CN110139433A - It illuminates fire-fighting robot drop volume and controls lighting device - Google Patents
It illuminates fire-fighting robot drop volume and controls lighting device Download PDFInfo
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- CN110139433A CN110139433A CN201910421586.1A CN201910421586A CN110139433A CN 110139433 A CN110139433 A CN 110139433A CN 201910421586 A CN201910421586 A CN 201910421586A CN 110139433 A CN110139433 A CN 110139433A
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- led light
- lighting device
- temperature
- light group
- drop volume
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
- H05B45/10—Controlling the intensity of the light
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Non-Portable Lighting Devices Or Systems Thereof (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The present invention discloses a kind of illumination fire-fighting robot drop volume control lighting device.Lighting device provided by the invention, drop volume control can be carried out to LED light group according to the real time temperature of LED light group, LED light group visually hardly feels the variation of illuminance in drop volume use process, not only it had solved the problems, such as LED light group high temperature failure, but also can be realized lasting illumination.Drop volume provided by the invention control lighting device is applied to extinguishment fire suppression robot, it can make to illuminate extinguishment fire suppression robot with large area long lasting for illumination functions, to realize the purpose of efficient remote manipulation fire-fighting robot in the case that night or other environment are not visible, the application range of fire-fighting robot has greatly been widened.
Description
Technical field
The present invention relates to fire-fighting domains, control lighting device more particularly to a kind of illumination fire-fighting robot drop volume.
Background technique
With the high speed development of China's science and technology, robot is fully used in each field.In fire protection sector,
Fire-fighting robot is mainly used for fire-fighting fire extinguishing, smoke evacuation, and dangerous situations, the control modes such as scouting, rescue are mostly that manual remote control disappears
Anti- robot.Although the fire-fighting robot of these types can effectively dispose disaster field in various dangerous situations,
It is in the case where night or other not visible environment, people can not carry out efficient remote manipulation to robot, can not monitor
Disaster field situation needs powerful lighting device to provide safeguard for field rescue.But it still not can satisfy at present
The lighting device that can be used for extinguishment fire suppression robot of national standard, significantly limit extinguishment fire suppression robot applies model
It encloses.
Summary of the invention
The object of the present invention is to provide a kind of drop volume control lighting device and a kind of illumination extinguishment fire suppression robot, illumination dresses
The LED light group set visually hardly feels the variation of illuminance, has both solved LED light group high temperature in drop volume use process
The problem of failure, and can be realized lasting illumination.Illumination extinguishment fire suppression robot provided by the invention is provided with the control of drop volume and shines
Bright device can make fire-fighting robot have large area long lasting for illumination functions, to realize night or other environment
The purpose of efficient remote manipulation fire-fighting robot in the case where not visible, moreover, lighting device illumination provided by the invention meets
It is required that while its power it is small, can satisfy robot body to load power supply body portion volume requirement, greatly widen
The application range of fire-fighting robot.
To achieve the above object, the present invention provides following schemes:
A kind of control method of lighting device, the control method are used to control the power of lighting device, the illumination dress
It sets including LED light group, the control method includes:
Obtain the real time temperature of LED light group；
Judge whether the real time temperature is more than or equal to the first temperature threshold, obtains the first judging result；
When the first judging result indicates that the real time temperature is more than or equal to the first temperature threshold, the LED is controlled
The power of lamp group reduces the first drop volume amount；
When the first judging result indicates the real time temperature less than the first temperature threshold, whether the real time temperature is judged
More than or equal to second temperature threshold value, the second judging result is obtained；
When second judging result indicates that the real time temperature is more than or equal to second temperature threshold value, described in control
The power of LED light group reduces the second drop volume amount, wherein the second drop volume amount is less than the first drop volume amount.
Optionally, after power reduction the second drop volume amount of the control LED light group, further includes:
Judge whether the temperature rise of LED light group is less than temperature rise threshold value according to the real time temperature of multiple sampling instants, obtains
Third judging result；
When the third judging result indicates the temperature rise of LED light group less than temperature rise threshold value, the function of the LED light group is controlled
Rate maintains current power.
