CN110893272A - Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method - Google Patents
Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method Download PDFInfo
- Publication number
- CN110893272A CN110893272A CN201911253594.6A CN201911253594A CN110893272A CN 110893272 A CN110893272 A CN 110893272A CN 201911253594 A CN201911253594 A CN 201911253594A CN 110893272 A CN110893272 A CN 110893272A
- Authority
- CN
- China
- Prior art keywords
- fire
- fighting
- fighting robot
- tunnel
- bomb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Fire Alarms (AREA)
Abstract
The invention provides an intelligent fire-fighting robot, system and method for a tunnel and a comprehensive pipe rack, wherein the fire-fighting robot can flexibly move in the whole area of the tunnel and the comprehensive pipe rack, detect various data of each point, realize early warning, simultaneously extinguish a fire in time when a fire occurs, quickly position a fire source and restrain the fire in a bud state; and to tunnel and utility tunnel smog big, the characteristics that stretch fast, provide fire extinguishing system, can realize the fire control facility linkage of whole region through each fire-fighting robot and auxiliary assembly, put out a fire fast, have fine using value.
Description
Technical Field
The utility model belongs to the technical field of fire-fighting robots, and particularly relates to an intelligent fire-fighting robot, system and method for tunnels and comprehensive pipe galleries.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The tunnel and the comprehensive pipe gallery are constructed underground in a city and are used for intensively laying municipal pipelines such as electric power, communication, broadcast television, water supply and the like. Because the space in tunnel and utility tunnel is narrow and small, and equipment layout is concentrated relatively, is approximately in airtight environment, when the conflagration takes place, tunnel and utility tunnel internal environment smog is big, it is fast to stretch, the temperature is high, according to the inventor's understanding, current fire extinguishing method is not suitable for.
The manual close-range fire extinguishing mode is adopted, the fire extinguishing operable space is limited, the fire source cannot be effectively controlled, the danger degree of fire extinguishing personnel is high, and casualties are easily caused; meanwhile, when a fire disaster happens, a large amount of toxic and harmful substances are generated, personnel cannot enter the scene, the optimal fire extinguishing time is missed, and the serious consequences can be caused by the spread of the fire. Meanwhile, monitoring equipment and fire-fighting equipment in the existing tunnel and the comprehensive pipe gallery are mainly arranged in a fixed-distance fixed-point mode, and the fire source position cannot be rapidly, accurately and efficiently detected and early warning cannot be carried out. If a fire occurs, the fixed fire-fighting equipment layout mode is not beneficial to quickly and accurately positioning the fire source, and the damage cannot be eliminated from the sprouts.
Adopt portable fire-fighting equipment to put out a fire the mode, portable fire-fighting equipment is bulky, can not adapt to the complex environment in complicated tunnel and the utility tunnel, and unable automatic tracking fixes a position accurate position of ignition point, and is unfavorable to the control of intensity of a fire, can't eliminate harm in the bud.
The mode that the detection probes are arranged in the whole tunnel and the comprehensive pipe gallery at certain intervals is adopted, only fixed points can be detected by detecting temperature, humidity, smoke or gas, each device cannot be monitored in real time, if a fire disaster occurs at a position far away from fire-fighting equipment, the fire can not be accurately extinguished at the fire-fighting point, the optimal fire-fighting time point is missed, the fire-fighting difficulty is increased, and the loss of the fire disaster cannot be reduced to the minimum; meanwhile, if the fire is large, a single fire extinguishing device cannot completely extinguish the fire source, and the existing device cannot continuously call the fire extinguishing device to continuously extinguish the fire and analyze the fire degree in real time.
Disclosure of Invention
The intelligent fire-fighting robot, the system and the method for the tunnel and the comprehensive pipe rack are provided for solving the problems, the fire-fighting robot can flexibly move in the whole area of the tunnel and the comprehensive pipe rack, various data of each point are detected, various signals such as flame, temperature, image signals and the like are fused, early warning is realized, meanwhile, the fire can be timely extinguished when a fire occurs, a fire source can be quickly positioned, and the fire is restrained in a bud state; and to tunnel and utility tunnel smog big, the characteristics that stretch fast, provide fire extinguishing system, can realize the fire control facility linkage of whole region through each fire-fighting robot and auxiliary assembly, put out a fire fast, have fine using value.
According to some embodiments, the following technical scheme is adopted in the disclosure:
an intelligent fire-fighting robot for tunnels and comprehensive pipe galleries comprises a fire-fighting robot body, wherein a fire-fighting bomb mechanism, a fire source automatic tracking and positioning assembly, a detection assembly and a controller are arranged on the fire-fighting robot body;
the fire-fighting bomb mechanism projects the fire-fighting bombs according to the control instructions;
the automatic fire source tracking and positioning assembly comprises a multi-degree-of-freedom rotating pod and an imaging device, the multi-degree-of-freedom rotating pod drives the imaging device to rotate, and the imaging device transmits image information to the controller;
the detection assembly detects environmental parameters and transmits detection data to the controller, the controller receives the detection data, judges whether a fire disaster occurs or not, determines a thermal radiation source according to imaging information, determines a fire center area, controls the fire-fighting robot body to move to the position near the fire center area, and controls the fire-fighting bomb mechanism to work to realize fire extinguishing.
Among the above-mentioned technical scheme, utilize fire-fighting robot, can remove in a flexible way in tunnel and utility tunnel whole area, detect the various data of each point, realize early warning in advance, can in time put out a fire when taking place the condition of a fire simultaneously, and can fix a position the fire source fast, restrain the condition of a fire in the state of sprouting.
As a possible implementation manner, the detection assembly is a gas detection assembly, and specifically comprises a plurality of gas detection probes, and the gas detection probes are arranged on the fire-fighting robot body through fixing parts and used for monitoring the gas content in the surrounding environment of the fire-fighting robot body in real time.
Gas detection probes include, but are not limited to, O2、CO、H2S, combustible gas detection probes, wherein the types of the detection probes can be the same or different.
As a possible embodiment, the fire-fighting bomb mechanism comprises a dry-powder fire-fighting bomb and a control switch, and the emission of the dry-powder fire-fighting bomb is controlled by the control switch.
