CN110053047A - A kind of portable fire inspection machine people based on laser radar - Google Patents
A kind of portable fire inspection machine people based on laser radar Download PDFInfo
- Publication number
- CN110053047A CN110053047A CN201910311093.2A CN201910311093A CN110053047A CN 110053047 A CN110053047 A CN 110053047A CN 201910311093 A CN201910311093 A CN 201910311093A CN 110053047 A CN110053047 A CN 110053047A
- Authority
- CN
- China
- Prior art keywords
- laser radar
- inspection machine
- machine people
- camera
- caterpillar chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C13/00—Portable extinguishers which are permanently pressurised or pressurised immediately before use
- A62C13/006—Portable extinguishers which are permanently pressurised or pressurised immediately before use for the propulsion of extinguishing powder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of portable fire inspection machine people based on laser radar.Robot miniaturization of the invention, lightweight, high temperature resistant can work under high temperature fumes environment, carry one piece of miniature dry powder extinguisher, for promptly putting out for fire point；The video camera of airborne high definition, can return live image in real time, and auxiliary rescue personnel judges field condition；The data that portable fire inspection machine people based on laser radar of the invention collects according to airborne various sensors, auxiliary complete the assessment of site environment, live map structuring, to rescue personnel to refer to；And after robot completes scanning, path can be withdrawn by contexture by self according to the map, reduce the demand to operator.
Description
Technical field
The present invention relates to fire fighting device technical fields, in particular it relates to a kind of based on the portable of laser radar
Fire inspection machine people.
Background technique
Present market fire-fighting robot generally based on fire extinguishing, needs to carry huge fire distinguisher, while needing to deal with
The powerful operating pressure of fire hose causes its volume heavy, can be only applied to the large-scale scene of a fire, and is directed to some possible someone
The small-sized scene of a fire existing for member, dense smoke diffuse, and toxic and harmful gas can directly injure rescue personnel, because not knowing scene of a fire situation,
Rashly it sends rescue worker to enter, unnecessary injures and deaths may be caused, such scene of a fire needs a kind of compact, light-weight, gold
Belong to crawler travel and carry various poisonous and harmful combustible gas sensors, danger zone can be quickly entered, is visited using the life of carrying
Device is surveyed, the fire-fighting robot of trapped person is searched, to guarantee that rescue worker takes enough safeguard procedures to enter, succour together
When, it reduces possible injury to the greatest extent and can be realized automation and withdraw.
Summary of the invention
Object of the present invention is to overcome lower the deficiencies in the prior art, a kind of portable fire-fighting robot is provided, it can be in high temperature
It works under smoky environment, live image can be returned in real time, independently withdrawn.
The present invention solves technical problem and adopts the following technical scheme that
A kind of portable fire inspection machine people based on laser radar, comprising: for installing sensor, measure scene of a fire temperature
Degree, fuel gas, the sensor storehouse of toxic and harmful gas；Human detection module for scene of a fire human testing；It is artificial for machine
As when light filling is provided, with meet observation need light compensating lamp；It is triggered by the trigger mechanism in machine body, for answering fiery point
The anxious miniature dry powder extinguisher precisely put out；Adjust the electric pushrod of camera direction, angles and positions；Realize robot and control
The communication antenna of communication link of the case processed with controlling backstage；Adjust the Camera Platform of camera direction and angle；Collection site
The thermal imaging camera and optical camera of picture, image；Support all structures, functor installation and realize the left-right rotary on chassis
Turn, the caterpillar chassis that front and back is advanced.
The caterpillar chassis includes suspension, crawler belt, drive motor, speed reducer, battery, charging circuit module；It is described
The gas that is incuded of sensor storehouse include CO, CO2、H2S and particulate matter；The human detection module, light compensating lamp setting exist
On front side of caterpillar chassis；The communication antenna is arranged in caterpillar chassis tail portion；The miniature dry powder extinguisher electronic pushes away
The top of caterpillar chassis is arranged in bar；The Camera Platform is mounted on the top of electric pushrod；The thermal imaging is taken the photograph
Camera is mounted on above the Camera Platform；The optical camera is mounted on above the thermal imaging camera.
Laser radar is also mounted above the caterpillar chassis, the laser radar uses flight time ranging
Method measures target to the distance of light source.