Optionally, first temperature threshold is 95 DEG C, and the second temperature threshold value is 90 DEG C, and the first drop volume amount is
The 25% of current power, the second drop volume amount is the 10% of current power.
A kind of control system of lighting device, the lighting device include LED light group, and the control system includes:
Data acquisition module, for obtaining the real time temperature of LED light group；
First judgment module obtains for judging whether the real time temperature is more than or equal to the first temperature threshold
One judging result；
First drop volume module, for indicating that the real time temperature is more than or equal to the first temperature threshold when the first judging result
When value, the power for controlling the LED light group reduces the first drop volume amount；
Second judgment module, for sentencing when the first judging result indicates the real time temperature less than the first temperature threshold
Whether the real time temperature that breaks is more than or equal to second temperature threshold value, obtains the second judging result；
Second drop volume module, for indicating that the real time temperature is more than or equal to the second temperature when second judging result
When spending threshold value, the power for controlling the LED light group reduces the second drop volume amount.
A kind of lighting device, the lighting device include: lifting device, light fixture and tilt-top, wherein
The tilt-top is arranged on the lifting device, and the light fixture is arranged on the tilt-top；Institute
Stating light fixture includes multiple LED light groups, and each LED light group includes multiple LED lamps, corresponding each LED lamp setting
There is a reflector.
Optionally, the light fixture includes 6 LED light groups, and each LED light group includes 72 LED lamps, each LED
The power of wick is 3W.
Optionally, the lighting device further includes temperature sensor, constant-current source and PLC controller, the temperature sensor
For detecting the real time temperature of the LED light group, the temperature sensor and the constant-current source connect with the PLC controller
It connects, the PLC controller is used to control the power of the constant-current source according to the control method, to control the LED light group
Power.
Optionally, the reflector is rectangular cone-shaped reflector, the first opening portion of the rectangular cone-shaped reflector
Greater than the second opening portion of the rectangular cone-shaped reflector, the LED lamp is arranged in second opening portion.
Optionally, the left side and right side of the rectangular cone-shaped reflector and the angle of the first opening facial planes are
50 °, the upper reflective surface of the rectangular cone-shaped reflector and first opening facial planes angle be 45 °, the rectangular cone-shaped
The angle of the lower reflective surface of reflector and the first opening facial planes is 65 °, and the first opening facial planes is first opening
Plane where portion.
A kind of illumination extinguishment fire suppression robot, the fire-fighting robot include: robot body, fire monitor and the photograph
Bright device, the fire monitor and the lighting device are arranged on the robot body.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Lighting device provided by the invention can carry out drop volume control to LED light group according to the real time temperature of LED light group,
LED light group visually hardly feels the variation of illuminance, has both solved LED light group high temperature failure in drop volume use process
The problem of, and can be realized lasting illumination.Drop volume provided by the invention control lighting device is applied to extinguishment fire suppression robot,
Fire-fighting robot can be made to have large area long lasting for illumination functions, to realize that night or other environment are not visible
In the case of efficient remote manipulation fire-fighting robot purpose, greatly widened the application range of fire-fighting robot.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of the control method of lighting device provided in an embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of the control system of lighting device provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of lighting device provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of pneumatic extension elevating lever provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of electric telescopic elevating lever provided in an embodiment of the present invention；
Fig. 6 is the lifting schematic diagram of electric telescopic elevating lever provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of illumination extinguishment fire suppression robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide illumination fire-fighting robot drop volumes to control lighting device, and the LED light group of lighting device exists
In drop volume use process, the variation of illuminance is visually hardly felt, has not only solved the problems, such as LED light group high temperature failure, but also
It can be realized lasting illumination.Illumination extinguishment fire suppression robot provided by the invention is provided with drop volume control lighting device, can make
Fire-fighting robot has large area long lasting for illumination functions, thus in the case where realizing that night or other environment are not visible
Efficient remote manipulates the purpose of fire-fighting robot, moreover, its function while lighting device illumination provided by the invention is met the requirements
Rate is small, can satisfy requirement of the robot body to power supply body portion volume is loaded, has greatly widened answering for fire-fighting robot
Use range.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is a kind of flow chart of the control method of lighting device provided in an embodiment of the present invention.As shown in Figure 1, a kind of
The control method of lighting device, the control method are used to control the power of lighting device, and the lighting device includes LED light
Group, the control method include:
Step 11: obtaining the real time temperature of LED light group.
