CN110640714A

CN110640714A - Warehouse fire early warning robot

Info

Publication number: CN110640714A
Application number: CN201910884416.7A
Authority: CN
Inventors: 张秉宸
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2020-01-03

Abstract

A warehouse fire early warning robot comprises an upper computer control unit and a device body, wherein the device body comprises a chassis, a holder and an electric control part, the holder is movably arranged above the chassis, and a power mechanism is arranged in the chassis and used for driving moving components correspondingly arranged on the left side and the right side of the chassis; the electric control part is arranged on the chassis and is respectively and electrically connected with the holder and the power mechanism. The invention adopts various sensing technologies, automatic control technologies, computer technologies, electromechanical integration technologies, precise mechanical design technologies and the like. The fire extinguishing device has the advantages of achieving the functions of fire point early warning, fire scene reconnaissance, safety, theft prevention and the like, improving the fire extinguishing efficiency and protecting the life and property safety of people.

Description

Warehouse fire early warning robot

The technical field is as follows:

the invention relates to a fire early warning device, in particular to a warehouse fire early warning robot, and belongs to the technical field of fire fighting.

Background art:

with the development of modern construction, various materials, especially chemical raw materials, pesticides, chemical fertilizers, medical supplies, chemical reagents and the like, have dangerous characteristics of different degrees of explosiveness, flammability, combustion supporting, toxicity, corrosion and the like. In the process of storage, when the storage container is influenced by severe vibration, impact, friction or contact with fire sources, heat sources and rainwater, and contact with objects with contradictory properties, disasters such as explosion, combustion, personal injury and the like can be caused, and huge losses can be brought to the country and people.

Nowadays, the fire prevention measures adopted in the warehouse in the prior art are generally detection modes of fixed detection points, that is, detection devices which are installed and fixed at high positions are used for detection, and then signals are transmitted to a control center through metal wires. Modern warehouses, however, are moving towards elevated warehouses, which may make full use of space for storage, also referred to as "stereoscopic warehouses". At present, the height of the warehouse reaches more than 40m, the stock can reach tens of thousands or even more than ten thousands of goods units, and the unmanned full-automatic control and the computer network management of the warehouse can be realized, so the warehouse is also called as an elevated three-dimensional automatic warehouse. Because of the storage advantages of the elevated warehouse, the elevated warehouse is inevitably and more widely applied to various fields. The problem that early warning cannot be performed in advance exists in a fire alarm system of an elevated warehouse at present. Because the elevated warehouse is an unmanned warehouse, the elevated warehouse is not easy to be found when in fire and is difficult to enter after the fire, the automatic fire alarm system is necessary. However, the height of the storage area of the elevated warehouse is more than 12m, the smoke concentration is low in the initial stage of a fire, the smoke is diffused due to the falling of the smoke cooled by the air in the warehouse in the rising process and the airflow formed by thermal convection, the flow direction of the smoke is reversed, the smoke cutoff phenomenon or the stratification phenomenon can occur, the smoke cannot reach a detector arranged at a high position due to insufficient buoyancy of hot air or the smoke cannot start a point-type detector due to rare smoke, and the point-type detector cannot give an early alarm.

The invention content is as follows:

the invention aims to solve the defects of misinformation, weak capability, fixed installation, incapability of intelligent inspection and limited application place in the prior art, and provides a warehouse fire early warning robot, which has the following technical scheme:

a warehouse fire early warning robot comprises an upper computer control unit and a device body, wherein the device body comprises a chassis, a holder and an electric control part, the holder is movably arranged above the chassis, and a power mechanism is arranged in the chassis and used for driving moving components correspondingly arranged on the left side and the right side of the chassis; the electric control part is arranged on the chassis and is respectively and electrically connected with the holder and the power mechanism.

The holder comprises a base, a main support and a camera, wherein the base is connected with a rotating motor arranged below the base through a motor support, and the main support is arranged above the base and is driven by the rotating motor in a rotating way; be equipped with the motor of pitching in the main support, set up the line swing arm connection of crossing in the main support both sides through transmission shaft and activity, the camera is through crossing line swing arm and main support swing joint, by pitching the motor control swing.

