CN110812761A - Fire extinguishing system capable of achieving quick response of pre-positioning robot by utilizing fire alarm network - Google Patents
Fire extinguishing system capable of achieving quick response of pre-positioning robot by utilizing fire alarm network Download PDFInfo
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- CN110812761A CN110812761A CN201911178194.3A CN201911178194A CN110812761A CN 110812761 A CN110812761 A CN 110812761A CN 201911178194 A CN201911178194 A CN 201911178194A CN 110812761 A CN110812761 A CN 110812761A
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- 230000004044 response Effects 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 33
- 230000003993 interaction Effects 0.000 claims description 23
- 239000000779 smoke Substances 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000001931 thermography Methods 0.000 claims description 2
- 230000001629 suppression Effects 0.000 claims 9
- 238000005507 spraying Methods 0.000 description 6
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Abstract
A fire extinguishing system using a fire alarm network to pre-position a robot for quick response comprises a fire alarm control unit, a cluster control unit, a plurality of addressing type fire detection units and a plurality of fire-fighting robots, wherein the fire alarm control unit is connected with the addressing type fire detection units, transmits a fire signal detected by an addressing fire detection sensor to the fire alarm control unit, and judges the fire alarm position; the cluster control unit is connected with the fire alarm control unit, transmits fire alarm position information to the cluster control unit, is wirelessly connected with the plurality of fire-fighting robots by the cluster control unit, collects position information of the fire-fighting robots in real time, sends a fire-fighting target task to the fire-fighting robot closest to the fire alarm position, and executes the fire-fighting task by the fire-fighting robots. By utilizing the invention, the security threat of fire to fire fighters can be greatly reduced; can quickly respond and extinguish the fire in the early stage in time.
Description
Technical Field
The invention relates to the field of robot fire protection, in particular to a fire extinguishing system for pre-positioning a robot to quickly respond by utilizing a fire alarm network.
Background
With the great promotion of social development and urbanization process, it is now common to work in super high-rise office buildings. Because the function partition of modern office buildings is more detailed, the personnel density is correspondingly increased, and the fire safety problem to be faced in the office buildings working intensively in unit area cannot be ignored. Although various fire alarm devices and fire extinguishing devices are developed along with the progress of times, the fire extinguishing devices in places where people gather, such as office buildings, are mainly fire-fighting lances and conventional fire extinguishers which need to be operated by people at present; automatic spraying systems are arranged in some places. Although the spraying system can automatically extinguish fire, the spraying system has more problems, firstly, the requirements on the water quality of spraying and the pressure of equipment are higher, and a spraying head is easy to have blockage faults; secondly, water fire fighting has great damage risk to equipment used in office places; thirdly, the detection and maintenance of the spraying system are greatly inconvenient.
An automatic fire alarm system is an automatic fire-fighting equipment which is arranged in a building or other places for people to find and report a fire in early stage, and to take effective measures in time to control and extinguish the fire, and is the most common tool for people to fight against the fire. At present, each office place or office building is provided with a related regional alarm controller or a centralized alarm controller, which comprises a manual alarm button, an alarm and a plurality of sensors suitable for detecting temperature, smoke, flame radiation and gas concentration in different places, wherein the manual alarm button, the alarm and the sensors are in addressing connection with the sensors, the sensors are distributed in floors and various functional rooms, when a local fire disaster occurs, the sensors can quickly find the sensors, the centralized or regional alarm determines a fire alarm range through addressing information, and fire extinguishment and fire fighting are carried out through a linkage fire fighting module. In actual operation and use, the sensor has the possibility of false alarm caused by human factors, and the authenticity of the fire alarm needs to be confirmed again by a part of linkage fire-fighting modules.