Step 12: judging whether the real time temperature is more than or equal to the first temperature threshold, obtain the first judging result.
When the first judging result indicates that the real time temperature is more than or equal to the first temperature threshold, step 13 is executed.
When the first judging result indicates the real time temperature less than the first temperature threshold, step 14 is executed.Described first
The range of temperature threshold is 93 DEG C~97 DEG C, it is preferable that first temperature threshold is 95 DEG C.
Step 13: the power for controlling the LED light group reduces the first drop volume amount.In the present embodiment, first drop
Volume amount is the 25% of current power.
Step 14: judging whether the real time temperature is more than or equal to second temperature threshold value, obtain the second judging result.
When second judging result indicates that the real time temperature is more than or equal to second temperature threshold value, step is executed
15.The range of the second temperature threshold value is 88 DEG C~92 DEG C, it is preferable that the second temperature threshold value is 90 DEG C.
Step 15: the power for controlling the LED light group reduces the second drop volume amount.The second drop volume amount is less than described
First drop volume amount, in the present embodiment, the second drop volume amount is the 10% of current power.
Preferably, step 15 is executed: after power reduction the second drop volume amount for controlling the LED light group, further includes:
Judge whether the temperature rise of LED light group is less than temperature rise threshold value according to the real time temperature of multiple sampling instants, obtains
Third judging result.The temperature rise threshold range is 0.1 DEG C/h~0.5 DEG C/h, it is preferable that the temperature rise threshold value is
0.3 DEG C/h.
When the third judging result indicates the temperature rise of LED light group less than temperature rise threshold value, the function of the LED light group is controlled
Rate maintains current power.
Fig. 2 is a kind of structural block diagram of the control system of lighting device provided in an embodiment of the present invention.As shown in Fig. 2, one
The control system of kind lighting device, the lighting device includes LED light group, and the control system includes:
Data acquisition module 21, for obtaining the real time temperature of LED light group；
First judgment module 22 is obtained for judging whether the real time temperature is more than or equal to the first temperature threshold
First judging result；
First drop volume module 23, for indicating that the real time temperature is more than or equal to the first temperature when the first judging result
When threshold value, the power for controlling the LED light group reduces the first drop volume amount；
Second judgment module 24 is used for when the first judging result indicates the real time temperature less than the first temperature threshold,
Judge whether the real time temperature is more than or equal to second temperature threshold value, obtains the second judging result；
Second drop volume module 25, for indicating that the real time temperature is more than or equal to second when second judging result
When temperature threshold, the power for controlling the LED light group reduces the second drop volume amount.
Fig. 3 is a kind of structural schematic diagram of lighting device provided in an embodiment of the present invention.As shown in figure 3, a kind of illumination dress
It sets, the lighting device includes: lifting device 500, light fixture and tilt-top.
The tilt-top is arranged on the lifting device 500, and the light fixture is arranged on the tilt-top.
The light fixture includes multiple LED light groups, and each LED light group includes multiple LED lamps, and corresponding each LED lamp is set
It is equipped with a reflector.
In the present embodiment, the light fixture includes 6 LED light groups, shell 501, lampshade 502, LED lamp 503, reflective
Bowl 504, can the constant-current source 505 that uses of the volume of dropping.Each LED light group is connect with constant-current source 505.Each LED light group includes 72
The power of LED lamp 503, each LED lamp 503 is 3W, and wick is having a size of 3 × 3 × 2mm.The reflector 504 can be spherical shape
Reflector, conical reflector, column type reflector or rectangular cone-shaped reflector.
Tilt-top include mounting plate 506, shell 507, left electric machine assembly 508, right electric machine assembly 509, output shaft 510,
Wiring board 511 and installation set 512.Tilt-top is connect by installation set 512 with lifting device 500.