The upper portion of the chassis is covered with a fireproof housing, a mounting seat is fixed above the fireproof housing, a holder is arranged on the mounting seat, and a spring hanger is arranged at the joint of the lower portion of the chassis and the moving assembly.

The power mechanism is a motor, the moving assembly comprises a driving wheel, a driving shaft fixing piece, a guide wheel, a thrust wheel and a ground grabbing crawler, an output shaft of the driving motor is connected with the driving shaft, and the ground grabbing crawler is meshed and connected around the driving wheel, the thrust wheel and the guide wheel to form a flexible chain ring which is driven by the driving wheel.

The moving assemblies are arranged in a front group and a rear group, and each group of moving assemblies is driven by two motors.

The outer side of the ground grabbing crawler is detachably provided with a ground grabbing lug.

And the outer side of the driving wheel is provided with meshing teeth which are meshed and connected with the grooves of the ground grabbing crawler.

The electric control part comprises an STM32 master control, a camera, a combustible gas sensor, a temperature and humidity sensor, a flame sensor, a human body infrared sensor, a GSM communication module and a photoelectric tracking sensor.

The flame sensors are arranged at the front end of the device body in a fan-shaped arrangement.

The human body infrared sensor and the photoelectric tracking sensor are arranged at the front end of the device body.

And the temperature and humidity sensor is used for detecting the temperature and humidity of the surrounding environment, and the early fire early warning of the robot is realized through comprehensive evaluation model judgment.

The combustible gas concentration sensor is used for detecting the concentration of surrounding combustible gas and judging through the comprehensive evaluation model so as to realize the early fire early warning of the robot.

The flame sensor is used for detecting flame in a fire scene, and the fire extinguishing efficiency is improved.

The human body infrared sensor is used for detecting whether foreign persons exist in a room or not, and the robot anti-theft function is achieved.

The photoelectric tracking sensor senses that a black guide track is laid on a preset patrol path.

The GSM communication module comprises a SIM900A processor, supports an RS232 serial port and an LVTTL serial port, is provided with hardware flow control, supports an ultra-wide working range of 5V ~ 24V, and realizes the transmission of voice, SMS (short message service, multimedia message service), data and fax information with low power consumption.

The operating platform is one of smartphone operating systems and comprises IOS and Android.

Compared with the prior art, the invention has the beneficial effects that:

1. the robot chassis is made of aluminum alloy, has high hardness and light weight, and can bear the weight of carrying equipment to adapt to the working strength. The angle adjustment of the chassis is realized through the spring suspension device arranged on the ground-grabbing crawler belt, so that the problem of robot balance when climbing and crossing obstacles is solved. The ground grabbing crawler belts are divided into a front group and a rear group, each group is provided with two ground grabbing crawler belts which are respectively arranged on the left side and the right side of the chassis, each ground grabbing crawler belt is independently driven by an all-metal speed reduction driving motor, and the lifting robot has the capabilities of carrying loads, crossing obstacles and climbing stairs.

2. The rotating motor and the pitching motor have high transmission precision in the process of driving the holder mechanism, so that the holder mechanism can complete accurate rotating motion or pitching motion in a small range.

3. The temperature and humidity sensor and the combustible gas sensor are arranged, detection results of the temperature and humidity sensor and the combustible gas sensor are judged through the comprehensive evaluation model, and therefore the possibility of fire occurrence can be judged, and corresponding early warning signals are sent out accordingly.

4. And the photoelectric tracking sensor is used for judging the route, so that the robot can automatically patrol in the warehouse. Meanwhile, five flame compound eye sensors are adopted to complete the detection of fire. When a fire source is detected, stopping patrolling the current route by the robot and advancing towards the direction of the fire source; meanwhile, the main control controls the GSM module to send an alarm short message to a preset mobile phone number and dial a call to achieve the purpose of timely alarming.

