CN109224342A - Hanger rail type Initiative Defense intelligent alarm firefighting robot - Google Patents
Hanger rail type Initiative Defense intelligent alarm firefighting robot Download PDFInfo
- Publication number
- CN109224342A CN109224342A CN201811380963.3A CN201811380963A CN109224342A CN 109224342 A CN109224342 A CN 109224342A CN 201811380963 A CN201811380963 A CN 201811380963A CN 109224342 A CN109224342 A CN 109224342A
- Authority
- CN
- China
- Prior art keywords
- fire extinguishing
- extinguishing
- fire
- car body
- power
- 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.)
- Withdrawn
Links
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
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/002—Fire prevention, containment or extinguishing specially adapted for particular objects or places for warehouses, storage areas or other installations for storing goods
-
- 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
- A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Abstract
The invention discloses a kind of hanger rail type Initiative Defense intelligent alarm firefighting robots, including pyrotechnics detector array and fire extinguishing track, fire extinguishing car body and car body charging unit are installed on fire extinguishing track, it is packaged with the execution control device for receiving ignition point signal data and determining accurate ignition point coordinate in extinguishing vehicle body, extinguishing device and fire extinguishing direction adjustment device are also equipped on car body of putting out a fire；When pyrotechnics detector array detects pyrotechnic signal, wireless signal is sent to execution control device, it executes control device wireless receiving ignition point signal data and accurate ignition point coordinate is determined according to the received successive and signal strength or weakness of signal, control fire extinguishing car body is moved near the pyrotechnics detector of corresponding coordinate point, extinguishing device and fire extinguishing direction adjustment device work are controlled simultaneously, extinguishing chemical is sent to the position as close as possible with ignition point, and it is accurately sprayed towards ignition point, to avoid extinguishing chemical from wasting, guarantee the injection pressure of extinguishing chemical, improves fire-fighting efficiency.
Description
Technical field
The present invention relates to indoor fire-fighting technical field more particularly to a kind of firefighting robots being lifted on indoor roof.
Background technique
The consumption equipment that interior uses at present, mostly arrangement install the fire smoke alarm on roof indoors, when
When being detected with flue gas or flame, water spray solenoid valve in fire smoke alarm is opened, and has water under roof spray, sometimes by
Larger at a distance from ignition point in roof, water injection is more dispersed after getting off, therefore extinguishing effect is poor, also needs when necessary artificial
Cooperate fire extinguisher to use, carry out manual extinguishing, danger coefficient is high, and fire extinguishing is not in time.And most fire scenarios are all that fire is greater
Just be found afterwards, then alarm, responding, when fire fightings being waited to rush to, often the intensity of a fire is very big, caused by lose it is too big.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of fire extinguishings in time, accurate positioning, reduces extinguishing chemical and kindling
Point distance, improves the hanger rail type Initiative Defense intelligent alarm firefighting robot of fire-fighting efficiency.
In order to solve the above technical problems, the technical scheme is that hanger rail type Initiative Defense intelligent alarm fire extinguishing machine
People also installs on indoor roof including installing the pyrotechnics detector array on roof indoors and for collecting ignition point signal
There is fire extinguishing track, the fire extinguishing car body being used cooperatively, the fire extinguishing car body and the fire extinguishing track are installed on the fire extinguishing track
Between be equipped with car body charging unit, wireless receiving ignition point signal data is packaged in the extinguishing vehicle body and determines accurate kindling
The execution control device of coordinate is put, is also equipped with extinguishing device in the extinguishing vehicle body, the external side of extinguishing vehicle is equipped with root
Extinguishing chemical is accurately sprayed to the fire extinguishing direction adjustment device of ignition point, the fire extinguishing direction adjustment device and institute according to ignition point coordinate
State extinguishing device connection.
The pyrotechnics detector includes mounting seat as a preferred technical solution, and the mounting seat is equipped with protection
Shell, the center of the guard shield are fixedly installed with Smoke Detector, and the periphery arrangement of the Smoke Detector is equipped with flame spy
Head is packaged with detection master control borad and wireless transmission plate, the Smoke Detector and flame probe difference in the guard shield
Be connected to the detection master control borad, position encoder be equipped in the detection master control borad, be also equipped on the guard shield with
The combined aural and visual alarm of the detection master control borad connection.
The car body charging unit includes the charging being oppositely arranged in the extinguishing vehicle body as a preferred technical solution,
Relay, correspondence is movably installed with electroconductive elastic sheet on each charge relay, and the fire extinguishing track bottom end is relatively set with two
Conductance rail, the conductance rail connect to power supply, and the electroconductive elastic sheet is arranged in a one-to-one correspondence with the conductance rail.