CN 201810697740.3 discloses a fire fighting device and a fire fighting robot, wherein a wireless communication module arranged on a body is used for receiving an alarm signal of a wireless smoke sensor, a central processing unit is used for comparing the ID and the corresponding position of the wireless smoke sensor, a route of the body is planned and driven by a mainly wheel-type driving module to move to the position of the smoke sensor, a fire condition is detected by an environment detection module, a fire extinguishing control module is controlled by the central control module, and the control of the fire extinguishing module on the fire fighting device is started and stopped; although the technical scheme provides the fire-fighting robot, the system still has more problems; firstly, the fire condition is discovered only through the smoke sensor, so that the optimal fire rescue time is often delayed; secondly, the wireless smoke sensors are easy to interfere, hidden danger of shielding wireless signals by a house exists, and fire is easy to miss-report; thirdly, the wireless sensors belong to a newly-added fire extinguishing device, each smoke sensor needs to be additionally provided with a wireless module, and the system cost is high; fourthly, the robot is controlled only by wheels, so that the application range is greatly reduced, and the robot cannot be applied to indoor or high-rise stair places with steps.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provide a pre-positioning robot cluster fire extinguishing system utilizing a fire alarm network, which can greatly reduce the life threat of fire to fire fighters and better solve the fire fighting problem of high-rise stair places.
The invention solves the technical problem by adopting the technical scheme that a fire extinguishing system for pre-positioning the quick response of a robot by utilizing a fire alarm network comprises a fire alarm control unit, a cluster control unit, a plurality of addressing type fire detection units and a plurality of fire-fighting robots, wherein the fire alarm control unit is connected with the addressing type fire detection units, transmits a fire signal detected by an addressing fire detection sensor to the fire alarm control unit and judges the fire alarm position; the cluster control unit is connected with the fire alarm control unit, transmits fire alarm position information to the cluster control unit, is wirelessly connected with the plurality of fire-fighting robots by the cluster control unit, collects position information of the fire-fighting robots in real time, sends a fire-fighting target task to the robot closest to the fire alarm position, and executes the fire-fighting task by the fire-fighting robots.
Furthermore, the fire alarm control unit comprises a processor, a storage module, a linkage module, a control module, a power supply module, a communication interface and a plurality of encoders, wherein the storage module, the linkage module, the control module, the power supply module, the communication interface and the encoders are respectively connected with the processor, the encoders are connected with a sensor of the fire detection unit and monitor alarm ID information of the sensor in real time through the processor, when fire alarm occurs, the alarm position is judged by the processor through comparing the alarm ID information with the ID codes and the coded addresses in the storage module, a control instruction is sent out, the control module and the linkage module respectively control corresponding devices to act, and meanwhile, the fire alarm position information is transmitted to the cluster control unit through the communication interface and serves as a target position for robot control.
Further, the cluster control unit comprises a cluster central processing unit, a communication port, a storage server, a wireless information interaction module and a display module, wherein the communication port, the storage server, the wireless information interaction module and the display module are all connected with the cluster central processing unit and are connected with a communication interface of the fire alarm control unit through the communication port to acquire fire alarm position information; the wireless information interaction module is wirelessly connected with the plurality of fire-fighting robots, the fire-fighting robots report the positions of the fire-fighting robots to the cluster central processing unit in real time, the cluster central processing unit judges the position of the fire-fighting robot closest to the fire alarm position, and the fire alarm position is distributed to the fire-fighting robot to serve as the motion destination of the fire-fighting robot.
Further, the fire-fighting robot comprises an information interaction module, a navigation obstacle avoidance module, a fire extinguishing module, an environment detection module, a power supply module and a driving module, and is applied to the robot in the aspects of fire fighting and fire extinguishing; the information interaction module is wirelessly connected with the wireless information interaction module of the cluster control unit, and is not only used for releasing fire alarm position information, but also reporting fire-fighting robot position information, environment detection information needing fire fighting, flame information and relevant fire-fighting information; the navigation obstacle avoidance module plans a route for a fire position which the fire-fighting robot needs to reach and avoids obstacles in real time; the environment detection module provides fire real-time detection information such as flame temperature, size, distance, smoke, ignition source and the like for the fire-fighting robots and the cluster control unit, so that the fire-fighting robot control system controls the fire-fighting module to release different fire-fighting agents or sends a plurality of fire-fighting robot combined fire-fighting requests to the cluster control unit, and the cluster control unit controls the plurality of fire-fighting robots to put out fire successively.
Furthermore, the cluster control unit also comprises a communication port II which can be connected with an existing video monitoring system through the communication port II, and the video monitoring system assists in monitoring the fire and the position of the fire-fighting robot and can provide visual information of the remote-control robot.