The wherein king light end of the left electric machine assembly 508, right electric machine assembly 509, constant-current source 505 and specific PLC controller
Mouth electrical connection belongs to the controllable Omnibearing illuminating lamp of split-phase, it can be achieved that king light open and close and left and right rotation or synchronous rotary respectively
Tool.Flexibly due to fire-fighting robot rotation, can pirouette, therefore lighting device provided by the invention is only provided with flexion-extension holder,
It can be effectively reduced shipping height, mitigate weight installation weight.
For high-power LED lamp, the temperature characterisitic of LED lamp is to start light decay when being greater than 100 DEG C to exhaust, and temperature is higher
Failure is more serious, and this failure be it is irreversible, the permanent damage of LED lamp can be accelerated.In order to overcome the above problem,
Generalling use technical solution currently on the market is: being more than that set temperature cuts off output loop when work, lamps and lanterns stop working, to temperature
It after degree lowers, restores electricity again, this mode has structure simple, and the advantages such as easy to accomplish, critical defect is to use
Scene can not continue to illuminate, and especially even more not allow such case to occur at fire-fighting and rescue scene.In order to overcome the prior art
Middle high-power LED lamp use site can not continue the problem of illuminating, and the lighting device provided in this embodiment further includes temperature
Sensor and PLC controller are spent, the temperature sensor is used to detect the real time temperature of the LED light group, the temperature sensing
Device and the constant-current source are connect with the PLC controller, and the PLC controller is used to control institute according to the control method
The power of constant-current source is stated, the power of the LED light group is finally controlled, to realize the purpose for carrying out drop volume control to LED light group.
The present invention using can the constant-current source that uses of the volume of dropping, temperature switch is improved to temperature sensor, real-time sampling LED light
The temperature of group, when temperature reaches 90 DEG C, PLC controller exports a control signal to the driving electricity of VMOS pipe in constant-current source
Road, driving circuit generate the drive pulse signal of corresponding pulsewidth, and VMOS pipe turn-on time becomes smaller under signal control.Pass through phase
Calculating, the test answered, the determining LED light group power at 90 DEG C, which enters under 10% state of drop volume, to work, if temperature continues to increase
Power deratng 25% when to 95 DEG C, with the exponential decline of reduction calorific value of lamp group power, when lamp group calorific value and heat dissipation
Its temperature will no longer rise when amount reaches thermal balance, and LED light group will remain under current power and work.Test proves, in LED light
During group drop volume use, human eye hardly feels the variation of illuminance, that is, solves asking for LED light group high temperature failure
Topic, and be able to achieve and illuminate the purpose that live large area persistently uses.
The reflector 504 is rectangular cone-shaped reflector, and the first opening portion of the rectangular cone-shaped reflector is greater than
Second opening portion of the rectangular cone-shaped reflector.In the present embodiment, the first opening portion size are as follows: 21 × 13mm, second opens
Finish dimensional is 4 × 4mm, total height 12mm.The LED lamp is arranged in the second opening portion of 4 × 4mm.For the ease of adding
Work molding, the present embodiment correspond to each LED light group and 8 reflector groups are arranged, and the size of reflector group is 68 × 68mm, each anti-
Light bowl group includes 9 reflectors 504, and corresponding each LED lamp 503 is provided with a reflector 504.In order to increase light
Lateral irradiating angle, the horizontal spacing of adjacent reflector are set as 1.5mm, and the longitudinal pitch of adjacent reflector is 10mm.
The left side and right side of the rectangular cone-shaped reflector and the angle of the first opening facial planes are 50 °, institute
The angle of the upper reflective surface and the first opening facial planes of stating rectangular cone-shaped reflector is 45 °, can reduce light and shine to overhead
It penetrates.The lower reflective surface of the rectangular cone-shaped reflector and first opening facial planes angle be 65 °, can increase ground by
Light quantity, the first opening facial planes are the plane where first opening portion.
Meanwhile it being based on this particular application of extinguishment fire suppression robot, select high polymer plastics PC as reflector
Material, heat distortion temperature point are higher than 120 DEG C, have the advantages that light-weight, easily molded, size is accurate, while can also be to reflective surface
It can be carried out mirror surface treatment.