As a possible implementation manner, the fire-fighting bomb mechanism is arranged on the robot body through the cradle head, and the angle of the fire-fighting bomb launched by the fire-fighting bomb mechanism is controlled by controlling the motion of the cradle head.
As a possible implementation manner, the detection assembly is a temperature detection assembly, and specifically comprises a plurality of temperature detection probes and a fixing member, wherein the temperature detection probes are arranged on the fire-fighting robot body through the fixing member, and are used for monitoring the temperature in the surrounding environment of the fire-fighting robot body in real time.
As a possible implementation manner, the detection assembly is a smoke detection assembly, and specifically comprises a plurality of smoke detection probes and a fixing member, wherein the smoke detection probes are arranged on the fire-fighting robot body through the fixing member, and are used for monitoring the smoke concentration in the surrounding environment of the fire-fighting robot body in real time.
As a possible implementation, the detection assembly includes a plurality of sensor probes containing at least one of gas, temperature and smoke sensor probes.
As a possible implementation, the fire-fighting robot body is arranged on a guide rail laid above the tunnel and the comprehensive pipe gallery.
As a possible implementation, the imaging device includes, but is not limited to, one or more of an infrared imager, an ultraviolet imager, and a visible light camera.
As a possible implementation manner, a positioner is arranged on the fire-fighting robot body.
As a possible implementation manner, the walking mechanism of the fire-fighting robot body comprises a driving mechanism, a transmission mechanism and symmetrically arranged steering arms, wherein a plurality of groups of pressing guide wheels are arranged on the inner sides of the steering arms, the driving mechanism drives the pressing guide wheels through the transmission mechanism, and the pressing guide wheels are matched with the guide rails and can move along the guide rails;
the walking mechanisms comprise two sets which are respectively arranged at the front end and the rear end of the fire-fighting robot body.
As a possible implementation manner, the fire-fighting robot body is further provided with an ultrasonic obstacle avoidance assembly, and the ultrasonic obstacle avoidance assembly specifically comprises a plurality of ultrasonic radars and infrared pyroelectric sensors which are installed around the fire-fighting robot body.
The utility model provides a tunnel and utility tunnel intelligence fire extinguishing system, includes a plurality of foretell fire-fighting robot, control center and fire control auxiliary system, fire-fighting auxiliary system includes along a plurality of automatic fire doors that set up in tunnel and the utility tunnel at the interval, control center receives the information of each fire-fighting robot's controller, acquires fire source information and fire-fighting robot positional information to control each fire-fighting robot's removal and work, and the automatic switching of preventing fire door.
The fire-fighting robot is dispatched by closing the automatic fireproof doors on two sides of the area where the fire source is located, so that the fire spreading is effectively blocked and the fire is quickly extinguished.
As a possible embodiment, the automatic fire door includes a fire door, a driving mechanism that drives the fire door to ascend or descend, and a limit switch disposed at a predetermined position.
As a possible implementation mode, the system further comprises a plurality of charging boxes which are arranged in the tunnel and the comprehensive pipe gallery at intervals.
According to the working method based on the system, fire environment factors are detected, detection data are reported to the control center in real time, the control center analyzes the detection data reported by the intelligent fire-fighting robots, when the detection data are abnormal, an alarm is given immediately and the fire-fighting auxiliary system is started, automatic fire doors on two sides of an area corresponding to the abnormal data are commanded to be closed, a suspected fire area is sealed, adjacent fire-fighting robots are regulated and controlled to move to the suspected fire area, the suspected fire area is subjected to temperature judgment, the highest temperature position is considered to be the fire center area, and fire extinguishing bombs are projected towards the fire center area.
As a possible implementation manner, when the adjacent fire-fighting robot is regulated and controlled to move to a suspected fire area, after the fire-fighting robot detects that the automatic fire door is adjacent, the automatic fire door is opened by a certain height, so that the fire-fighting robot closes the automatic fire door again after passing through the automatic fire door.
As a possible implementation mode, a fire-fighting robot is dispatched from two sides of a suspected fire area during regulation and control. Can realize extinguishing fire from both sides simultaneously, further guarantee the rapidity.
As a possible implementation mode, the control center compares the relative position information of the fire source and the intelligent fire-fighting robot, and controls the corresponding fire-fighting robot to operate above the fire source to carry out fire extinguishing work.
As a possible implementation mode, the detection component detects the gas content in the tunnel, the automatic fire source tracking and positioning component detects the frequency band of flame light, and the control center receives the detection data, amplifies and processes the data, and judges the area of the fire center; the data that imaging device was gathered at the fire source position is uploaded to the robot body, and the robot utilizes image assistance location technique to carry out data conversion to the flame image after the image location and infrared image center, forms the flame image coordinate.
Meanwhile, if the ignition range covers the running track of the fire-fighting robot above, the fire-fighting robot is controlled to run to the uncovered area of the running track, the cradle head is adjusted, and the angle of the fire-fighting bomb mechanism is changed to enable the fire-fighting bomb to be launched towards the ignition center area.
Of course, the process can be used as a primary fire extinguishing mode, the inspection is continuously carried out after the primary fire extinguishing mode, if the area with the temperature exceeding the set threshold value still exists, the fire-fighting robot is scheduled to run to the corresponding position, and the secondary fire extinguishing mode is carried out.
As an alternative embodiment, the control process of the fire fighting robot projecting fire extinguishing bombs towards the fire center area comprises:
after receiving a fire extinguishing instruction, acquiring a field environment numerical value;
judging whether the field environment value exceeds a corresponding threshold value;
if yes, judging whether a manual switch of the fire extinguishing bomb is turned on or not;
if yes, the fire extinguishing bomb is detonated.
Wherein, when the field environment value exceeds the corresponding threshold, the method further comprises:
and lightening a warning lamp to warn an operator that the fire extinguishing bomb is about to detonate.
Wherein the field environment values include smoke concentration, temperature, and humidity.