The charge relay includes casing of relay as a preferred technical solution, rotation in the relay shell body
It is equipped with and fills power-off support arm, the free end for filling power-off support arm is connected to the electroconductive elastic sheet, described to fill under power-off support arm
Side is fixed with charge coil, and described one end for filling the close rotational installation of power-off support arm is fixedly connected with charging power-assisted upright bar, described
Be connected with charging power assistant spring between charging power-assisted upright bar and the inner wall of the casing of relay, it is described fill power-off support arm just under
Side is fixed with power-off coil, and the bottom end for filling power-off support arm is equipped with power-off armature, opposite with the charge coil to be equipped with hook
Armature is hung, the hook armature is connected with the device that cuts off self-lock, is also equipped in the relay shell body and fills circuit breaking controller.
The device that cuts off self-lock includes that the hook connecting with the hook armature drives as a preferred technical solution,
Arm, the hook upright bar for hooking actuating arm and being connected with rotational installation far from one end of the charge coil, the hook upright bar
Upper end is fixedly installed with extension pawl, and the bottom end for filling power-off support arm corresponds to the extension pawl and is equipped with the link being used cooperatively, the hook
It hangs and is connected with actuating arm reset spring between actuating arm and the inner wall of the casing of relay.
The execution control device includes car body master control borad as a preferred technical solution, the car body master control borad connection
There are power panel, battery and wireless signal transceiver module, the power panel is electrically connected to the electroconductive elastic sheet, the car body master control
Plate is connect with the circuit breaking controller that fills.
The extinguishing device includes the fire suppression bottle for containing extinguishing chemical, the fire suppression bottle as a preferred technical solution,
It is communicated with fire extinguishing tube, fire extinguishing solenoid valve or fire extinguishing switch, the fire extinguishing solenoid valve or the fire extinguishing are installed on the fire extinguishing tube
Switch is connected to the execution control device.
The fire extinguishing switch is connected with driving mechanism for switch, the driving mechanism for switch packet as a preferred technical solution,
Mounting plate is included, the mounting plate side is fixedly installed with switch steering engine, and the other side of the mounting plate is equipped with and the switch
The driving gear of steering engine transmission connection, the driving gear are engaged with driven gear, the driving gear and the driven gear
Be connected separately with driving connecting lever, the driving connecting lever end is fixedly connected with switch press plate, each driving connecting lever with it is described
Pressing support arm has been correspondingly connected between mounting plate.
The fire extinguishing direction adjustment device includes being mounted on the external wall of the extinguishing vehicle as a preferred technical solution,
Six shaft mechanical arms, the fire extinguishing tube are laid with and tie up fixation along the six shaft mechanicals arm, the tool arm rudder on the six shaft mechanicals arm
Machine is connected to the execution control device, and the free end of the six shaft mechanicals arm is equipped with the sprayer for extinguishing fire being connected to the fire extinguishing tube
Head, the fire extinguishing sprayer side are equipped with vision system, alarm unit and pyrotechnics sensor, the vision system, the alarm
Unit and the pyrotechnics sensor are respectively connected to the execution control device.
As improvement to above-mentioned technical proposal, the fire extinguishing track includes two track type ring rails being oppositely arranged, institute
It states fire extinguishing car body two sides and is equipped with the change gear that limit is set on the corresponding ring rail, each change gear has been correspondingly connected with driving electricity
Machine.
By adopting the above-described technical solution, hanger rail type Initiative Defense intelligent alarm firefighting robot, including it is mounted on room
On inner roof wall and for collecting the pyrotechnics detector array of ignition point signal, it is also equipped with fire extinguishing track on indoor roof, it is described
The fire extinguishing car body being used cooperatively is installed on fire extinguishing track, car body is equipped between the fire extinguishing car body and the fire extinguishing track and is charged
Device, wireless receiving ignition point signal data is packaged in the extinguishing vehicle body and determine accurate ignition point coordinate executes control
Device is also equipped with extinguishing device in the extinguishing vehicle body, and the external side of extinguishing vehicle is equipped with will go out according to ignition point coordinate
Fiery agent accurately sprays to the fire extinguishing direction adjustment device of ignition point, and the fire extinguishing direction adjustment device is connect with the extinguishing device；
The beneficial effects of the present invention are: execution can be sent to by wireless signal when pyrotechnics detector array detects pyrotechnic signal
Control device executes control device wireless receiving ignition point signal data and successively determines with signal strength or weakness according to signal is received
Accurate ignition point coordinate, control driving fire extinguishing car body is moved near the pyrotechnics detector of corresponding coordinate point, while controlling fire extinguishing
Device and fire extinguishing direction adjustment device work, are sent extinguishing chemical to the position as close as possible with ignition point by fire extinguishing direction adjustment device
It sets, and is accurately sprayed towards ignition point, so that extinguishing chemical be avoided to waste, guarantee the injection pressure of extinguishing chemical, improve fire extinguishing effect
Rate.