5. The manual inspection is replaced, and the safety of personnel is guaranteed.

6. Set up human infrared sensor, whether accessible infrared ray detects the storehouse and has external personnel, realizes the intelligent theftproof function of robot.

Description of the drawings:

FIG. 1 is a side view of the overall structure;

FIG. 2 is a front view of the overall structure;

FIG. 3 is a top view of the overall structure;

FIG. 4 is a schematic structural diagram of the pan/tilt head;

FIG. 5 is a schematic structural view of the chassis;

FIG. 6 is a schematic view of the driving wheel;

FIG. 7 is a schematic structural view of a guide wheel and a thrust wheel;

in the figure: 1. chassis, 2, cloud platform, 3, the drive wheel, 4, the leading wheel, 5, grab ground track, 6, STM32 master control, 7, the camera, 8, combustible gas sensor, 9, temperature and humidity sensor, 10, flame sensor, 11, photoelectric tracking sensor, 12, human infrared sensor, 13, the motor, 14, the battery, 15, GSM communication module, 16, drive shaft mounting, 17, the thrust wheel, 18, the meshing tooth, 19, the drive shaft, 20, the base, 21, the main support, 22, the rotation motor, 23, the motor that pitches, 24, cross the line swing arm.

The specific implementation mode is as follows:

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

The process of autonomous fire monitoring and early warning by using the invention is as follows:

the program steps of the robot after power-on can be divided into an initialization stage, an ultra-early warning mode, a fire alarm mode and a fire extinguishing mode. In the initialization stage, the robot initializes all sensor programs, such as a temperature and humidity sensor, a combustible gas sensor, a flame detection sensor, a tracking sensor, a human body infrared sensor, a GSM communication module, a camera and the like.

After the initialization is completed, the robot enters an ultra-early warning mode. In the early warning mode, the photoelectric tracking sensor 11 of the robot patrols along a route set on the ground, and meanwhile, the combustible gas sensor 8 and the temperature and humidity sensor 9 can monitor the temperature and humidity and the concentration of combustible gas in the surrounding environment in real time. If the detection result is evaluated by the comprehensive evaluation model to be possible to catch fire or possible to catch fire, the robot gives an alarm to notify fire safety supervision and management personnel through the GSM communication 15 module. And after the exception is processed, the robot can restore the automatic inspection work.

When a fire is detected, the robot enters a fire alarm mode. The flame sensor 10 feeds back a signal to a main control part of the robot, and the main control part controls to stop patrol of the current route and advance towards a fire source. Meanwhile, the fire safety supervisor is informed through the GSM communication module 15. And meanwhile, the camera 7 is started to monitor and feed back the surrounding environment from time to time.

Example 2

The device body is provided with combustible gas sensor 8 and is used for detecting combustible gas concentration, adopts high low temperature circulation detection mode to detect combustible gas concentrations such as carbon monoxide, methane, propane in the air, combines the comprehensive evaluation model can aassessment environment possibility of catching a fire.

Example 3

The device body is provided with temperature and humidity sensor 9, and temperature and humidity sensor 9 is used for detecting ambient temperature and humidity, possesses quick awakening and response time, high accuracy and wide temperature working range, carries out temperature compensation correction to atmospheric pressure and humidity, combines comprehensive evaluation model can aassessment environment possibility of catching a fire.

Example 4

The device body is provided with a flame sensor 10 which is used for detecting the 700-1100 nm short wave near infrared (SW-NIR) which is specific to flame and identifying the occurrence of fire; the five flame sensors 10 are arranged in a fan shape, the detection range can reach 180 degrees, and the fire source detection efficiency is improved.

Example 5

The front end of the device body is provided with a human body infrared sensor 12 for detecting whether survivors exist in a room or not.

Example 6

The front end of the device body is provided with a photoelectric tracing sensor 11, and ground road signs are identified through four infrared transmitting and receiving probes in front, so that automatic patrol is realized.

Example 7

The camera 7 is used for monitoring the video of the environment, and can identify the environmental parameters by adopting a machine vision technology so as to realize the functions of autonomous path planning and safety inspection.