Control processing module is embedded with below the laser radar, the control processing module is according to laser radar
The range data real-time measurement measured goes out the position of robot in space, and the path that recorder people passes by real time and planning
Independently withdraw path.In the scene of a fire for constructing live map, trapped person position is determined for rescue personnel, to quickly arrive at
Rescue, and can independently withdraw according to the map, reduce Personnel Dependence.
In fact, laser radar uses flight time measurement method, cooperates the rotating mechanism of itself, make single laser transmitting-receiving
Mechanism can measure the object on 360 degree of periphery to the position of light source comprehensively, cooperation control processing module, can real-time measurement go out machine
The position of people in space, the path passed by by real-time recorder people may be used as removing after the completion of robot task
Route of retreat line is returned without manual control.
The invention has the following beneficial effects: robot miniaturizations, lightweight, and high temperature resistant can be under high temperature fumes environment
Work, and the data that can be collected according to airborne various sensors, complete the assessment of site environment, live map structuring, to rescue
Personnel are to refer to；After robot of the invention completes scanning, path can be withdrawn by contexture by self according to the map, reduced to operator
Demand；Robot of the invention is equipped with the video camera of high definition, can return live image in real time, and auxiliary rescue personnel judges scene
Situation；The artificial fire brigade of machine of the invention provides supplementary means when a kind of fire fighting and rescue, being capable of rapid build disaster site
The map of point, to rescue personnel to refer to, and can be autonomously generated according to the map and withdraw path, reduce the dependence to operator.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Specific embodiment
Technical solution of the present invention is further elaborated below with reference to examples and drawings.
Embodiment
A kind of portable fire inspection machine people based on laser radar is present embodiments provided, as shown in Figure 1, comprising:
For installing sensor, fire scene temperature, fuel gas, the sensor storehouse 1 of toxic and harmful gas are measured；For scene of a fire human testing
Human detection module 2；Light filling is provided for machine man-hour, to meet the light compensating lamp 3 that observation needs；By in machine body
Trigger mechanism triggering, the miniature dry powder extinguisher 4 precisely put out for the emergency to fire point；Adjust camera direction, angle and
The electric pushrod 5 of position；Realize the communication antenna 6 of the communication link of robot and control cabinet with controlling backstage；Adjust video camera
The Camera Platform 7 in direction and angle；The thermal imaging camera 8 and optical camera 9 of collection site picture, image；Support is all
Structure, functor installation and realize the left rotation and right rotation on chassis, the caterpillar chassis 10 that front and back is advanced.
The caterpillar chassis 10 includes suspension, crawler belt, drive motor, speed reducer, battery, charging circuit module；Institute
The gas that the sensor storehouse 1 stated is incuded includes CO, CO2、H2S and particulate matter；The human detection module 2, light compensating lamp 3
Setting is in 10 front side of caterpillar chassis；The communication antenna 6 is arranged in 10 tail portion of caterpillar chassis；The miniature dry powder goes out
The top of caterpillar chassis 10 is arranged in firearm 4, electric pushrod 5；The Camera Platform 7 is mounted on the upper of electric pushrod 5
Side；The thermal imaging camera 8 is mounted on 7 top of Camera Platform；The optical camera 9 is mounted on described
Above thermal imaging camera 8.
Laser radar 11 is also mounted in the top of the caterpillar chassis 10, when the laser radar 11 is using flight
Between telemetry measure target to light source distance.
The lower section of the laser radar 11 is embedded with control processing module, and the control processing module is according to laser thunder
Go out the position of robot in space up to the range data real-time measurement measured, and the path that recorder people passes by real time and rule
It draws and independently withdraws path.Laser radar cooperation control processing module is used to construct live map in the scene of a fire, true for rescue personnel
Determine trapped person position, to quickly arrive at rescue, and can independently withdraw according to the map, reduces Personnel Dependence.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (3)
1. a kind of portable fire inspection machine people based on laser radar, which is characterized in that the robot includes: sensor
Storehouse (1), light compensating lamp (3), miniature dry powder extinguisher (4), electric pushrod (5), communication antenna (6), is taken the photograph human detection module (2)
Camera platform (7), thermal imaging camera (8), optical camera (9), caterpillar chassis (10)；
The caterpillar chassis (10) includes suspension, crawler belt, drive motor, speed reducer, battery, charging circuit module；It is described
The gas that is incuded of sensor storehouse (1) include CO, CO2、H2S and particulate matter；The human detection module (2), light compensating lamp
(3) setting is on front side of caterpillar chassis (10)；The communication antenna (6) is arranged in caterpillar chassis (10) tail portion；Described
Miniature dry powder extinguisher (4), electric pushrod (5) are arranged in the top of caterpillar chassis (10)；Camera Platform (7) peace
Mounted in the top of electric pushrod (5)；The thermal imaging camera (8) is mounted on above the Camera Platform (7)；It is described
Optical camera (9) be mounted on the thermal imaging camera (8) above.
