CN110124231A - A kind of indoor fire patrol robot of crawler type and application method - Google Patents
A kind of indoor fire patrol robot of crawler type and application method Download PDFInfo
- Publication number
- CN110124231A CN110124231A CN201910525072.0A CN201910525072A CN110124231A CN 110124231 A CN110124231 A CN 110124231A CN 201910525072 A CN201910525072 A CN 201910525072A CN 110124231 A CN110124231 A CN 110124231A
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- Prior art keywords
- fire
- fuselage
- fire extinguisher
- sensor
- crawler type
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000010276 construction Methods 0.000 claims description 6
- 239000000779 smoke Substances 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
A kind of indoor fire patrol robot of crawler type and application method, robot includes the fuselage with Athey wheel, it further include sensor detection unit, fire-fighting and rescue unit, patrol security protection unit, route unit and main control unit, being provided with battery in fuselage can be powered to each unit.The present invention provides a kind of indoor fire patrol robot of crawler type, which can carry out patrol work in 24 hours by programme path or by remote control, and fire preventing occurs and fireman can be replaced to put out a fire to a certain extent.
Description
Technical field
The present invention relates to robot and specific use apparatus fields, more particularly to a kind of indoor fire patrol of crawler type
Robot.
Background technique
The robot of high-end development plays an important role in every field, can replace people in certain specific areas
Class completes work, and has and be fearless of danger, and error rate is low, the advantages of having a safety feature.And in indoor fire-fighting field of today
In, main or using people's air defense as core, vast resources puts into manpower on duty, manpower patrol, in fixing camera placement.But
Because camera be difficult to realize whole all standing, installation cost it is high and its it is specifically used still need to rely on special personnel carry out 24
Hour uninterrupted supervision, causes human resources expense larger, safety is difficult to be guaranteed.And current fire-fighting robot function
It is again more single, it can not achieve the integrated operation of several functions, volume is larger, mobile slowly inflexible.
Summary of the invention
In order to solve problem above, the present invention provides a kind of indoor fire patrol robot of crawler type, the robot energy
Patrol work in 24 hours is carried out by programme path or by remote control, fire preventing occurs and can be to a certain extent instead of disappearing
Anti- member's fire extinguishing.
For this purpose, the present invention provides a kind of indoor fire patrol robot of crawler type, including with Athey wheel
Fuselage, further includes:
Sensor detection unit is set on front side of fuselage, includes flame sensor, smoke sensor device, temperature sensor and red
Outer sensor, sensor external are provided with sensor wrap for protecting, and each sensor probe is partially toward in front of fuselage；
Fire-fighting and rescue unit, including pony fixed column and fire extinguisher support plate, the pony fixed column are upper
The cylinder-like structure of under shed, side wall have opening, and fire extinguisher can be put into pony fixed column, pony bottom
It is provided with lifting bottom plate, lifting bottom plate is slab construction comprising outer diameter plectane identical with the fixed column internal diameter of pony
And the slab construction by pony fixed column sidewall opening extended spot, lifting bottom plate lower section are provided with the electronic column that pushes away and drive
It is moved up and down, and the lifting bottom plate is provided centrally with central axis, is gone up and down and is provided with fire extinguisher support plate, the fire extinguishing on bottom plate
Device support plate is outer diameter Circular plate structure identical with the fixed column internal diameter of pony, and socket on center shaft, is gone up and down on bottom plate
It is additionally provided with electronic tie rod, electronic tie rod movable end is vertically arranged with axle sleeve, is socketed with silk by screw thread on the axle sleeve
Bar, screw rod end have the hole of perforation periphery；
Security protection unit is gone on patrol, including the industry camera with fore-body is arranged, is coated with outside the industry camera transparent
Shield；
Route unit, belt wheel and crawler belt including fuselage two sides are arranged in are provided with power motor control belt wheel on fuselage
Crawler belt is driven, drives integral device mobile；
Main control unit, the control chip including connecting remaining element, for controlling each device action and reception in remaining element
Remaining element inner sensor feedback data further includes antenna for receiving signal and sending data；
Battery is provided in fuselage to be powered to each unit, described electronic to push away column and electronic tie rod is electric hydaulic liter
Equipment drops.
Further improvement of the present invention, the fore-body are provided with preposition bumping post；After being provided on rear side of fuselage
Set buffer stopper.
Further improvement of the present invention, the back body two sides are symmetrically arranged with status lamp, the status lamp connection master
Control unit.
Solar panel is arranged in further improvement of the present invention, the fuselage roof, and solar panel is electrically connected
Battery can charge to battery.
Further improvement of the present invention, the fire extinguisher support plate are connect with central axis by pin key structure.
Further improvement of the present invention is provided with scram button on the fuselage, presses the i.e. cut-off battery of scram button
Power supply outward.