Detailed description of the invention
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein:
Fig. 1 is the structural schematic diagram of pyrotechnics detector of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of fire extinguishing car body of the embodiment of the present invention and track of putting out a fire；
Fig. 3 is the side view of Fig. 2；
Fig. 4 is the structural schematic diagram of charge relay of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of switch driving device；
Fig. 6 is the arrangement scheme of installation when embodiment of the present invention uses；
Fig. 7 is the structural block diagram of the embodiment of the present invention；
In figure: 1- mounting seat；2- guard shield；3- Smoke Detector；4- flame probe；5- detects master control borad；6- is wireless
Expelling plate；7- fire extinguishing track；8- fire extinguishing car body；9- change gear；10- driving motor；11- presses support arm；12- electroconductive elastic sheet；13- electricity
Guide rail；14- casing of relay；15- fills power-off support arm；16- charge coil；17- charging power-assisted upright bar；18- charging power assistant spring；
19- powers off coil；20- powers off armature；21- hooks armature；22- fills circuit breaking controller；23- hooks actuating arm；24- hooks vertical
Bar；25- hangs pawl；26- link；27- actuating arm reset spring；28- car body master control borad；29- power panel；30- battery；31- without
Line signal transmitting and receiving module；32- fire suppression bottle；33- fire extinguishing tube；Six shaft mechanical arm of 34-；35- mounting plate；36- switchs steering engine；37- master
Moving gear；38- driven gear；39- drives connecting lever；40- switch press plate；41- fire extinguishing sprayer.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is further explained.In the following detailed description, only pass through explanation
Mode describes certain exemplary embodiments of the invention.Undoubtedly, those skilled in the art will recognize,
In the case where without departing from the spirit and scope of the present invention, described embodiment can be repaired with a variety of different modes
Just.Therefore, attached drawing and description are regarded as illustrative in nature, and are not intended to limit the scope of the claims.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6 and Fig. 7, hanger rail type Initiative Defense intelligent alarm firefighting robot, including arrangement
Pyrotechnics detector array on roof indoors and for collecting ignition point signal is installed, is also equipped with fire extinguishing rail on indoor roof
Road 7 is equipped with the fire extinguishing car body 8 being used cooperatively on the fire extinguishing track 7, and wireless receiving is packaged in the fire extinguishing car body 8
Fire point signal data and the execution control device for determining accurate ignition point coordinate.The pyrotechnics detector is in the fire extinguishing track 7
Interior peripheral side be evenly arranged, the pyrotechnics detector includes mounting seat 1, the mounting seat 1 be equipped with guard shield 2,
The center of the guard shield 2 is fixedly installed with Smoke Detector 3, and the periphery arrangement of the Smoke Detector 3 is equipped with flame probe
4, the guard shield 2 can use spherical design, make pyrotechnics detector be integrated with flame probe 4 and 3 advantage of Smoke Detector in
All over the body, can more sensitive discovery fire in advance, be packaged with detection master control borad 5 and wireless transmission plate 6, institute in the guard shield 2
It states Smoke Detector 3 and the flame probe 4 is respectively connected to the detection master control borad 5, be equipped with positioning in the detection master control borad 5
Encoder, the detection master control borad 5 include microprocessor mcu, built-in MAC Address encoder and wireless communication interface, the nothing
Line communication interface includes wifi, bluetooth, UWB, zigbee, radio frequency, gprs etc..The pyrotechnics detector array reasonable cloth indoors
Installation is set, under the cooperation of the built-in MAC Address encoder, by physical address demarcation of location, passes through the detection master control
Plate 5 is realized with wireless transmission plate 6 and is connect with the signal for executing control device, is identified convenient for the execution control device, right
The fire extinguishing car body 8 is positioned.The instruction connecting with the detection master control borad 5 can also be embedded on the guard shield 2
Lamp and alarm buzzer.
Under the control of the detection master control borad 5, when static, i.e., fire signal is not detected in two kinds probes, then no signal
Output, the detection master control borad 5 is in micro energy lose dormant state, to improve battery life；When two probes detect fire
Signal and when reaching trigger condition, the detection master control borad 5 works, and probe trigger signal is sent to the microprocessor mcu and is sentenced
Disconnected processing, signal is pushed to the wireless transmission plate 6 by the microprocessor mcu, and (wireless plate working method can be wifi, indigo plant
The modes such as tooth, zigbee, radio frequency, gprs, specific to regard working environment customization), trigger signal is emitted by the wireless transmission plate 6,
Wake-up master structure, which is put out a fire, carrys out work.In the detection master control borad 5, can by the built-in MAC Address encoder into
Row coding and sorting order, the mutual sequence of whens uses multiple to large area are distinguished, by using the MAC Address encoder into
Row coding and sorting order forms multipoint location system in conjunction with communication modes such as wifi, bluetooth, zigbee, radio frequency, gprs.