Furthermore, the information interaction module mainly adopts GSM or CDMA to interact with the cluster control unit, and can also use a remote communication base station or an existing wireless router/bridge link to form a networking cluster control system.
Furthermore, the addressing type fire detection unit mainly comprises an addressing type smoke detector, a temperature detector, a combustible gas detector, an addressing type manual detection button and the like.
Furthermore, when a fire disaster happens to the fire alarm control unit, the linkage module and the control module still normally work to control the corresponding fire-fighting equipment to work, and position signals transmitted to the cluster control unit are used as additional layer guarantee for patrol or all-weather guard of a plurality of fire-fighting robots, so that the fire-fighting equipment can replace fire fighters to carry out quick and dangerous fire-fighting and fire-extinguishing work.
Further, the power modules of the cluster control unit and the video monitoring unit are both standby power supplies with double power supplies, the commercial power is adopted under the condition that the commercial power works, and the power modules are used for standby power supply when the power supply is cut off in a fire alarm emergency.
Furthermore, the fire-fighting robot mainly adopts a wheel-leg robot or a multi-legged robot, has better adaptability to the terrain, and is better suitable for the treatment and disposal of high-rise fires.
Further, the environmental detection module of fire-fighting robot includes sensing and operation controllers such as vision, temperature, humidity, smog and thermal imaging, can judge conflagration information and scene personnel information in real time, when can reaching the fire control and put out a fire, can carry out danger level according to the distance of personnel apart from the scene of a fire and divide, and the priority control module of putting out a fire rescues the scene of a fire personnel that danger level is high.
The invention has the following positive effects:
(1) the invention utilizes the robot cluster control technology and the mature addressing type fire alarm technology to transmit the alarm position information to the cluster control unit, and the cluster control unit controls the nearest fire-fighting robot to move to the fire alarm position and carry out fire-fighting and fire-extinguishing.
(2) The fire alarm device can utilize the existing fire alarm device to form a parallel fire extinguishing system with the existing fire alarm and fire extinguishing system, and can greatly reduce the security threat of fire to fire fighters.
(3) The invention can reduce the problem of fire misinformation or the need of personnel confirmation, and can report the fire scene situation in real time through the fire-fighting robot, so that the fire-fighting personnel can allocate the personnel according to the fire scene situation, thereby forming a multi-stage fire-fighting guarantee system for fixed fire fighting, robot fire fighting, personnel fire fighting and the like, and being capable of quickly responding and timely extinguishing the fire at the initial stage.
Drawings
FIG. 1 is a block diagram of a system according to embodiment 1 of the present invention;
fig. 2 is a system block diagram of embodiment 2 of the present invention.
In the figure, 1-a fire alarm control unit, 11-a processor, 12-a storage module, 13-a linkage module, 14-a control module, 15-a power supply module, 16-a communication interface, 17-an encoder, 2-a cluster control unit, 21-a cluster central processing unit, 22-a communication port, 23-a storage server, 24-a wireless information interaction module, 25-a display module, 26-a communication port II, 3-an addressing type fire detection unit, 31-an addressing type smoke detector, 32-an addressing type smoke detector, 4-a fire-fighting robot, 41-an information interaction module, 42-a navigation obstacle avoidance module, 43-a fire extinguishing module, 44-an environment detection module, 45-a power supply module, 46-a driving module, 5-video monitoring system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, the present embodiment includes a fire alarm control unit 1, a cluster control unit 2, three addressing type fire detection units 3, and three fire robots 4 (fire robot i, fire robot ii, and fire robot iii), the fire alarm control unit 1 is connected to the three addressing type fire detection units 3, transmits a fire signal detected by an addressing fire detection sensor 31 to the fire alarm control unit 1, and determines a fire alarm position; the cluster control unit 2 is connected with the fire alarm control unit 1, the fire alarm position information is transmitted to the cluster control unit 2, the cluster control unit 2 is wirelessly connected with the three fire-fighting robots 4, the position information of each fire-fighting robot 4 is acquired in real time, meanwhile, a fire-fighting target task is sent to the fire-fighting robot 4 closest to the fire alarm position, and the fire-fighting robot 4 executes the fire-fighting task.