Further improvement of the present invention, the main control unit control chip using STM32, and control different function is integrated.
A kind of indoor fire patrol robot application method of crawler type, includes the following steps:
A, fire extinguisher is put into pony fixed column, fire extinguisher bottom is placed in fire extinguisher support plate；
B, rotary screw rod adjusts its end height, and fire extinguisher handle is fixedly connected with screw rod end；
C, robot battery, robot system initialization are connected；
D, for sensor passes data to chip is controlled, sensing data and industry camera shoot video data in sensor unit
It is transferred to user's controller screen；
E, user's remote-controlled robot moves, if according to video data and sensing data discovery fire source and abnormal conditions, controllably
Electronic tie rod processed moves up and down, and pulling fire extinguisher handle and opening fire extinguisher makes its injection；Remote-controlled motor drives center simultaneously
Axis rotation, and then the rotation of fire extinguisher support plate is driven, it swing fire extinguisher can in a small range, expand fire extinguishing range.
A kind of indoor fire patrol robot of crawler type of the application, the technical effect realized are as follows:
(1) Security Personnel can be replaced to go on patrol, eliminates fire hazard, the generation of fire preventing, and replace to a certain extent
Fireman puts out a fire；
(2) it is combined using multiple groups sensor suitable for realizing the automatic inspection to fire hazard by the way of indoor fire-extinguishing apparatus
Survey the generation with prevention to avoid major accident；
(3) have small in size, the advantages that activity is flexibly, at low cost, and maintenance is simple, energy conservation and environmental protection, and intelligent high and controllability is strong,
It can be applied to the places such as indoor building；
(4) it can be gone on patrol in place, and real time video data is remotely passed into user and is watched, by fire-fighting function
It can and go on patrol function to combine, meet intelligent concept, raising efficiency saves human resources.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention one；
Fig. 2 is schematic structural view of the invention two；
Fig. 3 is schematic structural view of the invention three；
Fig. 4 is present system frame diagram；
Fig. 5 is present system flow diagram；
Detailed description of the invention:
1, preposition bumping post；2, flame sensor；3, smoke sensor device；4, sensor wrap；5, scram button；6, pony
Fixed column；7, fire extinguisher support plate；8, bearing；9, main control unit；10, antenna；11, transparent shield；12, temperature sensor；
13, infrared sensor；14, crawler belt；15, industry camera；16, electronic tie rod；17, axle sleeve；18, screw rod；19, battery；20, band
Wheel；21, status lamp；22, fuselage；23, servo motor；24, central axis；25, bottom plate is gone up and down；26, electronic to push away column；27, side plate；
28, back buffer block；29, power motor.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The indoor fire patrol robot of 14 formula of a kind of crawler belt as shown in Figure 1,2 and 3, including including the machine that there is crawler belt 14 to take turns
Body 22,22 front of fuselage are provided with preposition bumping post 1；Back buffer block 28 is provided on rear side of fuselage 22.
Sensor detection unit and patrol security protection unit are provided on front side of fuselage 22, sensor detection unit includes flame
Sensor 2, smoke sensor device 3, temperature sensor 12 and infrared sensor 13, sensor external are provided with sensor wrap 4 and are used for
Protection, each sensor probe are partially toward 22 front of fuselage.Security protection unit is gone on patrol, including the industry with 22 front of fuselage is arranged
Camera 15 is coated with transparent shield 11 outside industry camera 15.
Fire-fighting and rescue unit, including pony fixed column 6 and fire extinguisher support plate 7 are provided at the top of fuselage 22, it is small
Type fire extinguisher fixed column 6 is the cylinder-like structure of upper and lower opening, and side wall has opening, and fire extinguisher can be put into pony and fix
In column 6, pony bottom is provided with lifting bottom plate 25, and lifting bottom plate 25 is slab construction comprising outer diameter goes out with small-sized
The identical plectane of 6 internal diameter of firearm fixed column and slab construction by 6 sidewall opening extended spot of pony fixed column, lifting
The electronic column 26 that pushes away is provided with below bottom plate 25 drives it to move up and down, and lifting bottom plate 25 is provided centrally with central axis 24, central axis
24 drive rotation by servo motor 23, go up and down and are provided with fire extinguisher support plate 7 on bottom plate 25, and fire extinguisher support plate 7 is outer diameter
Circular plate structure identical with 6 internal diameter of pony fixed column, is socketed on central axis 24, fire extinguisher support plate 7 and central axis
24 are connected by pin key structure.It is additionally provided with electronic tie rod 16 on lifting bottom plate 25,16 movable end of electronic tie rod is set vertically
It is equipped with axle sleeve 17, screw rod 18 is socketed with by screw thread on axle sleeve 17,18 end of screw rod has the hole of perforation periphery.It is electronic to push away column
26 and electronic tie rod 16 be electro-hydraulic lift equipment.