Reflector provided by the invention, heat distortion temperature point are 134 DEG C, and material is through plastic mould convenient formation, size
Precision is high.After reflector after molding is carried out electrochemical polishing treatment, reflective surface is flat and smooth, and finish reaches 3.2Ra, so
Finish reaches 0.8Ra after electrochemistry electro-coppering, electrodeposited chromium afterwards, has mirror effect, is greater than 98% through real side reflecting rate.By
It is placed below reflector cone among the square hole of 4 × 4mm in LED lamp, scattering light has 95% or more to shine in 12mm height
It is mapped on reflective surface, the scattering light that LED lamp issues is reflected into many Shu Guangzhu, the angle of reflector is arranged so that light beam is mutual
It is superimposed, it ensure that and be greater than 5lux (illumination photometer horizontal checkout) away from the illumination within the scope of light source center 50m, ± 35 °.
In practical application, the lifting device 500 can be electric telescopic elevating lever or pneumatic extension elevating lever, in order to
The application requirement of illumination extinguishment fire suppression robot can be met, the present invention selects high-strength material, stretched mold forming
Means, mitigate 1/3 than traditional Universal lifting bar gross mass, tensile strength improves 20%, is more suitable for fire-fighting machine
It is used in the special equipments such as people.
Fig. 4 is the structural schematic diagram of pneumatic extension elevating lever provided in an embodiment of the present invention.As shown in figure 4, pneumatically stretching
Contracting formula elevating lever includes: lower flange 301, pedestal 302, gas nozzle 303, O-ring seal component 304, Oil sealing assembly 305, piston bush
Component 306, circle cylinder component 307, connector sleeve component 308, nylon pad assembly 309, rubber vivroinsulator component 310, spring wire 311,
Thread bolt 312, sealing ring 313, upper joint sleeve 314, installation set 315, safety valve 316, duplex air pump 317, relief valve 318,
Pressure regulator valve 319, pressure switch 320, intake valve 321, vent valve 322, three-way component 323 and limit hoop component 324, above-mentioned group
System is slided in the sealing that part forms complete set, and (24 hours elevating levers of its pressure maintaining ability decline < 3cm) above-mentioned all components are
By specification difference, structure it is identical individual composition, can according to require height carry out more piece combination.The present embodiment is five nodules
Structure, up to eight sections.
It is as follows that it goes up and down principle: when compressed air by gas nozzle 303 enter elevating lever space and full of when, oil sealing group first
Part 305 is leaked out by compression swelling isolation air, when gas pressure is greater than most upper pitch circle cylinder component 307 and lamps and lanterns weight,
Most upper section piston bush component 306 drives circle cylinder component 307, limit hoop component 324 and connector sleeve component 314 to begin to ramp up,
When rising to limit hoop component 324 top to upper end connector sleeve component 314, a most upper section, which rises, completes, and limits hoop component
324 with circle cylinder component 307 lower end distance be exactly each section elevating lever guiding length (generally 250~300mm), wherein limiting
After the completion of a most upper section rises when the position top of hoop component 324 is to upper end connector sleeve component 314, below respectively section and so on to all
Circle cylinder component 307 rises completely, reaches design height.
Wherein, limit hoop component 324 is connected through a screw thread with circle cylinder component 307 in specified position, determines every section liter
Stability-wind loading rating of the guiding length, that is, elevating lever of bar in complete rise drops.
Meanwhile safety valve 316 is the second safety precautions of entire lifting device, main function is: working as lifting
Bar internal air pressure > automatically turns on safety-valve when setting pressure (0.25Mpa), and pressure in release lever is prevented because of bar internal pressure
The excessively high danger for causing jumper bar of power, in addition when system, control circuit, which goes wrong, to be operated, to guarantee that elevating lever can be suitable
Benefit is recovered to enforcement state, can Manual press safety valve 316 make its deflation,
In order to overcome universal pneumatic extension elevating lever since configurable joint number is less (general 5~6 section), difference in height compared with
Small, the defects of shipping height is higher, the present invention can make material with higher intensity using 6061T6 aluminum alloy materials
Select relatively thin, mitigation overall weight.Totally 7 sections integrally increase > 7m to the design shipping height 1.6m of the present embodiment, to ensure that
Meet requirement of the national standard to illuminance of lamp, and reduce the center of gravity of robot, so that walking is safer.To improve elevating lever
Safety coefficient, the present embodiment not only selected from dry duplex air pump 317, and be mounted with pressure regulator valve 319, relief valve 318,
Safety valve 316 has carried out multiple protective to air supply system, has practicability, advance and creativeness.
