CN110653783A

CN110653783A - Fire rescue robot

Info

Publication number: CN110653783A
Application number: CN201910884401.0A
Authority: CN
Inventors: 张秉宸; 李昀琪; 黄凯健
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2020-01-07

Abstract

A fire rescue robot comprises an upper computer control unit and a device body, wherein the device body comprises a chassis, a mechanical arm, a fire extinguishing device and an electric control part, and the mechanical arm is movably arranged above the chassis; a power mechanism is arranged in the chassis and used for driving the moving components correspondingly arranged at the left side and the right side of the chassis; the fire extinguishing device is respectively arranged on the chassis and the mechanical arm; the electric control part is arranged on the chassis and is respectively and electrically connected with the mechanical arm, the fire extinguishing device and the power mechanism. Various sensing technologies, automatic control technologies, computer technologies, electromechanical integration technologies, precision mechanical design technologies and the like are adopted. The fire extinguishing system realizes the functions of fire point early warning, fire scene reconnaissance, fire scene extinguishment, fire scene rescue, obstacle clearing and the like, improves the fire extinguishing efficiency, and protects the life and property safety of people.

Description

Fire rescue robot

Technical Field

The invention relates to a fire rescue device in the field of fire protection, in particular to a fire rescue robot, and belongs to the technical field of fire protection.

Background

With the development of large-scale warehousing in China, fire disasters become the main harm threatening the warehousing safety at present. At present, fire-fighting measures of public areas such as storage and the like mainly adopt installation of fire-fighting water pipes, fire alarm equipment, fire hoses, automatic water-spraying fire extinguishing equipment and the like, wherein the fire-fighting water pipes are paved by manual operation, the fire-fighting water pipes are paved to a fire scene, the fire alarm equipment mainly reports fire to a fire control management department, the automatic water-spraying fire extinguishing equipment can realize full automation of water-spraying fire extinguishing, but the spraying area of the automatic water-spraying fire extinguishing equipment is fixed, and the automatic water-spraying fire extinguishing equipment is difficult to extinguish fire relative to the fire outside the area.

Disclosure of Invention

The invention aims to provide a fire rescue robot aiming at the defects of the prior art, and can solve the problems that the prior warehouse fire early warning robot cannot early warn fire and cannot take fire extinguishing measures after alarming, and the technical scheme is as follows:

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

The upper portion of the chassis is covered with a fireproof housing, a mounting seat is fixed above the fireproof housing, a mechanical arm 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 fireproof casing is made of metal, the surface of the fireproof casing is coated with fireproof heat-insulating materials, and the fireproof casing is detachably connected with the chassis.

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

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

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

The outside of drive wheel is provided with the meshing tooth and is connected the arm with grabbing ground track recess meshing and include first swing arm, second swing arm and mechanical tongs, and the tip of first swing arm articulates and is provided with the second swing arm, and first swing arm and second swing arm have swing actuating mechanism respectively, and the end of second swing arm is provided with the every single move pendulum piece, and the end and the roating seat of every single move pendulum piece are connected, and the roating seat passes through the supporting seat and rotates the connection mechanical tongs.

The mechanical gripper is of a clamp structure and comprises a pitching swinging block, a rotating seat, a supporting seat, a clamping motor, a clamping arm, an outer side gear and a clamping plate, wherein the front end of the pitching swinging block is connected with the rotating seat, the front end of the rotating seat is rotatably provided with the supporting seat, the middle part of the supporting seat is fixedly provided with the clamping motor, an output shaft of the clamping motor penetrates through two sides of the supporting seat and is respectively in transmission connection with the outer side gear, and the outer side gear is respectively in meshing connection with two meshing wheels; the outer sides of the two occlusion wheels are respectively provided with a clamping arm, and the front end of the clamping arm is in transmission connection with the clamping plate.

The fire extinguishing device comprises a two-position two-way normally closed electromagnetic valve, a high-pressure embossing wave tube and a fire extinguishing agent steel bottle, wherein the fire extinguishing agent steel bottle is arranged inside the chassis and connected to the tail end of the mechanical arm through a high-pressure ripple tube, and the two-position two-way normally closed electromagnetic valve is arranged on the high-pressure embossing wave tube.

The electric control part comprises an STM32 main control part, 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.

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 sensors are arranged at the front end of the robot in a fan-shaped mode and used for detecting flame in a fire scene and improving the fire extinguishing efficiency.

The human body infrared sensor is arranged at the front end of the robot and used for detecting whether survivors exist in a room or not, so that search and rescue personnel can timely rescue the victims.

The front end of the chassis is provided with a photoelectric tracking sensor and a camera, the photoelectric tracking sensor and the camera are electrically connected with the control mechanism, the photoelectric tracking sensor senses obstacles, and the camera shoots the road surface condition.

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.

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 chassis is provided with a spring suspension device which can realize that the moving mechanism floats 35 degrees back and forth, and the balance of the robot is adjusted according to the climbing obstacle-crossing angle. The chassis structure is two sets of ground tracks in front and back, and is driven independently by four all-metal speed reduction driving motors, so that the elevator robot has the capabilities of carrying load, crossing obstacles and climbing stairs.

2. The arm comprises six high accuracy digital motor, is provided with mechanical tongs ability accurate completion shrink, extension at the end of second swing arm, snatchs and shifts actions such as hazardous articles to improve fire extinguishing efficiency.

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 manipulation mode can be switched. Through WiFi and control communication protocol, the robot is automatically patrolled and switched to manual control. The fire source is accurately extinguished and dangerous chemicals are transferred by controlling the moving mechanism, the mechanical arm and the fire extinguishing mechanism, and the function of processing the fire in the early stage is realized.

6. The human body infrared detection device is arranged, and because smoke is dense at a fire scene, the camera is difficult to observe whether a victim exists at the fire scene, and the human body infrared detection device can detect whether a survivor exists in a room through infrared rays, so that search and rescue personnel can rescue the victim in time.

7. Various sensing technologies, automatic control technologies, computer technologies, electromechanical integration technologies, precision mechanical design technologies and the like are adopted. The fire extinguishing system realizes the functions of fire point early warning, fire scene reconnaissance, fire scene extinguishment, fire scene rescue, obstacle clearing and the like, improves the fire extinguishing efficiency, and protects the life and property safety of people.

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 view of a robotic arm;

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. the device comprises a mechanical arm, 2, a mechanical gripper, 3, a chassis, 4, a driving wheel, 5, a guide wheel, 6, a ground-gripping crawler, 7, an STM32 master control unit, 8, a camera, 9, a two-position two-way normally closed electromagnetic valve, 10, a combustible gas sensor, 11, a temperature and humidity sensor, 12, a flame sensor, 13, a human body infrared sensor, 14, a photoelectric tracking sensor, 15, a fire extinguishing agent steel cylinder, 16, a battery, 17, a GSM communication module, 18, a pitching oscillating block, 19, a rotating seat, 20, a supporting seat, 21, a clamping motor, 22, a clamping arm, 23, an outer gear, 24, a motor, 25, a driving shaft fixing unit, 26, a supporting wheel, 27, a meshing tooth, 28, a driving shaft and 29 clamping plate.

Detailed Description

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 using a fire rescue robot for autonomous fire monitoring and extinguishing 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 11, a combustible gas sensor 10, a flame detection sensor 12, a photoelectric tracking sensor 14, a human body infrared sensor 13, a GSM communication module 17, a camera 8 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 14 of the robot patrols along a route set on the ground, and meanwhile, the combustible gas sensor 10 and the temperature and humidity sensor 11 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 through the GSM communication 17 module and sends the alarm to the upper computer control unit to inform the fire safety supervision and management personnel. And after the exception is processed, the robot can restore the automatic inspection work.

When the flame sensor 12 detects a fire, a feedback signal is sent to the STM32 master control 7 of the robot and the robot enters a fire alarm mode. The STM32 main control 7 controls the power mechanism to drive the movable assembly, stops patrol of the current route and advances towards the direction of the fire source. And simultaneously informs the fire safety supervisor of the warehouse through the GSM communication module 17.

And after the fire alarm mode is finished, the robot enters a fire extinguishing mode. The fireman can know the field situation at the first time through the image transmitted by the camera 8, control the robot to rapidly move to the fire point, adjust the posture and the angle of the mechanical arm 1, enable the nozzle to be aligned with the fire point, open the two-position two-way normally closed electromagnetic valve 9 to spray the fire extinguishing agent, extinguish the fire to the fire point, and therefore the whole patrol fire extinguishing process is finished.

Example 2

The robot chassis 3 includes a driving wheel 4, a guide wheel 5, a ground-grasping crawler 6, a driving motor 24, a driving shaft fixing member 25, and a thrust wheel 26. The output shaft of the driving motor 24 is connected with a driving shaft 28, and the ground grabbing crawler 6 is meshed and connected around the driving wheel 4, the thrust wheel 26 and the guide wheel 5 to form a flexible chain ring which is driven by the driving wheel 4. The robot chassis 3 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 chassis 3 can float 35 degrees from front to back, and the balance of the robot can be adjusted according to the climbing obstacle-crossing angle. The chassis 3 is provided with a front group of ground grabbing crawler belts 6 and a rear group of ground grabbing crawler belts 6, and is independently driven by four all-metal speed reduction driving motors 24, so that the robot has the capabilities of carrying, obstacle crossing and climbing stairs.

Example 3

The mechanical arm 1 is made of aluminum alloy, and the surface is subjected to sand blasting and oxidation treatment, so that the service life of the mechanical arm 1 is prolonged. The joint is composed of six high-precision digital motors, and can accurately finish the actions of contracting, extending, grabbing and transferring dangerous goods and the like.

Example 4

Two different fire extinguishing agent steel cylinders 15 are loaded in the chassis 3, connected with a two-position two-way normally closed electromagnetic valve 9 through a high-pressure ripple pipe and finally output to the tail end of the mechanical arm 1 through a movable elbow. The STM32 master control 7 controls a two-position, two-way, normally closed solenoid valve 9 to control the fire suppressant emission. In the manual control mode, accurate fire extinguishing can be realized by controlling the posture of the mechanical arm 1 and the position of the robot.

Example 5

The controller is STM32 master control 7, the alarm module is GSM communication module 17, STM32 master control 7 controls GSM communication module 17 to send the SMS warning to the preset cell phone number after receiving the vibration signal, GSM communication module 17 includes SIM900A treater, supports RS232 serial ports and LVTTL serial ports, and takes the hardware flow control, supports 5V ~ 24V's super wide working range, realizes the transmission of pronunciation, SMS (short message service, MMS), data and fax information with the low-power consumption.

Example 6

The drive motor 24 is controlled by the STM32 motherboard 7, using the SMS1.0 protocol. The STM32 main control 7 and the driving motor 24 communicate in a question-and-answer mode, the STM32 main control 7 sends an instruction packet, and the driving motor 24 returns a response packet. A plurality of drive motors 24 are permitted in a bus control network, so that each drive motor 24 is assigned an ID number that is unique within the network. The communication mode is a serial asynchronous mode, one frame of data is divided into 10 bits of 1-bit start bit, 8-bit data bit and 1-bit stop bit, and no parity bit exists. All the driving motors 24 are controlled by RS232 level, and STM32 master control 7 sends serial TTL signals to operate all the driving motors 24 in the bus network.

Example 7

The robot further comprises a combustible gas sensor 10, and the combustible gas sensor 10 is used for detecting the concentration of combustible gas. The method adopts a high-low temperature circulating detection mode to detect the concentration of combustible gases such as carbon monoxide, methane, propane and the like in the air, and can evaluate the possibility of environmental fire by combining with a comprehensive evaluation model.

Example 8

The robot further comprises a temperature and humidity sensor 11, and the temperature and humidity sensor 11 is used for detecting the temperature and the humidity of the surrounding environment. The device has the advantages of quick awakening and response time, high precision and wide temperature working range, can compensate and correct the temperature of air pressure and humidity, and can evaluate the environment fire possibility by combining with a comprehensive evaluation model.

Example 9

The robot further comprises a flame sensor 12, and the flame sensor 12 is used for detecting the 700-1100 nm short wave near infrared ray (SW-NIR) which is specific to flame and identifying the occurrence of fire. The robot carries five flame sensors 12 and arranges the flame sensors in a fan shape, the detection range can reach 180 degrees, and the fire source detection efficiency is improved.

Example 10

The front end of the robot is also provided with a human body infrared sensor 13, and the human body infrared sensor 13 is used for detecting whether survivors exist in a room or not.

Example 11

The robot also comprises a photoelectric tracking sensor 14 which identifies ground road signs through four paths of infrared transmitting and receiving probes in front and realizes automatic patrol.

Example 12

The camera 8 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 13

When the robot touches a small obstacle, the mechanical gripper 2 can be selected to move the small obstacle away according to the actual situation, and the obstacle removing work is finished.

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 fire rescue robot comprises an upper computer control unit and a device body, and is characterized in that the device body comprises a chassis (3), a mechanical arm (1), a fire extinguishing device and an electric control part, wherein the mechanical arm (1) is movably arranged above the chassis (3); a power mechanism is arranged in the chassis (3) and used for driving the moving components correspondingly arranged on the left side and the right side of the chassis (3); the fire extinguishing device is respectively arranged on the chassis (3) and the mechanical arm (1); the electric control part is arranged on the chassis (3) and is respectively and electrically connected with the mechanical arm (1), the fire extinguishing device and the power mechanism.

2. A fire rescue robot as claimed in claim 1, characterized in that the upper part of the chassis (3) is covered with a fireproof casing, a mounting seat is fixed above the fireproof casing, the mounting seat is provided with a mechanical arm (1), and the lower part of the chassis (3) is provided with a spring suspension at the connection with the moving assembly.

3. A fire rescue robot as claimed in claim 1, characterized in that the power mechanism is a driving motor (24), the moving assembly comprises a driving wheel (4), a driving shaft fixing member (25), a guide wheel (5), a thrust wheel (26) and a ground-grasping crawler (6), an output shaft of the driving motor (24) is connected with a driving shaft (28), and the ground-grasping crawler (6) is engaged and connected around the driving wheel (4), the thrust wheel (26) and the guide wheel (5) to form a flexible chain ring which is driven by the driving wheel (4).

4. A fire rescue robot as claimed in claim 1, wherein the moving assemblies are in front and rear sets, each set being driven by two drive motors (24).

5. A fire rescue robot as claimed in claim 1, characterized in that the outside of the ground-grasping track (6) is detachably provided with ground-grasping lugs.

6. A fire rescue robot as claimed in claim 1, characterized in that the driving wheel (4) is provided with engaging teeth (27) on its outside for engaging with the grooves of the ground engaging track (6).

7. A fire rescue robot as claimed in claim 1, characterized in that the mechanical arm (1) comprises a first swing arm, a second swing arm and a mechanical gripper (2), the end of the first swing arm is hinged with the second swing arm, the first swing arm and the second swing arm are respectively provided with a swing driving mechanism, the end of the second swing arm is provided with a pitching swing block (18), the end of the pitching swing block (18) is connected with a rotary seat (19), and the rotary seat (19) is rotatably connected with the mechanical gripper (2) through a supporting seat (20).

8. A fire rescue robot as claimed in claim 1, wherein the mechanical gripper (2) is of a clamp structure and comprises a pitching oscillating block (18), a rotating seat (19), a supporting seat (20), a clamping motor (21), a clamping arm (22), an outer gear (23) and a clamping plate (29), the front end of the pitching oscillating block (18) is connected with the rotating seat (19), the supporting seat (20) is rotatably arranged at the front end of the rotating seat (19), the clamping motor (21) is fixed at the middle part of the supporting seat (20), an output shaft of the clamping motor (21) penetrates through two sides of the supporting seat (20) and is respectively in transmission connection with the outer gear (23), and the outer gear (23) is respectively in meshing connection with two meshing wheels; the outer sides of the two meshing wheels are respectively provided with a clamping arm (22), and the front end of the clamping arm (22) is rotatably connected with a clamping plate (29).

9. A fire rescue robot as claimed in claim 1, characterized in that the fire extinguishing means comprises a two-position two-way normally closed solenoid valve (9), a high-pressure ripple pipe and a fire extinguishing agent steel cylinder (15), the fire extinguishing agent steel cylinder (15) is arranged inside the chassis (3) and connected to the end of the mechanical arm (1) through the high-pressure ripple pipe, the two-position two-way normally closed solenoid valve (9) is arranged on the high-pressure corrugated pipe.

10. A fire rescue robot as claimed in claim 1, wherein the electrical control part comprises an STM32 main control (7), a camera (8), a combustible gas sensor (10), a temperature and humidity sensor (11), a flame sensor (12), a human body infrared sensor (13), a GSM communication module (17) and a photoelectric tracking sensor (14).