Route unit is provided on fuselage 22, belt wheel 20 and crawler belt 14 including 22 two sides of fuselage are arranged in, fuselage
It is provided with power motor 29 on 22 and controls the drive crawler belt 14 of belt wheel 20, drives integral device mobile.As shown in figure 4, in fuselage 22
Be additionally provided with main control unit 9, the control chip including connecting remaining element, for control in remaining element each device action and
Remaining element inner sensor feedback data is received, further includes antenna 10 for receiving signal and sending data.Setting in fuselage 22
There is battery 19 that can be powered to each unit.Battery 19 includes being arranged at the top of fuselage 22 that 19 plate of solar battery is arranged, too
Positive energy 19 plate of battery is electrically connected battery 19, can charge to battery 19.22 rear end sides of fuselage are symmetrically arranged with status lamp 21, shape
State lamp 21 connects main control unit 9.It is provided with scram button 5 on fuselage 22, presses the i.e. cut-off battery 19 of scram button 5 and supplies outward
Electricity.
The above-mentioned indoor fire patrol robot application method of 14 formula of crawler belt, process frame that can simply as shown in Figure 5
Figure indicates, includes the following steps:
A, fire extinguisher is put into pony fixed column 6, fire extinguisher bottom is placed in fire extinguisher support plate 7；
B, rotary screw rod 18 adjusts its end height, and fire extinguisher handle is fixedly connected with 18 end of screw rod, usable when connection
Wire or band wind fire extinguisher handle after the through-hole of lead screw end；
C, robot battery 19, robot system initialization are connected；
D, for sensor passes data to chip is controlled, sensing data and industry camera 15 shoot video counts in sensor unit
According to being transferred to user's controller screen；
E, user's remote-controlled robot moves, if according to video data and sensing data discovery fire source and abnormal conditions, controllably
Electronic tie rod 16 processed moves up and down, and pulling fire extinguisher handle and opening fire extinguisher makes its injection；During remote-controlled motor drives simultaneously
Mandrel 24 rotates, and then fire extinguisher support plate 7 is driven to rotate, and swing fire extinguisher can in a small range, expands fire extinguishing range；If
It is without exception, then it controls robot and carries out patrol work, real-time Transmission site environment data in region.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (8)
1. a kind of indoor fire patrol robot of crawler type, including the fuselage with Athey wheel, which is characterized in that further include
Sensor detection unit is set on front side of fuselage, includes flame sensor, smoke sensor device, temperature sensor and red
Outer sensor, sensor external are provided with sensor wrap for protecting, and each sensor probe is partially toward in front of fuselage；
Fire-fighting and rescue unit, including pony fixed column and fire extinguisher support plate, the pony fixed column are upper
The cylinder-like structure of under shed, side wall have opening, and fire extinguisher can be put into pony fixed column, pony bottom
It is provided with lifting bottom plate, lifting bottom plate is slab construction comprising outer diameter plectane identical with the fixed column internal diameter of pony
And the slab construction by pony fixed column sidewall opening extended spot, lifting bottom plate lower section are provided with the electronic column that pushes away and drive
It is moved up and down, and the lifting bottom plate is provided centrally with central axis, is gone up and down and is provided with fire extinguisher support plate, the fire extinguishing on bottom plate
Device support plate is outer diameter Circular plate structure identical with the fixed column internal diameter of pony, and socket on center shaft, is gone up and down on bottom plate
It is additionally provided with electronic tie rod, electronic tie rod movable end is vertically arranged with axle sleeve, is socketed with silk by screw thread on the axle sleeve
Bar, screw rod end have the hole of perforation periphery；
Security protection unit is gone on patrol, including the industry camera with fore-body is arranged, is coated with outside the industry camera transparent
Shield；
Route unit, belt wheel and crawler belt including fuselage two sides are arranged in are provided with power motor control belt wheel on fuselage
Crawler belt is driven, drives integral device mobile；
Main control unit, the control chip including connecting remaining element, for controlling each device action and reception in remaining element
Remaining element inner sensor feedback data further includes antenna for receiving signal and sending data；
Battery is provided in fuselage to be powered to each unit, described electronic to push away column and electronic tie rod is electric hydaulic liter
Equipment drops.
2. the indoor fire patrol robot of a kind of crawler type according to claim 1, it is characterised in that: described
Fore-body is provided with preposition bumping post；Back buffer block is provided on rear side of fuselage.
3. the indoor fire patrol robot of a kind of crawler type according to claim 1, it is characterised in that: the fuselage
Rear end sides are symmetrically arranged with status lamp, and the status lamp connects main control unit.
4. the indoor fire patrol robot of a kind of crawler type according to claim 1, it is characterised in that: the fuselage
Solar panel is arranged in top, and solar panel is electrically connected battery, can charge to battery.
5. the indoor fire patrol robot of a kind of crawler type according to claim 1 to 4, it is characterised in that: institute
It states fire extinguisher support plate and is connect with central axis by pin key structure.
6. the indoor fire patrol robot of a kind of crawler type according to claim 5, it is characterised in that: the fuselage
On be provided with scram button, press the i.e. cut-off battery of scram button and power outward.
7. the indoor fire patrol robot of a kind of crawler type according to claim 6, it is characterised in that: the master control
Unit controls chip using STM32, and control different function is integrated.
8. a kind of indoor fire patrol robot application method of crawler type, which comprises the steps of:
A, fire extinguisher is put into pony fixed column, fire extinguisher bottom is placed in fire extinguisher support plate；
B, rotary screw rod adjusts its end height, and fire extinguisher handle is fixedly connected with screw rod end；
C, robot battery, robot system initialization are connected；
D, for sensor passes data to chip is controlled, sensing data and industry camera shoot video data in sensor unit
It is transferred to user's controller screen；
E, user's remote-controlled robot moves, if according to video data and sensing data discovery fire source and abnormal conditions, controllably
Electronic tie rod processed moves up and down, and pulling fire extinguisher handle and opening fire extinguisher makes its injection；Remote-controlled motor drives center simultaneously
Axis rotation, and then the rotation of fire extinguisher support plate is driven, it swing fire extinguisher can in a small range, expand fire extinguishing range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525072.0A CN110124231A (en) | 2019-06-18 | 2019-06-18 | A kind of indoor fire patrol robot of crawler type and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525072.0A CN110124231A (en) | 2019-06-18 | 2019-06-18 | A kind of indoor fire patrol robot of crawler type and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110124231A true CN110124231A (en) | 2019-08-16 |
Family
ID=67577581
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910525072.0A Pending CN110124231A (en) | 2019-06-18 | 2019-06-18 | A kind of indoor fire patrol robot of crawler type and application method |
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| CN106512270A (en) * | 2016-12-29 | 2017-03-22 | 广东寰易消防科技有限公司 | Crawler type multipurpose fire-fighting robot |
| CN106843240A (en) * | 2017-04-18 | 2017-06-13 | 哈尔滨理工大学 | System is coordinated by fire prevention robot and multimachine based on intelligent video |
| CN108379762A (en) * | 2018-03-30 | 2018-08-10 | 梁慧薇 | A kind of multifunctional fire-fighting firefighting robot |
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| CN109045524A (en) * | 2018-10-16 | 2018-12-21 | 深圳市前越机器人自动化有限公司 | A kind of Intelligent fire-fighting robot and intelligent fire extinguishing system |
| CN109045531A (en) * | 2018-07-27 | 2018-12-21 | 华南理工大学 | A kind of warehouse line walking fire behavior crusing robot based on machine vision module |
| CN109276832A (en) * | 2018-07-27 | 2019-01-29 | 华南理工大学 | A kind of fire prevention robot |
| CN210131279U (en) * | 2019-06-18 | 2020-03-10 | 金陵科技学院 | Crawler-type indoor fire-fighting patrol robot |
-
2019
- 2019-06-18 CN CN201910525072.0A patent/CN110124231A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003250922A (en) * | 2002-03-03 | 2003-09-09 | Tmsuk Co Ltd | Fire-fighting robot |
| CN105963884A (en) * | 2016-06-28 | 2016-09-28 | 安徽扫宝智能科技有限公司 | Novel full-automatic firefighting integrated machine |
| CN106139475A (en) * | 2016-08-05 | 2016-11-23 | 微普安全科技（徐州）股份有限公司 | A kind of novel intelligent firefighting robot of wireless remote monitering |
| CN106512270A (en) * | 2016-12-29 | 2017-03-22 | 广东寰易消防科技有限公司 | Crawler type multipurpose fire-fighting robot |
| CN208036463U (en) * | 2017-01-20 | 2018-11-02 | 山东西部智能科技有限公司 | Tactics defend safety protection robot |
| CN106843240A (en) * | 2017-04-18 | 2017-06-13 | 哈尔滨理工大学 | System is coordinated by fire prevention robot and multimachine based on intelligent video |
| CN108379762A (en) * | 2018-03-30 | 2018-08-10 | 梁慧薇 | A kind of multifunctional fire-fighting firefighting robot |
| CN109045531A (en) * | 2018-07-27 | 2018-12-21 | 华南理工大学 | A kind of warehouse line walking fire behavior crusing robot based on machine vision module |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190816 |
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| RJ01 | Rejection of invention patent application after publication |