Example 8

Pitch motor 23 fixed connection on the inner wall of main support 21, cross line swing arm 24 and correspond the activity setting in main support 21 both sides, connect through the transmission shaft that runs through main support 21, pitch motor 23 output and transmission shaft connection and come the swing of controlling line swing arm 24.

Example 9

The motor 13 is controlled by the STM32 motherboard 6, using the SMS1.0 protocol. The STM32 mainboard 6 and the motor 13 are communicated in a question-and-answer mode, the STM32 mainboard 6 sends out an instruction packet, and the motor 13 returns a response packet; a plurality of motors 13 are allowed in a bus control network, so that each motor 13 is assigned a unique ID number within the network; the communication mode is a serial asynchronous mode, one frame of data is divided into 1-bit start bit, 8-bit data bit and 1-bit stop bit, no parity bit exists, and the total number of the bits is 10; all motors 13 are controlled by RS232 level, and STM32 master control 6 sends serial TTL signals to operate all motors 13 in the bus network.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A warehouse fire early warning robot comprises an upper computer control unit and a device body, and is characterized in that the device body comprises a chassis (1), a holder and an electric control part, wherein the holder is movably arranged above the chassis (1), and a power mechanism is arranged in the chassis (1) and used for driving moving components correspondingly arranged on the left side and the right side of the chassis (1); the electric control part is arranged on the chassis (1) and is respectively and electrically connected with the holder and the power mechanism.

2. The fire early warning robot for the warehouse according to claim 1, wherein the cloud deck comprises a base (20), a main support (21) and a camera (7), the base (20) is connected with a rotating motor (22) arranged below the base through a motor support, and the main support (21) is arranged above the base (20) and is driven by the rotating motor (22) in a rotating way; be equipped with in main support (21) and look up and pitch motor (23), set up through transmission shaft and activity and be connected in the line swing arm (24) of crossing of main support (21) both sides, camera (7) are through crossing line swing arm (24) and main support (21) swing joint, by looking up and pitch motor (23) control swing.

3. The warehouse fire early warning robot according to claim 1, wherein a fireproof cover is covered on the upper portion of the chassis (1), a base (20) is fixed above the fireproof cover, a cradle head is arranged on the base (20), and a spring suspension is arranged at the connection position of the lower portion of the chassis (1) and the moving assembly.

4. The fire early warning robot for the warehouse according to claim 1, wherein the power mechanism is a motor (13), the moving assembly comprises a driving wheel (3), a driving shaft fixing member (16), a guide wheel (4), a thrust wheel (17) and a ground grabbing crawler (5), an output shaft of the driving motor (24) is connected with a driving shaft (19), and the ground grabbing crawler (5) is engaged and connected around the driving wheel (3), the thrust wheel (17) and the guide wheel (4) to form a flexible chain ring which is driven by the driving wheel (3).

5. The warehouse fire early warning robot according to claim 1, wherein the moving components are two groups, one group being a front group and the other group being a rear group, each group being driven by two motors (13).

6. The warehouse fire early warning robot as claimed in claim 1, wherein a ground-grasping protrusion is detachably provided on an outer side of the ground-grasping crawler (5).

7. The warehouse fire early warning robot as claimed in claim 1, wherein the driving wheel (3) is provided with engaging teeth (18) on the outer side thereof to engage with the grooves of the ground-grasping crawler (5).

8. The warehouse fire early warning robot according to claim 1, wherein the electrical control part comprises an STM32 main control (6), a camera (7), a combustible gas sensor (8), a temperature and humidity sensor (9), a flame sensor (10), a human body infrared sensor (12), a GSM communication module (15) and a photoelectric tracking sensor (11).

9. The warehouse fire early warning robot according to claim 1, wherein the flame sensors (10) are arranged in a fan-shaped array at the front end of the device body.

10. The fire early warning robot for the warehouse according to claim 1, wherein the human body infrared sensor (12) and the photoelectric tracking sensor (11) are disposed at the front end of the device body.