Wherein judging whether the field environment value exceeds a corresponding threshold value comprises:
judging whether the smoke concentration exceeds a first threshold value or not to obtain a first judgment result;
judging whether the temperature exceeds a second threshold value or not to obtain a second judgment result;
judging whether the humidity is smaller than a third threshold value or not to obtain a third judgment result;
and when any one of the first judgment result, the second judgment result and the third judgment result is yes, executing a step of judging whether a manual switch of the fire extinguishing bomb is turned on.
Compared with the prior art, the beneficial effect of this disclosure is:
the utility model discloses the novelty provides fire signal detection method of multisensor data fusion, has developed a tunnel and utility tunnel intelligence fire-fighting robot, can be fast in tunnel and the whole complex area of utility tunnel, nimble, steady removal, detects the various data of each point, realizes early warning in advance, can in time put out a fire when taking place the condition of a fire simultaneously, and can be fast, pinpoint the fire source, restrain the intensity of a fire in the state of sprouting.
The fire-fighting robot is integrated with a detection component and a fire source automatic tracking and positioning component, so that the field environment factors can be analyzed and processed timely, accurately and efficiently; can be quick, nimble, steady removal in tunnel and the whole complex area of utility tunnel, detect the various data of each point, realize early warning in advance, can in time put out a fire when taking place the condition of a fire simultaneously, and can be quick, pinpoint the burning things which may cause a fire disaster, restrain the condition of a fire in the state of sprouting.
The walking mechanism comprises two sets, and a double-drive control mode is adopted to effectively provide motion power for the fire-fighting robot, so that the fire-fighting robot is suitable for various complex tunnel and pipe gallery environments.
The tunnel and comprehensive pipe gallery background management and control system effectively combines the tunnel and comprehensive pipe gallery intelligent fire-fighting robot and the fire-fighting auxiliary system, so that multiple functions of fire prediction, alarming, fire fighting and the like are realized, loss caused by fire is reduced, and fire-fighting efficiency is improved.
The tunnel fire-fighting robot fire extinguishing bomb abnormal control signal hardware isolation technology effectively cuts off an abnormal signal transmission path and improves the reliability and safety of a control system; a method for judging abnormal control signals of the fire extinguishing bomb of the tunnel fire-fighting robot based on multi-sensor fusion is designed, and misoperation caused by single-factor abnormality is effectively avoided.
According to the flame detector, the infrared camera and the ultraviolet camera, data collected by the flame detector, the infrared camera and the ultraviolet camera are combined, flame image information is converted into flame space coordinate information, the problem that the flame position cannot be accurately positioned is solved, and the flame is quickly prepared and positioned. Utilize the angle of cloud platform adjustment fire control bullet mechanism, realize accurate putting out a fire.
The fire alarm system utilizes various detection devices to collect various fire signals such as gas, temperature, smoke, flame and the like, analyzes and processes the various fire signals, thereby determining a fire area in a short time, linking the data analysis system with the fire-fighting robot, restraining the fire in a bud state in the shortest time, and overcoming the difficult problems that the fire is missed and misreported in the tunnel and the fire source position cannot be determined in the first time.
Can realize early warning in advance simultaneously, can in time put out a fire when taking place the condition of a fire, utilize fire source automatic tracking locating component to realize the accurate location to fire source central point, and can fix a position the fire source fast, contain the condition of a fire in the state of sprouting.
The fire fighting system comprises an auxiliary mechanism, a fire control system and a fire control system, wherein the auxiliary mechanism is used for commanding the automatic fire door to be in a closed working state, sealing a suspected fire area and blocking the continuous spread of fire;
the two intelligent fire-fighting robots can be controlled to move to two sides of a suspected fire area, fire is extinguished in the fire area in a linkage mode, and the fire can be extinguished quickly.
This openly has solved the limited problem of fire control bullet quantity, can be under the complex environment of utility tunnel, and the effect of putting out a fire is guaranteed to fire control bullet projection to the central zone that catches fire (the highest region of temperature) as far as possible.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a structural diagram of an intelligent fire-fighting robot for tunnels and a comprehensive pipe rack;
FIG. 2 is a diagram of internal components of an intelligent fire-fighting robot for tunnels and utility tunnels;
FIG. 3 is a motion control and positioning assembly;
FIG. 4 is a block diagram of a tunnel and utility tunnel intelligent fire-fighting robot fire-fighting system;
fig. 5 is a schematic view of a traveling mechanism.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The utility model provides a tunnel and utility tunnel intelligence fire extinguishing system based on big data analysis technique, it includes a plurality of tunnels and utility tunnel intelligence fire-fighting robot, fire control auxiliary control system and backstage system.
Wherein, fire-fighting robot moves on the track of hoist and mount in advance in tunnel and utility tunnel, and fire-fighting robot contains the fire-fighting robot body, is provided with motion control and locating component, temperature and humidity detection subassembly, smog monitoring components, fire source automatic tracking locating component, power control subassembly, supersound on the body and keeps away barrier subassembly, communication control subassembly, gaseous detection subassembly and fire control bullet subassembly.
The motion control and positioning component 1 comprises a pressing guide wheel set 1-1, a friction driving wheel 1-2, a steering arm 1-3, a transmission gear set 1-4 and a servo motor 1-5. The two steering arms 1-3 are symmetrically and oppositely arranged, a pressing guide wheel set 1-1 is arranged on each inner side, a driving mechanism (in the embodiment, a servo motor 1-5) drives the pressing guide wheel set 1-1 through a transmission mechanism (in the embodiment, a transmission gear set 1-4), and the pressing guide wheel set 1-1 is matched with the track and can move along the track.
The temperature and humidity detection component 2 is composed of a temperature and humidity detection integrated sensor.
The smoke monitoring component 3 comprises a smoke detection probe, so that the smoke content in the environment can be accurately monitored in real time.
The power control assembly 4 comprises a lithium battery pack, a battery management control panel and a charging module, wherein the battery management control panel is connected with the lithium battery pack and can monitor each battery in real time, and the charging module is configured to judge the capacity of the battery and charge the battery in time.
The ultrasonic obstacle avoidance assembly 5 comprises two groups of ultrasonic radars and infrared pyroelectric sensors which are arranged in the front and at the back of the robot.
The communication control component 6 comprises an industrial personal computer, a wireless network bridge and a communication board card. The industrial personal computer is connected with the wireless network bridge and the communication board card and is used for communication between the fire-fighting robot and the background system.
