 CN CN201810841166.4A patent/CN108853853B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050139363A1 (en) * | 2003-07-31 | 2005-06-30 | Thomas Michael S. | Fire suppression delivery system |
| CN2770706Y (en) * | 2005-01-25 | 2006-04-12 | 郝福俊 | Automatic fire extinguisher |
| CN103198606A (en) * | 2013-04-01 | 2013-07-10 | 常熟理工学院 | Intelligent household alarming robot |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
| CN204050742U (en) * | 2013-10-29 | 2014-12-31 | 上海大学 | A kind of Intelligent extinguishment trolley |
| CN106169219A (en) * | 2016-08-10 | 2016-11-30 | 微普安全科技（徐州）股份有限公司 | A kind of for fire detection microrobot |
Non-Patent Citations (1)
| Title |
|---|
| 张国良等, 西安交通大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606089A (en) * | 2018-11-27 | 2019-04-12 | 北京建筑大学 | A kind of extinguishing vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108853853B (en) | 2023-08-22 |
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