The fire extinguishing track 7 includes two track type ring rails being oppositely arranged, can be used c-type hanger rail type be fixed on ceiling or
The places such as freight house cargo upper space, is around uniformly distributed the pyrotechnics detector, and the pyrotechnics detector is complete according to signal
Covering determines installation number, and when some described pyrotechnics detector triggers, then the fire extinguishing car body 8 is according to built-in map and described
MAC Address position encoder moves near the corresponding pyrotechnics detector, executes extinguishing action, certainly not limitation and ring
Rail structure may be set to be the structures such as straight rail according to actual use situation.8 two sides of fire extinguishing car body are equipped with limit and are set to
Change gear 9 on the corresponding ring rail, each change gear 9 have been correspondingly connected with driving motor 10, can by the driving motor 10
To drive the change gear 9 to rotate, to change position of the fire extinguishing car body 8 on the fire extinguishing track 7.In the present embodiment
The fire extinguishing track 7 can make full use of indoor top space using after hoisting structure, avoid and reserve institute on ground indoors
The channel that fire extinguishing car body 8 is walked is stated, to improve flooring utilization rate, and reduces various ground running car body corresponding configurations
Various avoidances probe and corresponding monitoring software and processing routine.
As shown in Figure 2 and Figure 4, car body charging unit is equipped between the fire extinguishing car body 8 and the fire extinguishing track 7, it is described
Car body charging unit includes the charge relay 11 that is oppositely arranged in the fire extinguishing car body 8, on each charge relay 11
Correspondence is movably installed with electroconductive elastic sheet 12, and 7 bottom end of fire extinguishing track is relatively set with two conductance rails 13, the conductance rail 13
It connects to power supply, the electroconductive elastic sheet 12 is arranged in a one-to-one correspondence with the conductance rail 13.8 power on self test of fire extinguishing car body, inspection
Cell voltage is surveyed, when voltage is lower than setting value, the fire extinguishing car body 8 automatically generates charging instruction, in the charge relay
Under 11 control, the electroconductive elastic sheet 12 (being made of elastic material, closely knit to ensure to connect place with the conductance rail 13) is connected
The conductance rail 13 charges for battery；After battery is fully charged, the fire extinguishing car body 8 automatically generates open command, the charging
Relay 11 disconnects the connection of the electroconductive elastic sheet 12 and the conductance rail 13, described when thus can effectively reduce host mobility
The abrasion of electroconductive elastic sheet 12 and 13 contact of conductance rail, prolongs the service life.
Charge relay 11 described in the present embodiment includes casing of relay 14, rotational installation in the casing of relay 14
Have and fill power-off support arm 15, the free end for filling power-off support arm 15 is connected to the electroconductive elastic sheet 12, described to fill power-off support arm 15
Lower section be fixed with charge coil 16, it is described to fill power-off support arm 15 close to one end of rotational installation to be fixedly connected with charging power-assisted vertical
Bar 17 is connected with charging power assistant spring 18 between charging power-assisted upright bar 17 and the inner wall of the casing of relay 14, described
The underface for filling power-off support arm 15 is fixed with power-off coil 19, and the bottom end for filling power-off support arm 15 is equipped with power-off armature 20,
Armature 21 is hooked with opposite be equipped with of charge coil 16, the hook armature 21 is connected with the device that cuts off self-lock, the relay
It is also equipped in device shell 14 and fills circuit breaking controller 22, the circuit breaking controller 22 that fills includes single-chip microcontroller and communication interface etc., institute
Charge coil 16 and the power-off coil 19 are stated under the control for filling circuit breaking controller 22, according to the command signal of transmission into
The corresponding power supply of row is connected and de-energizing actions, corresponding relay is serially connected on the current supply line of each coil, for being powered and breaking
The control of electricity.
The device that cuts off self-lock includes the hook actuating arm 23 connecting with the hook armature 21, the hook actuating arm
23 one end far from the charge coil 16 are connected with the hook upright bar 24 of rotational installation, the fixed peace in 24 upper end of hook upright bar
Equipped with pawl 25 is hung, the bottom end for filling power-off support arm 15 corresponds to the extension pawl 25 and is equipped with the link 26 being used cooperatively, the hook
Actuating arm reset spring 27 is connected between actuating arm 23 and the inner wall of the casing of relay 14.