The fire alarm control unit 1 comprises a processor 11, a storage module 12, a linkage module 13, a control module 14, a power supply module 15, a communication interface 16 and three encoders 17, the storage module 12, the linkage module 13, the control module 14, the power supply module 15, the communication interface 16 and the three encoders 17 are respectively connected with the processor 11, the three encoders 17 are connected with the sensors of the fire detection unit 3 and monitor the alarm ID information of the sensors in real time through the processor 11, when a fire alarm occurs, the alarm position is judged by the processor 11 through comparing the alarm ID information with the ID code and the code address in the storage module 12, a control instruction is sent out, the control module 14 and the linkage module 13 respectively control the corresponding devices to act, meanwhile, the fire alarm position information is transmitted to the cluster control unit 2 through the communication interface 16 to be used as a target position controlled by the fire-fighting robot 4.
The cluster control unit 2 comprises a cluster central processing unit 21, a communication port 22, a storage server 23, a wireless information interaction module 24 and a display module 25, wherein the communication port 22, the storage server 23, the wireless information interaction module 24 and the display module 25 are all connected with the cluster central processing unit 21, and the communication port 22 is connected with a communication interface 16 of the fire alarm control unit 1 to acquire fire alarm position information; the wireless information interaction module 24 is wirelessly connected with the three fire-fighting robots 4, the fire-fighting robots 4 report the positions of the fire-fighting robots to the cluster central processing unit 21 in real time, the cluster central processing unit 21 judges the position of the fire-fighting robot 4 closest to the fire alarm position, and the fire alarm position is distributed to the fire-fighting robot 4 to serve as the motion destination of the fire-fighting robot.
The fire-fighting robot 4 comprises an information interaction module 41, a navigation obstacle avoidance module 42, a fire extinguishing module 43, an environment detection module 44, a power supply module 45 and a driving module 46, and is applied to the robots in the aspects of fire fighting and fire extinguishing; the information interaction module 41 is wirelessly connected with the wireless information interaction module 24 of the cluster control unit 2, and is not only used for issuing fire alarm position information, but also reporting fire-fighting robot position information, environment detection information needing fire fighting, flame information and relevant fire-fighting information; the navigation obstacle avoidance module 42 plans a route for a fire position which the fire-fighting robot 4 needs to reach and avoids obstacles in real time; the environment detection module 44 provides real-time fire detection information, such as flame temperature, size, distance, smoke, ignition source, etc., for the fire-fighting robots 4 and the cluster control unit 2, so that the control system of the fire-fighting robots 4 controls the fire-fighting module 43 to release different fire-fighting agents, when the fire is great, two or three fire-fighting robot 4 joint fire-fighting requests are sent to the cluster control unit 2, and the cluster control unit 2 controls the two or three fire-fighting robots 4 to put out fire successively.
The information interaction module 41 adopts GSM to interact with the cluster control unit 2; each addressing type fire detection unit 3 comprises eighty addressing type smoke detectors 31 and ten addressing type temperature detectors 32; the fire-fighting robot adopts a wheel-leg type robot, and can be well suitable for treating and disposing high-rise fire.
Example 2
Referring to fig. 2, the difference between this embodiment and embodiment 1 is that the cluster control unit 2 of this embodiment further includes a communication port ii 26, and may be connected to the existing video monitoring system 5 through the communication port ii 26, and assist in monitoring the fire and the position of the fire-fighting robot 4 through the video monitoring system 5, and may provide visual information of the remote-control fire-fighting robot 4. The same as in example 1.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are still within the scope of the present patent invention provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (10)
1. The utility model provides an utilize fire alarm network prepositioning quick response's of robot fire extinguishing systems which characterized in that: the fire alarm control unit is connected with the addressing type fire detection units, transmits a fire signal detected by the addressing type fire detection sensor to the fire alarm control unit, and judges a fire alarm position; the cluster control unit is connected with the fire alarm control unit, transmits fire alarm position information to the cluster control unit, is wirelessly connected with the plurality of fire-fighting robots by the cluster control unit, collects position information of the fire-fighting robots in real time, sends a fire-fighting target task to the fire-fighting robot closest to the fire alarm position, and executes the fire-fighting task by the fire-fighting robots.