2. a kind of portable fire inspection machine people based on laser radar according to claim 1, which is characterized in that institute
It is also mounted laser radar (11) above the caterpillar chassis (10) stated, the laser radar (11) is surveyed using the flight time
Distance away from method measurement target to light source.
3. a kind of portable fire inspection machine people based on laser radar according to claim 2, which is characterized in that institute
Control processing module is embedded with below the laser radar (11) stated, what the control processing module was measured according to laser radar
Range data real-time measurement goes out the position of robot in space, and recorder people passes by real time path and contexture by self are removed
Route of retreat diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910311093.2A CN110053047A (en) | 2019-04-18 | 2019-04-18 | A kind of portable fire inspection machine people based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910311093.2A CN110053047A (en) | 2019-04-18 | 2019-04-18 | A kind of portable fire inspection machine people based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110053047A true CN110053047A (en) | 2019-07-26 |
Family
ID=67319261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910311093.2A Pending CN110053047A (en) | 2019-04-18 | 2019-04-18 | A kind of portable fire inspection machine people based on laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110053047A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
| CN111282185A (en) * | 2020-04-23 | 2020-06-16 | 临沂大学 | High in clouds automatic control's intelligent fire water monitor |
| CN111604917A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot for fire scene rescue |
Citations (7)
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| JP2002307337A (en) * | 2001-04-18 | 2002-10-23 | Toyo High Mech Kk | Remote control robot device |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN104690733A (en) * | 2015-02-17 | 2015-06-10 | 公安部上海消防研究所 | Explosion-proof fire-fighting detection robot |
| CN107067635A (en) * | 2017-02-13 | 2017-08-18 | 张磊 | A kind of multimode control machine people |
| CN207139814U (en) * | 2017-04-17 | 2018-03-27 | 蓝思智能机器人(长沙)有限公司 | Rescue robot |
| CN108686324A (en) * | 2018-06-20 | 2018-10-23 | 南阳防爆电气研究所有限公司 | A kind of fire-fighting fire extinguishing scouting explosion prevention robot |
| CN108815754A (en) * | 2018-06-20 | 2018-11-16 | 中国船舶重工集团应急预警与救援装备股份有限公司 | A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven |
-
2019
- 2019-04-18 CN CN201910311093.2A patent/CN110053047A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002307337A (en) * | 2001-04-18 | 2002-10-23 | Toyo High Mech Kk | Remote control robot device |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN104690733A (en) * | 2015-02-17 | 2015-06-10 | 公安部上海消防研究所 | Explosion-proof fire-fighting detection robot |
| CN107067635A (en) * | 2017-02-13 | 2017-08-18 | 张磊 | A kind of multimode control machine people |
| CN207139814U (en) * | 2017-04-17 | 2018-03-27 | 蓝思智能机器人(长沙)有限公司 | Rescue robot |
| CN108686324A (en) * | 2018-06-20 | 2018-10-23 | 南阳防爆电气研究所有限公司 | A kind of fire-fighting fire extinguishing scouting explosion prevention robot |
| CN108815754A (en) * | 2018-06-20 | 2018-11-16 | 中国船舶重工集团应急预警与救援装备股份有限公司 | A kind of intelligent fire fire extinguishing reconnaissance robot of hydraulic-driven |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
| CN111282185A (en) * | 2020-04-23 | 2020-06-16 | 临沂大学 | High in clouds automatic control's intelligent fire water monitor |
| CN111604917A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot for fire scene rescue |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190726 |
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| RJ01 | Rejection of invention patent application after publication |