When there is charging pulse instruction, 16 energized action of charge coil is attracted the hook armature 21, described in drive
Cut off self-lock device action, so that the extension pawl 25 is threaded off from the link 26 using lever principle, the conduction after tripping
Elastic slice 12 is upturned under the elastic force effect of the charging power assistant spring 18, meets place with the conductance rail 13, charges for battery；
After battery is fully charged, there is turn-off pulse instruction, the power-off coil 19 obtains electric, the actuation power-off armature 20, the power-off
Armature 20 drives the electroconductive elastic sheet 12 to move downward, under the action of actuating arm reset spring 27, the hook upright bar
24 reset, and the extension pawl 25 is reentered in the link 26, lockked by the link 26, the electroconductive elastic sheet 12 and the electricity
Guide rail 13 separates.
The execution control device is connect with the pyrotechnics detector wireless signal, and the execution control device includes car body
Master control borad 28, the car body master control borad 28 are connected with vision system, power panel 29, battery 30 and wireless signal transceiver module
31, the power panel 29 is electrically connected to the electroconductive elastic sheet 12, and the car body master control borad 28 fills the company of circuit breaking controller 22 with described
It connecing, the car body master control borad 28 is content known to those skilled in the art of the present technique as the detection master control borad 5,
This is not described in detail.After the fire extinguishing car body 8 reaches near fire source, the car body master control is cooperated by the vision system
The program of plate 28 is analyzed, ground type figure near built-in fire source, and locks fire source, plays the role of quickly positioning ignition point.The view
Feel system includes the components such as at least two cameras, and collected data are compared, and constructs three-dimensional map, for essence
It really plans travel line and judges fire location, principle is as the acquisition signal synthesis of Baidu's streetscape car, and Baidu's streetscape car four
Each camera in direction is by forming one 360 ° of image, therefore the specific structure and principle of vision system after processing
Content known to those of ordinary skill in the art, is not described in detail herein.
It is also equipped with extinguishing device in the fire extinguishing car body 8, is equipped on the outside of the fire extinguishing car body 8 according to ignition point coordinate
Extinguishing chemical is accurately sprayed to the fire extinguishing direction adjustment device of ignition point, the fire extinguishing direction adjustment device and the extinguishing device connect
It connects.Specifically, the extinguishing device includes the fire suppression bottle 32 for containing extinguishing chemical, and the fire suppression bottle 32 is communicated with fire extinguishing tube
33, fire extinguishing solenoid valve or fire extinguishing switch are installed, the fire extinguishing solenoid valve or the fire extinguishing are switched and connected on the fire extinguishing tube 33
To the execution control device.According to practical application place difference, different types of go out can be set in the fire suppression bottle 32
Fiery agent, such as fire foam, carbon dioxide extinguishing agent, dry powder fire extinguishing agent, 1211 extinguishing chemicals, hexafluoropropane extinguishing chemical.
The present embodiment is when ignition point occurs in interior, due to each Smoke Detector 3 and ignition point of indoor array arrangement
Distance distance it is different, along with indoor air flows act on, therefore the smoke signal meeting that each Smoke Detector 3 detects
Having time is poor, and in addition each flame probe 4 is different from the distance of ignition point, and the flare up fire detected is strong and weak different,
Strong apart from the closer detection of flame probe 4 flare up fire of ignition point, farther away detection signal is weaker or even cannot detect
Flare up fire, smoke signal and flare up fire are transferred to successively in the execution control device, pre- in the execution control device
There is the layout coordinate information of the indoor pyrotechnics detector array, the control device that executes can be according to the flue gas letter received
The parameters such as number time and flame strong and weak signals cooperate the encoded information of the built-in MAC Address encoder transmission, determine three
Effective information generates accurate ignition point coordinate information by execution control device using triangulation location technology, described to execute control
Device controls the fire extinguishing car body 8 according to the ignition point coordinate information of generation and marches to designated position, controls the fire extinguishing direction
It adjusts device and extinguishing chemical is sent to ignition point, the accurate total pressure of extinguishing chemical is made to spray to ignition point.It can be seen that in practical fire extinguishing procedure
In, the Smoke Detector 3 and the flame probe 4 on the pyrotechnics detector are equivalent to opening for the corresponding pyrotechnics detector
Dynamic switch cooperates according to the pyrotechnic signal of pyrotechnics detector detection and the data processing for executing control device, determines
The accurate coordinate position of ignition point, when there are multiple ignition points in interior, the execution control device is according to determining ignition point
The position of accurate coordinate and the fire extinguishing car body 8, (power of ignition point can be by being able to detect that cigarette according to ignition point power for peace
The quantity of fiery signal is determined by the execution control device) successively sorted, it is final to determine fire extinguishing sequencing, here
During reason, the extinguishing action of the fire extinguishing car body 8 is not influenced, to realize whole system continuous work, constantly judgement is found
Strongest ignition point, finally eliminates fire.