The fire extinguishing bomb component 7 comprises a dry powder type fire extinguishing bomb, a fire extinguishing bomb electric control switch and an installation fixing support, wherein the fire extinguishing bomb electric control switch controls the dry powder type fire extinguishing bomb to work, and the installation fixing support is used for installing the dry powder type fire extinguishing bomb.
The fire source automatic tracking and positioning assembly 8 comprises a multi-degree-of-freedom rotating pod, an infrared imager, an ultraviolet imager, a visible light camera and a flame detector, wherein the multi-degree-of-freedom rotating pod can drive the infrared imager, the ultraviolet imager, the visible light camera and the flame detector to rotate.
The gas detecting unit 9 contains O2、CO、H2And the S or/and the combustible gas detection probe accurately monitors the content of the environmental gas in real time.
Of course, in other embodiments, only one or more of the temperature and humidity detecting assembly, the smoke monitoring assembly and the gas detecting assembly may be provided.
In the case of a fire, various fire signals such as temperature, smoke, flame, gas, etc. are generated. The gas detection component detects the gas content in the tunnel, and the robot background program analyzes and reports the detected data. And a flame detector in the fire source automatic tracking and positioning assembly detects and amplifies the frequency band of flame light and processes data to judge the position of the fire source. The data collected by the infrared imager, the ultraviolet imager and the visible light camera at the fire source position are uploaded to the robot body, and the robot performs data conversion on the flame image after image positioning and the infrared image center by using an image auxiliary positioning technology to form a flame image coordinate.
The fire-fighting auxiliary system comprises an automatic fire-proof door assembly, a control box assembly and a charging box assembly.
Specifically, the method comprises the following steps:
the automatic fireproof door assembly comprises a servo motor, a fireproof door, a transmission gear and a limit switch, wherein the servo motor drives a rotating shaft to rotate through the transmission gear, so that the fireproof door is driven to open and close, the limit switch can be provided with a plurality of setting positions, and the size of the fireproof door is controlled to open and close.
The control box assembly comprises an industrial personal computer, a relay, a communication module and an air switch. The control box assembly is a link between the robot body and the robot background operating system, data collected by the robot body are transmitted to the industrial personal computer through the communication module, the industrial personal computer has strong data operation and processing capabilities, and data information processed by the industrial personal computer is uploaded to the robot background operating system through the communication module. The background control system of the robot issues instructions to control the actuation of the relay and the action of the air switch through the industrial personal computer, so that the running and the stopping of the robot are realized.
The charging box assembly comprises a plurality of charging box assemblies, the charging box assemblies are arranged in a tunnel and a comprehensive pipe gallery at intervals and comprise a power module and a communication module, the communication module in the charging box is matched with the communication module in the control box, a data communication channel is established, and data transmission is achieved. And the industrial personal computer in the control box transmits the electric quantity data of the robot body to the power supply module through the communication module. The power module processes the data, and when the electric quantity of the robot reaches a charging instruction, the charging instruction is sent to the control box through the communication module, so that the robot is controlled to run to a wireless charging position to perform charging operation.
Tunnel and utility tunnel intelligence fire-fighting robot pass through motion control and locating component 1 and realize drive, motion direction, speed control and the body position location of intelligence fire-fighting robot. Motion control and locating component 1 arrange in the front and back both sides of robot body, and two drive modes provide powerful drive power for fire-fighting robot, make intelligent fire-fighting robot can well adapt to the complicated changeable space environment of tunnel and utility tunnel.
The pressing guide wheel set in the motion control and positioning assembly 1 comprises 1-1 pressing springs, multi-dimensional elastic limiting of the roller wheel set to the track is achieved, the positioning assembly comprises 3 independent silica gel holding wheels 2-2, the holding wheels on two sides are installed on fixing blocks 2-5, the fixing blocks are respectively provided with the springs 2-1, and the fixing blocks are fixed with the supporting frames 2-6 through split pins 2-4 through pin shafts 2-3. The pressure of the spring is passed through to the wheel of hugging closely of both sides, has realized hugging closely the track to stability when intelligent fire-fighting robot moves has been improved. The intelligent fire-fighting robot for the tunnel and the comprehensive pipe gallery adopts a lithium battery as a power source, the control system of the intelligent fire-fighting robot monitors and analyzes real-time state information such as voltage, current, capacity and traveling mileage of the battery, and the intelligent fire-fighting robot is controlled to independently charge through the battery management related modules.
The fire-fighting auxiliary control system comprises an automatic fire-proof door assembly, a control box assembly and a charging box assembly. A plurality of linkage tunnels and an intelligent fire-fighting robot of a comprehensive pipe rack, a fire-fighting auxiliary system and a background control system platform form a set of tunnel and comprehensive pipe rack intelligent fire-fighting system.
The intelligent fire-fighting robot utilizes the temperature and humidity detection component, the smoke monitoring component, gaseous detection component and the automatic fire source tracking positioning component detect fire environment factors, the detection data is reported to the tunnel and the comprehensive pipe gallery control background system in real time, the system analyzes the detection data reported by the intelligent fire-fighting robot, when the detection data is found to be abnormal, the system immediately gives an alarm and starts a fire-fighting auxiliary system through the background, the system establishes contact with the automatic fire-fighting door assembly through a communication module in the control box assembly, the automatic fire-fighting door is in a closing working state according to the command, and a suspected fire area is sealed. The charging box assembly provides electric support for functional elements such as a motor in the automatic fireproof door assembly. The charging box assembly, the control box assembly and the automatic fireproof door assembly are mutually connected and controlled through respective communication modules.
Tunnel and utility tunnel backstage management and control system control two intelligent fire-fighting robot move to the regional both sides of suspected conflagration, and the automatic state of preventing fire is judged to ultrasonic obstacle avoidance subassembly 5 on the intelligent fire-fighting robot, and intelligent fire-fighting robot backstage links with the automatic assembly of preventing fire, and intelligent fire-fighting robot gets into the conflagration region through preventing fire automatically, and automatic fire prevention door is closed once more immediately.