Fig. 5 is the structural schematic diagram of electric telescopic elevating lever provided in an embodiment of the present invention.As shown in figure 5, electronic stretch
Contracting formula elevating lever includes: pedestal 401, direct current generator 402, speed changer 403, winding roll 404, wirerope 405, fixing seat 406, guiding
Wheel the 407, first lifting square steel 408, travel switch 409, hoop component 410, pulley 411, piston component 412, the second lifting side
Steel 412, positioning sleeve component 414, third go up and down square steel 415, installation part 416.Wherein, 101 lower section of pedestal 401 and robot cabinet
Be connected through a screw thread and connect respectively with speed changer 403, winding roll 404, fixing seat 406, one end of the speed changer 403 with
By the motor axis connection of square key and direct current generator 402, the other end is connect by square key with winding roll 404, the wirerope 405 1
End is wrapped on winding roll and is fixed, the other end passes through the upper pulley of top hoop component 410 by directive wheel 407
411 and the pulley blocks in piston component 412,410 another party of hole and hoop component for opening above the first lifting square steel tube 408
Binding is fixed, and the directive wheel 407 is welded on the first lifting square steel tube 408, and the first lifting square steel tube 408 passes through bolt
It is connect respectively with hoop component 410, positioning sleeve component 414, the travel switch 409 has two groups up and down, is consolidated respectively by bolt
It is scheduled on the upper and lower of the first lifting square steel 408, for determining the stroke of each section lifting square steel tube, the second lifting square steel tube
413, third lifting square steel tube 415 connect with the piston component of different size 412, hoop component 410, positioning sleeve component 414,
Its connection type is identical as the first lifting square steel tube 408, and the connection type of wirerope is identical as first segment, constitutes independently
The more pieces such as the second section, third section, to meet requirement for height, the installation part 416 goes up and down square steel with top layer by bolt and connect, and
It is threadedly coupled with the installation set 512 pitched in holder.
Preferably, the hoop component 410, piston component 412, positioning sleeve component 414 are that structure is identical and different size
Component, according to different adjustable heights use corresponding quantity.
Fig. 6 is the lifting schematic diagram of electric telescopic elevating lever provided in an embodiment of the present invention.As Fig. 6 (a) partially and
(b) shown in part, 405 one end of wirerope is fixed after two circles on winding roll, the pulley on directive wheel 407, hoop component
411, the first pulley blocks of the lifting square steel tube 408 on the hole that pulley corresponding position is opened, piston component 412, by the first lifting side
408 other end of steel pipe is pierced by, and is fixed on the other end of hoop component 410, and piston component 412 is put into the first lifting side when threading
The bottom of steel pipe 408, (being to rise the height space stayed when winding in winding roll to wirerope in this way), other each sections
Structure it is identical.Respectively opening a square hole in the adjacent side that the first lifting about 408 suitable position of square steel tube wears wirerope, (this position is true
Determine the stroke of every pole), travel switch pulley alignment square hole is fixed, when starting " liter " key, direct current generator 402 is rotated forward
Wirerope 405 is set to start to wind at 404 liters of winding roll by winding roll 404, since the effect of wirerope is so that piston component 412, is opened
Begin to rise, corresponding second section, third section rise simultaneously, and the pulley when rising to setting height on upper stroke switch 409 touches
It contacts that piston component, long closed contact disconnect, has cut off the current supply circuit of direct current generator 402, uphill process terminates.Motor when decline
Reversion starts to put wirerope 405, under the effect of lamps and lanterns weight, begins to decline, and when reaching bottom, travel switch effect disconnects motor
Power supply, decline are completed.
Electric telescopic elevating lever has the characteristics that structure is simple, safe and reliable, and the present invention is hoop component, piston group
Part, positioning sleeve component each specification part by die sinking processing, improve the consistency and reliability of product.