The fire extinguishing direction adjustment device includes six shaft mechanical arms 34 being mounted on fire extinguishing 8 outer wall of car body, described
Fire extinguishing tube 33 is laid with along the six shaft mechanicals arm 34 and ties up fixation, and the tool arm steering engine on the six shaft mechanicals arm 34 is connected to institute
Execution control device is stated, the free end of the six shaft mechanicals arm 34 is equipped with the fire extinguishing sprayer 41 being connected to the fire extinguishing tube 33,
41 side of fire extinguishing sprayer is equipped with vision system, alarm unit and pyrotechnics sensor, and the vision system, the alarm are single
The first and described pyrotechnics sensor is respectively connected to the execution control device.After kindling point location, the execution control device control
Make the fire extinguishing solenoid valve or the fire extinguishing switch open, and by the six shaft mechanicals arm 34 by the output end of extinguishing chemical send to
Near ignition point, precisely put out a fire to kindling point, the alarm unit can be set to alarm lamp or/and alarm buzzer.
It being switched in the present embodiment using the fire extinguishing, the fire extinguishing switch is connected with driving mechanism for switch, as shown in figure 5,
The driving mechanism for switch includes mounting plate 35, and 35 side of mounting plate is fixedly installed with switch steering engine 36, the mounting plate
35 other side is equipped with the driving gear 37 being sequentially connected with switch steering engine 36, and the driving gear 37 is engaged with driven gear
38, the driving gear 37 and the driven gear 38 are connected separately with driving connecting lever 39, and 39 end of driving connecting lever is fixed
It is connected with switch press plate 40, pressing support arm 11, institute have been correspondingly connected between each driving connecting lever 39 and the mounting plate 35
State the course of work of driving mechanism for switch are as follows:
The fire extinguishing switchs opening procedure, and the switch steering engine 36 drives the driving gear 37 to rotate, in engagement
Under, the driven gear 38 rotates together, and the two driving connecting levers 39 draw close rotation, and the two switch press plates 40 are respectively in
Between tighten, and the switch knob of the fire suppression bottle 32 is exactly between the two switch press plates 40, under pressing effect, institute
Fire extinguishing switch is stated to be opened；Unclamp the fire extinguishing switching process in contrast, the switch steering engine 36 drives the driving gear
37 anyway, and the driven gear 38 of engagement, which commutates, to be rotated, and the two driving connecting levers 39 are far from return, the two switch press plates
40 separate to both sides, discharge the switch knob of the fire suppression bottle 32, reach realization simulation manpower pressing and unclamp the fire extinguishing switch
Purpose.
When using the solenoid valve, if triggering the solenoid valve without fire alarm, extinguishing chemical passes through the fire extinguishing
Pipe 33 enters in the solenoid valve from entrance, is stopped by the valve lift pin of the solenoid valve, can not be discharged；When there is fire alarm touching
When sending out solenoid valve described, the solenoid valves, valve lift pin movement, extinguishing chemical enters to the solenoid valve by entrance, logical
It crosses inner passage to be discharged from the outlet of the solenoid valve, the specific structure of the solenoid valve is those of ordinary skill in the art
Known content, is not described in detail herein.
In practical application place, a number of pyrotechnics detector is configured, according to the size in place with all standing
Plane is preferred.The car body master control borad 28 can also be connect by network with the mobile phone signal of affiliated people, in order to described micro-
Under the control of processor mcu, the hand-held set of fire alarm information synchronized push to affiliated people are alarmed, remind affiliated people's fire feelings
Condition, affiliated people can utilize the terminals such as APP, computer, the PC machine on mobile phone by the vision system, watch scene of fire feelings in real time
Condition to determine to dispose in next step, and is operated by gui interface real-time control.
The present embodiment is properly termed as Intelligent fire-fighting robot, can be widely applied to movie theatre, factory floor, storage warehouse, guest
The places such as shop, gas station, large supermarket, its advantage is that:
1, twenty four hours is awaited orders.It can find and take measures under fire alarm budding state, form Initiative Defense formula report
Alert, the mankind that compare have found fire alarm reprocessing, lose much smaller.Most fire scenarios are just found after fire is greater,
Alarm again, responding, wait fire fighting when rushing to, often the intensity of a fire is very big, caused by lose too big, can not often draw
It returns.
2, maneuverability.Fire alarm is usually associated with dense smoke, and amateur rescuer often without special protection, blindly rescues
It helps and may cause personal injury, robot is then different, even if through the various probes of carrying in smoky condition, it still can be quasi-
Really capture fire alarm point.
The above shows and describes the basic principle, main features and advantages of the invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. hanger rail type Initiative Defense intelligent alarm firefighting robot, it is characterised in that: including installing on roof indoors and being used for
The pyrotechnics detector array of ignition point signal is collected, fire extinguishing track is also equipped on indoor roof, is installed on the fire extinguishing track
There is the fire extinguishing car body being used cooperatively, car body charging unit, the fire extinguishing are equipped between the fire extinguishing car body and the fire extinguishing track
It is packaged with wireless receiving ignition point signal data in car body and determines the execution control device of accurate ignition point coordinate, the fire extinguishing
Extinguishing device is also equipped in car body, the external side of extinguishing vehicle, which is equipped with, accurately sprays to extinguishing chemical according to ignition point coordinate
The fire extinguishing direction adjustment device of fire point, the fire extinguishing direction adjustment device are connect with the extinguishing device.
2. hanger rail type Initiative Defense intelligent alarm firefighting robot as described in claim 1, it is characterised in that: the pyrotechnics inspection
Surveying device includes mounting seat, and the mounting seat is equipped with guard shield, and the center of the guard shield is fixedly installed with cigarette sense
The periphery arrangement of probe, the Smoke Detector is equipped with flame probe, and detection master control borad and nothing are packaged in the guard shield
Line expelling plate, the Smoke Detector and the flame probe are respectively connected to the detection master control borad, in the detection master control borad
Equipped with position encoder, the combined aural and visual alarm connecting with the detection master control borad is also equipped on the guard shield.
3. hanger rail type Initiative Defense intelligent alarm firefighting robot as described in claim 1, it is characterised in that: the car body fills
Electric installation includes the charge relay being oppositely arranged in the extinguishing vehicle body, corresponding activity installation on each charge relay
There is electroconductive elastic sheet, the fire extinguishing track bottom end is relatively set with two conductance rails, and the conductance rail connects to power supply, the conduction
Elastic slice is arranged in a one-to-one correspondence with the conductance rail.
4. hanger rail type Initiative Defense intelligent alarm firefighting robot as claimed in claim 3, it is characterised in that: it is described charging after
Electric appliance includes casing of relay, is rotatably equipped in the relay shell body and fills power-off support arm, the freedom for filling power-off support arm
End is connected to the electroconductive elastic sheet, and described fill below power-off support arm is fixed with charge coil, described to fill close turn of power-off support arm
One end of dynamic installation is fixedly connected with charging power-assisted upright bar, between charging power-assisted upright bar and the inner wall of the casing of relay
It is connected with charging power assistant spring, described fill immediately below power-off support arm is fixed with power-off coil, the bottom end for filling power-off support arm
Power-off armature is installed, opposite with the charge coil to be equipped with hook armature, the hook armature is connected with the device that cuts off self-lock,
It is also equipped in the relay shell body and fills circuit breaking controller.
5. hanger rail type Initiative Defense intelligent alarm firefighting robot as claimed in claim 4, it is characterised in that: the power-off is certainly
Locking device includes the hook actuating arm connecting with the hook armature, the described hook one end of actuating arm far from the charge coil
It is connected with the hook upright bar of rotational installation, the hook upright bar upper end is fixedly installed with extension pawl, the bottom end for filling power-off support arm
The corresponding pawl of hanging is equipped with the link being used cooperatively, and is connected between hook actuating arm and the inner wall of the casing of relay
Actuating arm reset spring.
6. hanger rail type Initiative Defense intelligent alarm firefighting robot as claimed in claim 5, it is characterised in that: described to execute control
Device processed includes car body master control borad, and the car body master control borad is connected with power panel, battery and wireless signal transceiver module, described
Power panel is electrically connected to the electroconductive elastic sheet, and the car body master control borad is connect with the circuit breaking controller that fills.
7. hanger rail type Initiative Defense intelligent alarm firefighting robot as described in claim 1, it is characterised in that: the fire extinguishing dress
It sets including the fire suppression bottle for containing extinguishing chemical, the fire suppression bottle is communicated with fire extinguishing tube, and fire extinguishing electricity is equipped on the fire extinguishing tube
Magnet valve or fire extinguishing switch, the fire extinguishing solenoid valve or fire extinguishing switch are connected to the execution control device.
8. hanger rail type Initiative Defense intelligent alarm firefighting robot as claimed in claim 7, it is characterised in that: the fire extinguishing is opened
Connection is connected to driving mechanism for switch, and the driving mechanism for switch includes mounting plate, and the mounting plate side is fixedly installed with switch
Steering engine, the other side of the mounting plate are equipped with the driving gear with the switch steering engine transmission connection, and the driving gear is nibbled
Conjunction has driven gear, and the driving gear and the driven gear are connected separately with driving connecting lever, and the driving connecting lever end is solid
Surely it is connected with switch press plate, has been correspondingly connected with pressing support arm between each driving connecting lever and the mounting plate.
9. hanger rail type Initiative Defense intelligent alarm firefighting robot as claimed in claim 8, it is characterised in that: the fire extinguishing side
It include six shaft mechanical arms being mounted on the external wall of the extinguishing vehicle to adjustment device, the fire extinguishing tube is along the six shaft mechanicals arm
It is laid with and ties up fixation, the tool arm steering engine on the six shaft mechanicals arm is connected to the execution control device, six shaft mechanical
The free end of arm is equipped with the fire extinguishing sprayer being connected to the fire extinguishing tube, and the fire extinguishing sprayer side is equipped with vision system, report
Alert unit and pyrotechnics sensor, the vision system, the alarm unit and the pyrotechnics sensor are respectively connected to described hold
Row control device.
10. the hanger rail type Initiative Defense intelligent alarm firefighting robot as described in claim 1 to 9 any claim, special
Sign is: the fire extinguishing track includes two track type ring rails being oppositely arranged, and the fire extinguishing car body two sides are equipped with limit and are set to
Change gear on the corresponding ring rail, each change gear have been correspondingly connected with driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380963.3A CN109224342A (en) | 2018-11-20 | 2018-11-20 | Hanger rail type Initiative Defense intelligent alarm firefighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380963.3A CN109224342A (en) | 2018-11-20 | 2018-11-20 | Hanger rail type Initiative Defense intelligent alarm firefighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109224342A true CN109224342A (en) | 2019-01-18 |
Family
ID=65075152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811380963.3A Withdrawn CN109224342A (en) | 2018-11-20 | 2018-11-20 | Hanger rail type Initiative Defense intelligent alarm firefighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109224342A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110080570A (en) * | 2019-06-07 | 2019-08-02 | 曹如乾 | A kind of intelligent automatic lavatory for adjusting men and women's toilet space ratio |
| CN110220081A (en) * | 2019-06-12 | 2019-09-10 | 刘蓝熠 | One kind being applied to indoor smart suspension equipped system |
| CN113041536A (en) * | 2021-03-22 | 2021-06-29 | 东莞市三航军民融合创新研究院 | Fire-fighting system and method |
-
2018
- 2018-11-20 CN CN201811380963.3A patent/CN109224342A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110080570A (en) * | 2019-06-07 | 2019-08-02 | 曹如乾 | A kind of intelligent automatic lavatory for adjusting men and women's toilet space ratio |
| CN110220081A (en) * | 2019-06-12 | 2019-09-10 | 刘蓝熠 | One kind being applied to indoor smart suspension equipped system |
| CN110220081B (en) * | 2019-06-12 | 2021-08-10 | 刘蓝熠 | Intelligent suspension type carrying system applied indoors |
| CN113041536A (en) * | 2021-03-22 | 2021-06-29 | 东莞市三航军民融合创新研究院 | Fire-fighting system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109224342A (en) | Hanger rail type Initiative Defense intelligent alarm firefighting robot | |
| CN106828899B (en) | Rescue unmanned aerial vehicle and regulation and control fire control system thereof | |
| CN207473411U (en) | Night watching robot, robot charging depressed place and robot system | |
| CN110051953A (en) | A kind of wisdom formula fire-fighting system | |
| CN210355746U (en) | Intelligent fire fighting equipment | |
| CN207518753U (en) | A kind of bridge crack prosthetic device based on unmanned aerial vehicle platform | |
| CN109045524A (en) | A kind of Intelligent fire-fighting robot and intelligent fire extinguishing system | |
| CN109788883A (en) | Window clean robot | |
| CN206345001U (en) | Rescue unmanned plane, rescue unmanned aerial vehicle group and its regulation and control fire-fighting system | |
| CN112093050B (en) | Modularized unmanned aerial vehicle fire engine | |
| CN110575641B (en) | Fire control and safety control system integrated with indoor intelligent fire-fighting product | |
| CN108144225A (en) | A kind of hyperbaric chamber fire-fighting robot | |
| CN111672045A (en) | Fire-fighting robot, fire-fighting system and fire-fighting control method | |
| CN205867368U (en) | Intelligent fireproof firefighting robot | |
| CN209108492U (en) | Level land formula Initiative Defense intelligent alarm firefighting robot | |
| CN209108481U (en) | Hanger rail type Initiative Defense intelligent alarm firefighting robot | |
| CN110215779A (en) | Green construction environmental monitoring system | |
| CN105288920A (en) | Full-automatic fire-extinguishing and rescue robot system based on internal communication | |
| CN108508886A (en) | Integrated controller and its control system for explosion-proof crusing robot | |
| CN210131279U (en) | Crawler-type indoor fire-fighting patrol robot | |
| CN203812055U (en) | Track inspection robot system | |
| CN204846374U (en) | Remote control flight formula dry powder life saving equipment that puts out a fire | |
| CN210135418U (en) | Indoor track inspection device | |
| CN208741818U (en) | A kind of intelligence automatic fire extinguisher system | |
| CN213760315U (en) | Rail mounted wisdom fire extinguishing robot |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190118 |
|
| WW01 | Invention patent application withdrawn after publication |