The two intelligent fire-fighting robots analyze the real-time data of each monitoring assembly to quickly find the fire source position. When confirming the conflagration position, an intelligence fire-fighting robot realizes the accurate location to fire source central point through fire source automatic tracking locating component, and intelligence fire-fighting robot moves and opens fire control bullet subassembly 7 to the accurate position of fire source and puts out a fire the operation. And the other intelligent fire-fighting robot stops at a fire source area according to the fire extinguishing condition to keep a standby state and prepare for fire extinguishing operation.
The fire source automatic tracking and positioning assembly collects data such as infrared sensing information, ultraviolet sensing information, visible light image information and the like, and if an unexpected fire occurs, the fire source automatic tracking and positioning assembly takes a large amount of radiant rays released by combustion objects during combustion as targets, and a thermosensitive device is arranged in the flame detector to detect and amplify a frequency band of flame light and process data to judge the position of the fire source. The data collected by the infrared imager, the ultraviolet imager and the visible light camera at the fire source position are uploaded to the robot body, and the robot performs data conversion on the flame image after image positioning and the infrared image center by using an image auxiliary positioning technology to form a flame image coordinate for positioning. According to the fire source coordinate position, the robot is according to the instruction that the industrial computer assigned, and the body passes through motion control and positioning assembly 1 and communication control subassembly 6 and moves the robot in the fire source top, and positional information is uploaded to the robot, and the backstage system of robot receives information, gives 7 electric signal commands of automatically controlled fire control bullet subassembly and puts out a fire work.
In other embodiments, the fire-fighting bomb assembly 7 can be arranged on the robot through the cradle head, and the angle of the fire-fighting bomb mechanism for launching the fire-fighting bomb to the fire center area is controlled by controlling the movement of the cradle head.
When the fire range is large, and the running track right above the fire center area is not suitable for the robot to stop, the fire-fighting robot can be controlled to run to the area where the track is not affected, the rotation of the holder is adjusted, the angle of the fire-fighting bomb mechanism is changed, the fire-fighting bomb is enabled to face the fire center area, and the fire-fighting bomb is launched.
Certainly, above-mentioned process can be regarded as once putting out a fire, once put out a fire the back, continues to patrol and examine, through detecting surrounding environment, if find still to have the high temperature, then think that there is the source of a fire still, and the dispatch is close to fire-fighting robot and is moved to the relevant position, repeats above-mentioned process and carries out the secondary and put out a fire.
Such design can be fit for the complicated environment of utility tunnel complicacy, also can overcome the limited problem of fire control bullet quantity that the robot carried at every turn, utilizes flame image and infrared image center to confirm that the center of catching fire is regional, puts in the fire control bullet to the center of catching fire regional, guarantees the reliability of putting out a fire.
Meanwhile, the system can be used for multiple inspection and multiple extinguishment, so that the extinguishment effect is ensured.
When controlling the fire bomb assembly, the control process comprises the following steps:
s101: after receiving a fire extinguishing instruction, acquiring a field environment numerical value;
fire suppression instructions typically originate from an alarm device, or tunnel inspection robot in the tunnel. When the fire extinguishing instruction comes from the tunnel detection robot, the controller is connected with the tunnel detection robot through the communication module, and the controller acquires the field environment value after receiving the fire extinguishing instruction.
The field environment value refers to an environment value in a corresponding environment, and it is easy to understand that the monitoring range for the fire is wide, and the fire generally exists at a primary occurrence place and does not directly cover all fire monitoring areas. Similarly, the fire extinguishing instruction includes the location of the fire and the current status of the fire, such as real-time temperature, fire coverage, etc., and the field environment value refers to the environment value of the surrounding field at the first discovery time after the fire is detected, which includes but is not limited to smoke concentration, temperature, humidity, etc., but also may be other values, such as fire coverage area and fire delay rate (which needs to be calculated by means of a camera and a corresponding processing module), etc.
The obtaining of the field environment value mainly refers to the controller obtaining a detection value of an external sensor, where the external sensor may include a smoke sensor, a temperature and humidity sensor, and the like, and may also be other sensors related to fire protection, which is not limited herein.
S102: judging whether the field environment value exceeds a corresponding threshold value; if yes, entering S103;
in this step, it is required to determine whether the field environment value exceeds the corresponding threshold, and as can be seen from step S101, the field environment value is not a single value, but a plurality of environment measurement values, and each environment measurement value needs to be determined one by one.
Preferably, the step can be judged in the following way:
judging whether the smoke concentration exceeds a first threshold value or not to obtain a first judgment result;
judging whether the temperature exceeds a second threshold value or not to obtain a second judgment result;
judging whether the humidity is smaller than a third threshold value or not to obtain a third judgment result;
and executing S103 when any one of the first judgment result, the second judgment result and the third judgment result is yes.
The specific values of the first threshold, the second threshold, and the third threshold are not limited herein, and should be set by those skilled in the art according to the actual application environment. And if any value exceeds the corresponding threshold value, the possibility of fire disaster is indicated. Therefore, it is easily understood that the above three determination processes are not performed in a strict order, and may be performed even simultaneously.
In addition, if the field environment value does not exceed the corresponding threshold value, the fire extinguishing instruction is considered to be possibly wrong. At this time, the information can be reported to the background for further confirmation of the fire extinguishing instruction and the like.
S103: judging whether a manual switch of the fire extinguishing bomb is turned on or not; if yes, entering S104;
if it is determined in S102 that there is an abnormal field environment value, this step determines whether or not the manual switch of the fire extinguishing bomb is turned on. The manual switch of the fire extinguishing bomb is used for manually starting the fire extinguishing bomb, and if the manual switch of the fire extinguishing bomb is in a closed state in an automatic fire detection system, the fire extinguishing bomb can be automatically released. Therefore, this step requires detecting whether the manual switch of the fire extinguishing bomb is turned on.
Of course, if the manual switch of the fire extinguishing bomb is not turned on, the tunnel detection robot or the related person may be notified to turn on the manual switch.
When this application is applied to the tunnel fire control of cooperating with tunnel detection robot, if the robot is in full-automatic on duty mode, can make hand switch keep the closure state to the realization uses the robot to accomplish the operation of putting out a fire as the main part and accomplish. If the robot is in the non-full-automatic on-duty mode, the manual switch can be kept in an off state.