As it can be seen that lighting device provided by the invention is fully able to meet national standard GB26755-2011 " firefighting movable illumination dress
Set " requirement: light source height > 6m irradiates perpendicular to the ground, is horizontally arranged testing light source away from light source 50m ± 35 ° section, illumination photometer
Illumination > 5lux.
The present invention also provides a kind of illumination extinguishment fire suppression robots, comprising: robot body, fire monitor and the photograph
Bright device, the fire monitor and the lighting device are arranged on the robot body.
Fig. 7 is the structural schematic diagram of illumination extinguishment fire suppression robot provided in an embodiment of the present invention.As shown in fig. 7, described
Robot body is caterpillar type robot, and fire monitor 119 is provided on the robot body.
In specific implementation, illumination extinguishment fire suppression robot is specifically included: cabinet 101, crawler-type traveling part 102, driving
Take turns 103, carrying roller 104, directive wheel 105, adjustable tensioning wheel 106, damper 107, connecting framework 108, DC brushless motor
109, gearbox 110, Dual-motors Driving module 111, lithium battery group 112, intelligent charger 113, PLC controller 114, sensor
Component 115, CAN bus component 116, illumination and warning component 117, lifting, king light component 118, fire monitor 119, fire monitor CAN are total
Line 120, water cannon camera 122, transmitted in both directions component 123, lifting device 124, light fixture 125, is faced upward full-view camera 121
It bows holder 126, spray assemblies 127, pipeline and interface 128, solenoid valve 129, water mist spraying head 130 and spray pipeline 131.
Due to the particularity of disaster field, it is desirable that lighting device can be with stream time > 8h, and after illuminating
Guarantee that robot can be with normal walking 1h.So lighting device needs power under the premise of meeting national standard to accomplish sufficiently small, photograph
The volume of the power supply of bright device is just able to satisfy the requirement of robot body.The lamp group total work of lighting device provided by the invention
Rate is 1.3Kw, supply voltage DC48V, electric current 27A, continuous work 8h, and needing capacitance is 216Ah.Motor general power is
4Kw, supply voltage DC48V, electric current 83A, needing capacitance is 83Ah, and the capacity of optional lithium battery is 48V300Ah, warp
Screening its volume is about 0.4m3, robot body can accommodate completely.As it can be seen that the LED light group of 1.3Kw provided by the invention
It is fully able to meet national standard, belong to pioneering both at home and abroad.
The power of volume control LED light group can drop in lighting device provided by the invention according to lamp temperatures, make fire-fighting machine
People has large area long lasting for illumination functions, to realize efficient remote in the case that night or other environment are not visible
The purpose for manipulating fire-fighting robot, has greatly widened the application range of fire-fighting robot.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of control method of lighting device, which is characterized in that the control method is used to control the power of lighting device, institute
Stating lighting device includes LED light group, and the control method includes:
Obtain the real time temperature of LED light group；
Judge whether the real time temperature is more than or equal to the first temperature threshold, obtains the first judging result；
When the first judging result indicates that the real time temperature is more than or equal to the first temperature threshold, the LED light group is controlled
Power reduce by first drop volume amount；
When the first judging result indicates the real time temperature less than the first temperature threshold, judge whether the real time temperature is greater than
Or it is equal to second temperature threshold value, obtain the second judging result；
When second judging result indicates that the real time temperature is more than or equal to second temperature threshold value, the LED is controlled
The power of lamp group reduces the second drop volume amount, wherein the second drop volume amount is less than the first drop volume amount.
2. control method according to claim 1, which is characterized in that the power of the control LED light group reduces by the
After two drop volume amounts, further includes:
Judge whether the temperature rise of LED light group is less than temperature rise threshold value according to the real time temperature of multiple sampling instants, obtains third
Judging result；
When the third judging result indicates the temperature rise of LED light group less than temperature rise threshold value, the power dimension of the LED light group is controlled
Hold current power.
3. control method according to claim 1, which is characterized in that first temperature threshold be 95 DEG C, described second
Temperature threshold is 90 DEG C, and the first drop volume amount is the 25% of current power, and the second drop volume amount is the 10% of current power.
4. a kind of control system of lighting device, which is characterized in that the lighting device includes LED light group, the control system
Include:
Data acquisition module, for obtaining the real time temperature of LED light group；
First judgment module obtains first and sentences for judging whether the real time temperature is more than or equal to the first temperature threshold
Disconnected result；
First drop volume module, for indicating that the real time temperature is more than or equal to the first temperature threshold when the first judging result
When, the power for controlling the LED light group reduces the first drop volume amount；
Second judgment module, for judging institute when the first judging result indicates the real time temperature less than the first temperature threshold
It states whether real time temperature is more than or equal to second temperature threshold value, obtains the second judging result；
Second drop volume module, for indicating that the real time temperature is more than or equal to second temperature threshold when second judging result
When value, the power for controlling the LED light group reduces the second drop volume amount.
5. a kind of lighting device, which is characterized in that the lighting device includes: lifting device, light fixture and tilt-top,
In,
The tilt-top is arranged on the lifting device, and the light fixture is arranged on the tilt-top；The photograph
Bright component includes multiple LED light groups, and each LED light group includes multiple LED lamps, and corresponding each LED lamp is provided with one
A reflector.
6. lighting device according to claim 5, which is characterized in that the light fixture includes 6 LED light groups, each
LED light group includes 72 LED lamps, and the power of each LED lamp is 3W.
7. lighting device according to claim 6, which is characterized in that the lighting device further includes temperature sensor, perseverance
Stream source and PLC controller, the temperature sensor are used to detect the real time temperature of the LED light group, the temperature sensor and
The constant-current source is connect with the PLC controller, and the PLC controller is for according to claim 1-3
Control method controls the power of the constant-current source, to control the power of the LED light group.
8. lighting device according to claim 6, which is characterized in that the reflector is rectangular cone-shaped reflector, institute
The first opening portion for stating rectangular cone-shaped reflector is greater than the second opening portion of the rectangular cone-shaped reflector, the LED light
Core is arranged in second opening portion.
9. lighting device according to claim 8, which is characterized in that the left side and the right side of the rectangular cone-shaped reflector
Side and the angle of the first opening facial planes are 50 °, the upper reflective surface of the rectangular cone-shaped reflector and the first opening portion
The angle of plane is 45 °, and the angle of the lower reflective surface of the rectangular cone-shaped reflector and the first opening facial planes is 65 °, institute
Stating the first opening facial planes is the plane where first opening portion.
10. a kind of illumination extinguishment fire suppression robot, which is characterized in that the fire-fighting robot includes: robot body, fire monitor
With the described in any item lighting devices of claim 5-9, the fire monitor and the lighting device are arranged at the robot
On ontology.
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| CN201910421586.1A CN110139433B (en) | 2019-05-21 | 2019-05-21 | Derating control lighting device of lighting fire-fighting robot |
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| CN201910421586.1A CN110139433B (en) | 2019-05-21 | 2019-05-21 | Derating control lighting device of lighting fire-fighting robot |
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| CN105578651A (en) * | 2016-01-18 | 2016-05-11 | 上海康耐司信号设备有限公司 | Temperature protection circuit for LED work lamp |
| CN108954022A (en) * | 2017-05-22 | 2018-12-07 | 通用电气照明解决方案有限公司 | LED light and temperature-control circuit applied to the LED light |
| CN209819490U (en) * | 2019-05-21 | 2019-12-20 | 上海博灿机器人科技有限公司 | Lighting device and lighting fire-fighting robot |
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| CN103298179A (en) * | 2012-02-22 | 2013-09-11 | 北京同步科技有限公司 | LED illuminating device and light failure control method thereof |
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|---|---|
| CN110139433B (en) | 2021-05-07 |
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Effective date of registration: 20221219 Address after: 201600 no.18-1, Lane 517, Xinbo Road, Maogang Town, Songjiang District, Shanghai Patentee after: SHANGHAI BOCAN SIGNAL EQUIPMENT Co.,Ltd. Address before: 201600 no.18-1, Lane 517, Xinbo Road, Maogang Town, Songjiang District, Shanghai Patentee before: Shanghai Bocan Robot Technology Co.,Ltd. |