CN108853853B - Detection device and robot based on thermal imaging instrument and flame detector - Google Patents
Detection device and robot based on thermal imaging instrument and flame detector Download PDFInfo
- Publication number
- CN108853853B CN108853853B CN201810841166.4A CN201810841166A CN108853853B CN 108853853 B CN108853853 B CN 108853853B CN 201810841166 A CN201810841166 A CN 201810841166A CN 108853853 B CN108853853 B CN 108853853B
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- connecting piece
- detection device
- flame detector
- steering engine
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 238000001931 thermography Methods 0.000 title claims abstract description 17
- 239000007921 spray Substances 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 241000863480 Vinca Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
-
- 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
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
The invention discloses a detection device and a robot based on a thermal imager and a flame detector. The robot comprises a detection device, a chassis and a driving wheel, wherein the detection device is internally provided with a mounting plate, the chassis is provided with a fixing frame, the detection device is arranged on the fixing frame through the mounting plate, and the driving wheel is arranged on the chassis. The thermal imaging instrument and the flame detector are connected with the steering engine, so that the detection range is enlarged along with the rotation of the steering engine, and the detection blind area is avoided; through locating detection device mobile robot, the robot flexibility is strong, the range of motion is wide, has increased the detection range, need not to set up too much fire monitoring device, saves the cost.
Description
Technical Field
The invention relates to the field of fire detection, in particular to a detection device based on a thermal imaging instrument and a flame detector and a robot.
Background
With the development of economy, more and more commodity circulation is stored in the warehouse, and for various reasons, the condition of the warehouse on fire is more and more, and the staff just on fire is difficult to find, and when the fire is found, the great loss and even the casualties to property are caused due to overlarge fire.
The fire monitoring in the warehouse at present mainly monitors a heavy point area through a flame sensor, and has low accuracy and limited detection range. At present, the technology progress made for fire monitoring is considerable, and a plurality of fire monitoring and early warning systems with certain practicability are also available in society, for example, a fire inspection robot for warehouse line inspection based on a machine vision module is still in a vacant state in the society at present, which is applied for the fire monitoring and early warning system for intelligent fire monitoring, the application number of which is CN201620268681. X, and the publication number of which is CN205405786U, by the vinca technology limited company at the day of 2016.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a detection device based on a thermal imaging instrument and a flame detector.
The invention also aims to provide a robot with the detection device, and the detection device is arranged on the robot, so that the robot can move rapidly and flexibly, the detection range is wider, the detection is faster, and the cost is saved without arranging excessive monitoring devices.
The technical scheme of the invention is as follows: the detection device based on the thermal imager and the flame detector is arranged on the robot and comprises the thermal imager, the flame detector and a steering engine, wherein the thermal imager and the flame detector are respectively connected with the steering engine, and the steering engine rotates to drive the thermal imager and the flame detector to rotate.
The detection device further comprises a front supporting plate, a rear supporting plate, a first connecting piece and a second connecting piece, the front supporting plate and the rear supporting plate jointly clamp the thermal imaging instrument, the first connecting piece is connected with the front supporting plate, one end of the second connecting piece is connected with the first connecting piece, the other end of the second connecting piece is connected with a steering wheel of the steering engine, and the flame detector is arranged in the second connecting piece.
The second connecting piece is provided with a containing cavity, the flame detector is contained in the containing cavity, and the flame detector is fixed with the second connecting piece through bolts and nuts; an upper mounting part extends upwards from the accommodating cavity, a lower mounting part extends downwards from the lower part of the accommodating cavity, the first connecting piece is fixed on the upper mounting part, and the lower mounting part is connected with a rudder disk of the steering engine.
The front support plate and the rear support plate are fixed through bolts and nuts, and the first connecting piece and the front support plate are fixed through bolts and nuts.
The steering wheel of the steering engine is provided with an internal thread, and the second connecting piece is fixed with the internal thread of the steering wheel through a bolt; the steering wheel bottom still is equipped with the mounting panel, and the steering wheel passes through the mounting panel and is connected with the robot.
The rotation angle of the steering engine is 0-360 degrees, so that the detection range is larger, and dead angles in detection are avoided.
The robot with the detection device comprises the detection device, a chassis and a driving wheel, wherein the detection device is internally provided with a mounting plate, the chassis is provided with a fixing frame, the detection device is arranged on the fixing frame through the mounting plate, and the driving wheel is arranged on the chassis.
The chassis is provided with a spray pipe positioner, the spray pipe positioner is positioned in front of the fixing frame, one side or two sides of the fixing frame are provided with fixing grooves, fire extinguishers are arranged in the fixing grooves, spray pipes of the fire extinguishers are connected with the spray pipe positioner, and a screw rod motor is arranged at a handle of the fire extinguishers. When detecting the condition of a fire and taking place, the robot catches up to the condition of a fire department immediately, and the spray tube locator aims at the fire point, and the lead screw motor begins to work and presses the handle of fire extinguisher, puts out a fire to the condition of a fire department, delays the condition of a fire in the first time, avoids losing the expansion.
The chassis is equipped with fire lamp and siren, when detecting the condition of a fire, fire lamp and siren open rapidly, make the staff know the condition of a fire emergence very first time.
The driving wheels are four Mecanum wheels, so that the omnidirectional movement of the chassis is realized, and the movement freedom of the robot is improved.
Compared with the prior art, the invention has the following beneficial effects:
according to the detection device based on the thermal imaging instrument and the flame detector, the flame detector can identify, detect and early warn micro flames within 20 meters, and the cost of monitoring fire can be reduced.
According to the detection device based on the thermal imaging instrument and the flame detector, the thermal imaging instrument and the flame detector are connected with the steering engine, so that the detection range is enlarged along with the rotation of the steering engine, and the detection blind area is avoided.
According to the robot with the detection device, the detection device is arranged on the mobile robot, so that the robot is high in flexibility and wide in moving range, the detection range is enlarged, excessive fire monitoring devices are not needed, and the cost is saved.
Drawings
FIG. 1 is a schematic diagram of a detecting device according to the present invention;
FIG. 2 is an exploded view of the detection device of the present invention;
FIG. 3 is a schematic view of the structure of the robot of the present invention;
fig. 4 is an enlarged view of a screw motor of the robot of the present invention.
Chassis 1, drive wheel 2, mount 3, fixed slot 31, thermal imaging appearance 4, flame detector 5, preceding backup pad 6, back backup pad 7, first connecting piece 8, second connecting piece 9, accept chamber 90, steering wheel 10, mounting panel 11, fire extinguisher 12, lead screw motor 13, spray tube locator 14, upper mounting portion 15, lower mounting portion 16.
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1 and 2, the detection device based on a thermal imager and a flame detector in this embodiment includes a thermal imager 4, a flame detector 5, a steering engine 10, a front support plate 6, a rear support plate 7, a first connecting piece 8, a second connecting piece 9 and a mounting plate 11, the front support plate and the rear support plate clamp the thermal imager together, the front support plate and the rear support plate are fixed by bolts and nuts, the first connecting piece is fixed on the front support plate by bolts and nuts, the second connecting piece has a housing cavity 90 in which the flame detector is housed, the flame detector is fixed with the second connecting piece by bolts and nuts, an upper mounting portion 15 extends upward above the housing cavity, a lower mounting portion 16 extends downward below the housing cavity, the first connecting piece is fixed on the upper mounting portion, the lower mounting portion is connected with a rudder disc of the steering engine, the rudder disc of the steering engine is provided with internal threads, the rudder disc of the steering engine is fixed with the second connecting piece by bolts and nuts, the steering engine is fixed on the mounting plate by bolts and nuts, and the flame detector is housed in the housing cavity. The thermal imaging instrument and the flame detector rotate 360 degrees along with the steering engine left and right, so that the detection range is enlarged, and the detection existence of blind areas is avoided.
Example 2
As shown in fig. 3 and fig. 4, the robot with the detection device in this embodiment includes a chassis 1, a driving wheel 2 and the detection device, where the chassis is provided with the driving wheel, and in this embodiment, the chassis is provided with four mecanum wheels, so as to implement omnidirectional movement of the chassis, and improve the freedom of movement of the robot; the chassis is provided with a fixing frame 3 and a spray pipe positioner 14, a mounting plate of the detection device is fixed on the fixing frame, both sides of the fixing frame are provided with fixing grooves 31, fire extinguishers 12 are arranged in the fixing grooves, the spray pipe positioner is positioned in front of the fixing frame, a spray pipe of each fire extinguisher is connected with the spray pipe positioner, and a screw rod motor 13 is arranged at a handle of each fire extinguisher; the chassis is also provided with a fire-fighting lamp and an alarm.
The main controller is respectively externally connected with a main controller of the robot, and the main controller processes and controls detection signals or opening and closing actions of the main controller, and the main controller can adopt the same type of controllers in the market. When the intelligent fire extinguisher is used, the robot drives the detection device to patrol, the thermal imager and the flame detector in the detection device continuously rotate, the main controller processes images acquired by the thermal imager and the flame detector in real time through the OpenCV algorithm, when a fire is found, the main controller can control the driving wheel to quickly drive to the fire, meanwhile, the main controller controls the fire fighting lamp, the alarm and the screw rod motor to work, the fire extinguisher is started, the fire is slowed down in the first time, and the loss is reduced.
As described above, the present invention can be better realized, and the above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications are intended to be covered by the scope of the appended claims.
Claims (4)
1. The robot is characterized by comprising a detection device, a chassis and a driving wheel, wherein the detection device is internally provided with a mounting plate, the chassis is provided with a fixing frame, the detection device is arranged on the fixing frame through the mounting plate, and the driving wheel is arranged on the chassis;
the detection device comprises a thermal imaging instrument, a flame detector and a steering engine, wherein the thermal imaging instrument and the flame detector are respectively connected with the steering engine, and the steering engine rotates to drive the thermal imaging instrument and the flame detector to rotate;
the detection device further comprises a front supporting plate, a rear supporting plate, a first connecting piece and a second connecting piece, the front supporting plate and the rear supporting plate jointly clamp the thermal imaging instrument, the first connecting piece is connected with the front supporting plate, one end of the second connecting piece is connected with the first connecting piece, the other end of the second connecting piece is connected with a steering wheel of the steering engine, and the flame detector is arranged in the second connecting piece;
the second connecting piece is provided with a containing cavity, the flame detector is contained in the containing cavity, and the flame detector is fixed with the second connecting piece through bolts and nuts; an upper mounting part extends upwards from the accommodating cavity, a lower mounting part extends downwards from the accommodating cavity, the first connecting piece is fixed on the upper mounting part, and the lower mounting part is connected with a rudder disc of the steering engine;
the front support plate and the rear support plate are fixed through bolts and nuts, and the first connecting piece and the front support plate are fixed through bolts and nuts;
the steering wheel of the steering engine is provided with an internal thread, and the second connecting piece is fixed with the internal thread of the steering wheel through a bolt; the bottom of the steering engine is also provided with a mounting plate, and the steering engine is connected with the robot through the mounting plate;
the rotation angle of the steering engine is 0-360 degrees;
the robot drives the detection device to patrol, the thermal imaging device and the flame detector in the detection device continuously rotate, the main controller processes images acquired by the thermal imaging device and the flame detector in real time through an OpenCV algorithm, when a fire condition is found, the main controller can control the driving wheel to quickly drive to the fire point, and meanwhile, the main controller controls the fire fighting lamp, the alarm and the screw rod motor to work, and the fire extinguisher is started.
2. The robot of claim 1, wherein the base plate is provided with a spray pipe positioner, the spray pipe positioner is positioned in front of the fixing frame, one side or two sides of the fixing frame are provided with fixing grooves, fire extinguishers are arranged in the fixing grooves, the spray pipes of the fire extinguishers are connected with the spray pipe positioner, and a screw rod motor is arranged at a handle of the fire extinguishers.
3. The robot of claim 1, wherein the chassis is provided with fire lights and alarms.
4. The robot of claim 1, wherein the drive wheels are 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 CN108853853A (en) | 2018-11-23 |
| CN108853853B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606089B (en) * | 2018-11-27 | 2020-12-01 | 北京建筑大学 | Fire extinguishing vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050139363A1 (en) * | 2003-07-31 | 2005-06-30 | Thomas Michael S. | Fire suppression delivery system |
-
2018
- 2018-07-27 CN CN201810841166.4A patent/CN108853853B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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.自主移动机器人设计与制作.西安交通大学出版社,2008,第24页. * |
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| CN108853853A (en) | 2018-11-23 |
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