S104: detonating the fire extinguishing bomb.
And when the manual switch of the fire extinguishing bomb is confirmed to be opened, the fire extinguishing bomb is detonated. The glass balls of the fire extinguishing bomb are usually detonated by a temperature control device of the fire extinguishing bomb, after which the fire extinguishing bomb succeeds in fire extinguishing.
This application embodiment is after receiving the instruction of putting out a fire, and not directly explode the fire extinguishing bomb, but acquires site environment numerical value earlier to confirm whether real conflagration breaing out of site environment, if it has the conflagration to take place to judge according to site environment numerical value certainty, judge whether the manual switch of fire extinguishing bomb opens this moment, in case the manual switch opens, explode the fire extinguishing bomb again. The fire extinguishing device has the advantages that the loss caused by the detonation of the fire extinguishing bomb due to the fire extinguishing instruction caused by misjudgment when the environment is not abnormal is guaranteed, the reliability is high, and the misoperation can be effectively prevented.
Based on the foregoing embodiment, as a preferred embodiment, when the field environment value exceeds the corresponding threshold, the method further includes:
and lightening a warning lamp to warn an operator that the fire extinguishing bomb is about to detonate.
In existing fire fighting applications, the fire extinguishing bomb is usually controlled to be detonated by a tunnel detection robot. In the production process of the tunnel detection robot, repeated tests and tests are required to ensure that the fire extinguishing bomb can be timely and accurately detonated. However, the fire extinguishing bomb is accidentally detonated due to false alarm of the sensor in the debugging process, and harm is caused to field personnel. Therefore, the warning lamp can be utilized to light the fire extinguishing bomb when the fire extinguishing bomb is about to detonate, and the operator is prompted that the fire extinguishing bomb is about to detonate.
In this embodiment, the step of lighting the warning light is executed after confirming that the field environment value exceeds the corresponding threshold value, and of course, the step of lighting the warning light may also be executed after confirming that the manual switch of the fire extinguishing bomb is turned on after the step S103 in the previous embodiment is completed, and at this time, the method for controlling the fire extinguishing bomb in the tunnel provided by the present application may be as follows:
s201: after receiving a fire extinguishing instruction, acquiring a field environment numerical value;
s202: judging whether the field environment value exceeds a corresponding threshold value; if yes, go to step S203;
s203: judging whether a manual switch of the fire extinguishing bomb is turned on or not; if yes, go to step S204;
s204: illuminating a warning lamp to warn an operator that the fire extinguishing bomb is about to detonate;
s205: detonating the fire extinguishing bomb.
Be provided with control terminal on the fire-fighting robot, specifically include:
the controller is used for receiving the field environment value, judging whether the field environment value exceeds a corresponding threshold value, judging whether a manual switch of the fire extinguishing bomb is turned on, and sending a driving signal to the driving module when the manual switch is turned on;
the peripheral sensor is connected with the controller and used for acquiring the field environment value;
the communication module is connected with the controller and used for receiving a fire extinguishing instruction;
the driving module is connected with the controller and used for transmitting the driving signal;
and the manual switch is connected with the driving module and the controller and is used for detonating the fire extinguishing bomb after receiving the driving signal and when the switch is closed.
The peripheral sensors mainly refer to smoke sensors, temperature and humidity sensors, and the like, and are not particularly limited herein. The communication module may include an RS232 and/or RS485 interface. The driving module is mainly used for sending a driving signal to the manual switch, and the type and content of the driving signal are not particularly limited as long as the driving module can cause the manual switch to be closed to detonate the fire extinguishing bomb.
Of course, the controller can also acquire the state of the manual switch through the driving module.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (18)
1. The utility model provides a tunnel and utility tunnel intelligence fire-fighting robot, characterized by: the fire-fighting robot comprises a fire-fighting robot body, wherein a fire-fighting bomb mechanism, a fire source automatic tracking and positioning assembly, a detection assembly and a controller are arranged on the fire-fighting robot body, and the fire-fighting bomb mechanism projects a fire-fighting bomb according to a control instruction;
the automatic fire source tracking and positioning assembly comprises a multi-degree-of-freedom rotating pod and an imaging device, the multi-degree-of-freedom rotating pod drives the imaging device to rotate, and the imaging device transmits image information to the controller;
the detection assembly detects environmental parameters and transmits detection data to the controller, the controller receives the detection data, judges whether a fire disaster occurs or not, determines a thermal radiation source according to imaging information, further determines a fire center position, controls the fire-fighting robot body to move to the fire center position, and controls the fire-fighting bomb mechanism to work;
through the nimble removal of fire-fighting robot body in tunnel and utility tunnel, detect each point environmental information in tunnel and the utility tunnel, realize early warning in advance to in time put out a fire when taking place the condition of a fire, and quick, accurate location fire source, suppression intensity of a fire.
2. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: the detection assembly is a gas detection assembly and specifically comprises a plurality of gas detection probes, and the gas detection probes are arranged on the fire-fighting robot body through fixing parts and are used for monitoring the gas content in the surrounding environment of the fire-fighting robot body in real time;
the fire-fighting robot comprises a fire-fighting robot body, a detection assembly and a control assembly, wherein the detection assembly comprises a temperature detection assembly, and specifically comprises a plurality of temperature detection probes and a fixing piece, and the temperature detection probes are arranged on the fire-fighting robot body through the fixing piece and are used for monitoring the temperature in the surrounding environment of the fire-fighting robot body in real time;
or/and, the detection component comprises a smoke detection component, and specifically comprises a plurality of smoke detection probes and a fixing piece, wherein the smoke detection probes are arranged on the fire-fighting robot body through the fixing piece, and the smoke concentration in the surrounding environment of the fire-fighting robot body is monitored in real time.
3. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: the detection assembly includes a plurality of sensor probes including at least one of gas, temperature and smoke sensor probes;
alternatively, the imaging device includes, but is not limited to, one or more of an infrared imager, an ultraviolet imager, and a visible light camera.
4. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: the fire-fighting bomb mechanism comprises a dry powder type fire-fighting bomb and a control switch, and the launching of the dry powder type fire-fighting bomb is controlled by the control switch.
5. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: the walking mechanism of the fire-fighting robot body comprises a driving mechanism, a transmission mechanism and symmetrically arranged steering arms, wherein a plurality of groups of pressing guide wheels are arranged on the inner sides of the steering arms, the driving mechanism drives the pressing guide wheels through the transmission mechanism, and the pressing guide wheels are matched with the guide rails and can move along the guide rails;
the walking mechanisms comprise two sets which are respectively arranged at the front end and the rear end of the fire-fighting robot body.
6. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: still be provided with supersound on the fire-fighting robot body and keep away barrier subassembly, specifically include a plurality of ultrasonic radar and infrared ray pyroelectric sensor of installation around the fire-fighting robot body.
7. The intelligent fire-fighting robot for tunnels and utility tunnels as claimed in claim 1, wherein: and the fire-fighting robot body is provided with a positioner.
8. The utility model provides a tunnel and utility tunnel intelligence fire extinguishing system, characterized by: the fire-fighting robot, the control center and the fire-fighting auxiliary system comprise a plurality of fire-fighting robots of any one of claims 1 to 7, the fire-fighting auxiliary system comprises a plurality of automatic fire-fighting doors arranged at intervals in a tunnel and a comprehensive pipe gallery, the control center receives information of controllers of all the fire-fighting robots, comprehensively analyzes various fire signals, determines fire areas, is linked with the fire-fighting robots, acquires fire source information and fire-fighting robot position information, controls the movement and work of all the fire-fighting robots, and controls the opening and closing of the automatic fire-fighting doors to restrain fire in a bud state in the shortest time.
9. The intelligent fire fighting system for tunnels and utility tunnels as claimed in claim 8, wherein: the automatic fireproof door comprises a fireproof door and a driving mechanism, wherein the driving mechanism drives the fireproof door to ascend or descend, and the automatic fireproof door further comprises a limit switch arranged at a preset position.
10. The intelligent fire fighting system for tunnels and utility tunnels as claimed in claim 8, wherein: the system still includes the charging case, the charging case includes a plurality ofly, and the interval sets up in tunnel and utility tunnel.
11. Method of operating a system according to any of claims 8-10, characterized by: detecting fire environment factors, reporting detection data to a control center in real time, analyzing the detection data reported by each intelligent fire-fighting robot by the control center, combining various collected data, converting flame image information into flame space coordinate information, and realizing accurate positioning of flame positions;
when the detected data are abnormal, the alarm is given at once, the fire-fighting auxiliary system is started, the automatic fire doors on two sides of the area corresponding to the abnormal data are commanded to be closed, the suspected fire area is sealed, the adjacent fire-fighting robot is regulated and controlled to move to the suspected fire area, the temperature of the suspected fire area is judged, the highest temperature position is considered to be a fire center area, and fire extinguishing bombs are projected towards the fire center area.
12. The method of operation of claim 11, wherein: when the adjacent fire-fighting robot is regulated and controlled to move to a suspected fire area, after the fire-fighting robot detects that the automatic fire door is adjacent, the automatic fire door is opened by a certain height, so that the fire-fighting robot closes the automatic fire door again after passing through the automatic fire door;
or, respectively scheduling a fire-fighting robot from two sides of the suspected fire area during regulation and control.
13. The method of operation of claim 11, wherein: the control center compares the fire source with the relative position information of the intelligent fire-fighting robot, and the corresponding fire-fighting robot is controlled to operate above the fire source to carry out fire extinguishing work.
14. The method of operation of claim 11, wherein: the detection assembly detects the gas content in the tunnel, the fire source automatic tracking and positioning assembly detects the frequency band of flame light, and the control center receives the detection data, amplifies and processes the data and judges the position of the fire source; the data that imaging device was gathered at the fire source position is uploaded to the robot body, and the robot utilizes image assistance location technique to carry out data conversion to the flame image after the image location and infrared image center, forms the flame image coordinate.
15. The method of operation of claim 11, wherein: when the fire range is large and the running track right above the fire center area is not suitable for the robot to stop, the fire-fighting robot is controlled to run to the area where the track is not affected, the rotation of the holder is adjusted, the angle of the fire-fighting bomb mechanism is changed to enable the fire-fighting bomb mechanism to face the fire center area, and the fire-fighting bomb is launched.
16. The method of operation of claim 11, wherein: the control process of the fire-fighting robot projecting fire extinguishing bombs to the fire center area comprises the following steps:
after receiving a fire extinguishing instruction, acquiring a field environment numerical value;
judging whether the field environment value exceeds a corresponding threshold value;
if yes, judging whether a manual switch of the fire extinguishing bomb is turned on or not;
if yes, the fire extinguishing bomb is detonated.
17. The method of operation of claim 16, wherein: when the field environment value exceeds the corresponding threshold value, the method further comprises the following steps:
and lightening a warning lamp to warn an operator that the fire extinguishing bomb is about to detonate.