2. The fire suppression system using a fire alarm network for pre-positioning a robot quick response of claim 1, wherein: the fire alarm control unit comprises a processor, a storage module, a linkage module, a control module, a power module, a communication interface and a plurality of encoders, wherein the storage module, the linkage module, the control module, the power module, the communication interface and the encoders are respectively connected with the processor, the encoders are connected with a sensor of the fire detection unit and monitor alarm ID information of the sensor in real time through the processor, when fire alarm occurs, the alarm position is judged by the processor through comparing the alarm ID information with the ID codes and the coded addresses in the storage module, a control instruction is sent out, the control module and the linkage module respectively control corresponding devices to act, and meanwhile, the fire alarm position information is transmitted to the cluster control unit through the communication interface and serves as a target position controlled by a robot.
3. The fire suppression system using fire alarm network pre-positioning robot quick response according to claim 1 or 2, characterized in that: the cluster control unit comprises a cluster central processing unit, a communication port, a storage server, a wireless information interaction module and a display module, wherein the communication port, the storage server, the wireless information interaction module and the display module are all connected with the cluster central processing unit and are connected with a communication interface of the fire alarm control unit through the communication port to acquire fire alarm position information; the wireless information interaction module is wirelessly connected with the plurality of fire-fighting robots, the fire-fighting robots report the positions of the fire-fighting robots to the cluster central processing unit in real time, the cluster central processing unit judges the position of the fire-fighting robot closest to the fire alarm position, and the fire alarm position is distributed to the fire-fighting robot to serve as the motion destination of the fire-fighting robot.
4. The fire suppression system using fire alarm network pre-positioning robot quick response according to claim 1 or 2, characterized in that: the fire-fighting robot comprises an information interaction module, a navigation obstacle avoidance module, a fire extinguishing module, an environment detection module, a power supply module and a driving module, and is applied to the robot in the aspects of fire fighting and fire extinguishing; the information interaction module is wirelessly connected with the wireless information interaction module of the cluster control unit, and is not only used for releasing fire alarm position information, but also reporting fire-fighting robot position information, environment detection information needing fire fighting, flame information and relevant fire-fighting information; the navigation obstacle avoidance module plans a route for a fire position which the fire-fighting robot needs to reach and avoids obstacles in real time; the environment detection module provides fire real-time detection information for the fire-fighting robot and the cluster control unit.
5. The fire suppression system using a fire alarm network for pre-positioning a robot quick response of claim 3, wherein: the cluster control unit further comprises a communication port II which can be connected with an existing video monitoring system through the communication port II, the video monitoring system assists in monitoring the fire and the position of the fire-fighting robot, and visual information of the remote-control robot can be provided.
6. The fire suppression system using a fire alarm network for pre-positioning a robot quick response of claim 4, wherein: the information interaction module adopts GSM or CDMA to interact with the cluster control unit, or uses a remote communication base station or forms a networking cluster control system with the existing wireless router/network bridge link.
7. The fire suppression system using fire alarm network pre-positioning robot quick response according to claim 1 or 2, characterized in that: the addressing type fire detection unit comprises an addressing type smoke detector, a temperature detector, a combustible gas detector and an addressing type manual detection button.
8. The fire suppression system using fire alarm network pre-positioning robot quick response according to claim 1 or 2, characterized in that: the power supply modules of the cluster control unit and the video monitoring unit are both standby power supplies with double power supplies, the commercial power is adopted under the condition that the commercial power works, and the standby power supply of the power supply modules is adopted when the power supply is cut off in a fire alarm emergency.
9. The fire suppression system using fire alarm network pre-positioning robot quick response according to claim 1 or 2, characterized in that: the fire-fighting robot adopts a wheel-leg robot or a multi-legged robot.
10. The fire suppression system using a fire alarm network for pre-positioning a robot quick response of claim 4, wherein: the environment detection module of the fire-fighting robot comprises a vision, temperature, humidity, smoke and thermal imaging sensor and an operation controller, can judge fire information and fire personnel information in real time, can divide danger levels according to the distance between personnel and a fire, and preferentially controls the fire extinguishing module to save fire personnel with high danger levels.
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