18. The method of operation of claim 16, wherein: the field environment values comprise smoke concentration, temperature and humidity;
wherein judging whether the field environment value exceeds a corresponding threshold value comprises:
judging whether the smoke concentration exceeds a first threshold value or not to obtain a first judgment result;
judging whether the temperature exceeds a second threshold value or not to obtain a second judgment result;
judging whether the humidity is smaller than a third threshold value or not to obtain a third judgment result;
and when any one of the first judgment result, the second judgment result and the third judgment result is yes, executing a step of judging whether a manual switch of the fire extinguishing bomb is turned on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253594.6A CN110893272A (en) | 2019-12-09 | 2019-12-09 | Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253594.6A CN110893272A (en) | 2019-12-09 | 2019-12-09 | Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110893272A true CN110893272A (en) | 2020-03-20 |
Family
ID=69788591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911253594.6A Pending CN110893272A (en) | 2019-12-09 | 2019-12-09 | Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110893272A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN113339049A (en) * | 2021-07-05 | 2021-09-03 | 山东交通学院 | Intelligent disaster reduction and rescue equipment for tunnel and working method thereof |
| CN113616965A (en) * | 2021-08-05 | 2021-11-09 | 南京久润安全科技有限公司 | Social unit integrated management system based on fire-fighting remote supervision service |
| CN114800560A (en) * | 2022-04-27 | 2022-07-29 | 招商局重庆交通科研设计院有限公司 | Heterogeneous modular robot for fire emergency dredging and controlling of long and long tunnel |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003535660A (en) * | 2000-06-23 | 2003-12-02 | ジャン−ピエール デモール，フレデリック | Fire extinguisher |
| CN103823438A (en) * | 2014-02-11 | 2014-05-28 | 广州供电局有限公司 | Track inspection robot system |
| CN104815407A (en) * | 2015-04-30 | 2015-08-05 | 山东康威通信技术股份有限公司 | System and method for linkage of electric power tunnel inspection robot and fire extinguishing system |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN108295407A (en) * | 2017-12-21 | 2018-07-20 | 山东康威通信技术股份有限公司 | Robot cable piping lane scene fire alarm and extinguishing method, device, system |
| CN108468568A (en) * | 2018-03-27 | 2018-08-31 | 深圳供电局有限公司 | A kind of Tunnel testing robot and its method for inspecting |
| KR20190023580A (en) * | 2017-08-29 | 2019-03-08 | (주)두업시스템 | Tunnel integrated disaster prevention system capable of accident monitoring, fire disaster prevention, and refugee relief into a tunnel |
| CN109794017A (en) * | 2019-01-21 | 2019-05-24 | 国家电网公司 | A kind of cable tunnel extinguishing method and system |
-
2019
- 2019-12-09 CN CN201911253594.6A patent/CN110893272A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003535660A (en) * | 2000-06-23 | 2003-12-02 | ジャン−ピエール デモール，フレデリック | Fire extinguisher |
| CN103823438A (en) * | 2014-02-11 | 2014-05-28 | 广州供电局有限公司 | Track inspection robot system |
| CN104815407A (en) * | 2015-04-30 | 2015-08-05 | 山东康威通信技术股份有限公司 | System and method for linkage of electric power tunnel inspection robot and fire extinguishing system |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| KR20190023580A (en) * | 2017-08-29 | 2019-03-08 | (주)두업시스템 | Tunnel integrated disaster prevention system capable of accident monitoring, fire disaster prevention, and refugee relief into a tunnel |
| CN108295407A (en) * | 2017-12-21 | 2018-07-20 | 山东康威通信技术股份有限公司 | Robot cable piping lane scene fire alarm and extinguishing method, device, system |
| CN108468568A (en) * | 2018-03-27 | 2018-08-31 | 深圳供电局有限公司 | A kind of Tunnel testing robot and its method for inspecting |
| CN109794017A (en) * | 2019-01-21 | 2019-05-24 | 国家电网公司 | A kind of cable tunnel extinguishing method and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN111672045B (en) * | 2020-05-21 | 2021-11-30 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN113339049A (en) * | 2021-07-05 | 2021-09-03 | 山东交通学院 | Intelligent disaster reduction and rescue equipment for tunnel and working method thereof |
| CN113339049B (en) * | 2021-07-05 | 2023-11-24 | 山东交通学院 | Intelligent disaster reduction and rescue equipment for tunnel and working method thereof |
| CN113616965A (en) * | 2021-08-05 | 2021-11-09 | 南京久润安全科技有限公司 | Social unit integrated management system based on fire-fighting remote supervision service |
| CN114800560A (en) * | 2022-04-27 | 2022-07-29 | 招商局重庆交通科研设计院有限公司 | Heterogeneous modular robot for fire emergency dredging and controlling of long and long tunnel |
| CN114800560B (en) * | 2022-04-27 | 2023-07-21 | 招商局重庆交通科研设计院有限公司 | Heterogeneous modularized robot for emergency evacuation control of fire disaster of long and large tunnel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110893272A (en) | Tunnel and comprehensive pipe gallery intelligent fire-fighting robot, system and method | |
| CN110917540B (en) | Fire-fighting robot system and method | |
| CN108295407B (en) | Robot cable pipe gallery on-site fire early warning and fire extinguishing method, device and system | |
| CN201164675Y (en) | Intelligent robot system for tunnel fire-fighting emergency | |
| US20200346057A1 (en) | Fire Protection Robot for Controlling Fire Fighting Devices, Corresponding Fire Protection System and Method for Its Operation | |
| CN110496355B (en) | Wisdom fire extinguishing system based on thing networking | |
| EP3991804A1 (en) | High temperature-resistant fire extinguishing robot and working method therefor | |
| KR102235308B1 (en) | Indoor space intelligent early fire extinguishing system and method | |
| CN105999598A (en) | Explosion-proof and fire fighting reconnaissance robot | |
| CN104815407A (en) | System and method for linkage of electric power tunnel inspection robot and fire extinguishing system | |
| CN110319888B (en) | Petrochemical inspection robot and working method thereof | |
| CN103823438A (en) | Track inspection robot system | |
| CN102836514B (en) | Automatic tracking and positioning jet fire extinguishing system | |
| RU2400633C1 (en) | System for confinement and suppression of methane-air mixtures and/or coal dust explosions in mines network | |
| KR100502181B1 (en) | Hybrid flame detector having self-checking function | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| CN105288920A (en) | Full-automatic fire-extinguishing and rescue robot system based on internal communication | |
| CN104952204A (en) | Intelligent mobile monitoring platform for security protection | |
| Chang et al. | Control architecture design for a fire searching robot using task oriented design methodology | |
| CN115666738A (en) | Fire extinguishing system, server, fire-fighting robot and fire extinguishing method | |
| Hossain et al. | design and implementation of an IoT based firefighting and affected area monitoring robot | |
| Suresh et al. | An Arduino Uno Controlled Fire Fighting Robot for Fires in Enclosed Spaces | |
| CN106971488A (en) | A kind of fire for disposing feed system for rotary kiln danger wastes prevents and treats system and method | |
| CN219275821U (en) | Normalized fire inspection early warning fire rescue platform based on heterogeneous robot team cooperation | |
| CN102085525A (en) | Fume hood with extinguishment monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |