CN110947137A - Intelligent fire extinguishing vehicle and control method thereof - Google Patents
Intelligent fire extinguishing vehicle and control method thereof Download PDFInfo
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- CN110947137A CN110947137A CN201911333979.3A CN201911333979A CN110947137A CN 110947137 A CN110947137 A CN 110947137A CN 201911333979 A CN201911333979 A CN 201911333979A CN 110947137 A CN110947137 A CN 110947137A
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- fire extinguishing
- extinguishing vehicle
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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Abstract
The invention discloses an intelligent fire extinguishing vehicle and a control method thereof, wherein the intelligent fire extinguishing vehicle comprises a control module, and a driving module, a display module, a fire source detection module, an obstacle avoidance module and a fire extinguishing module which are connected with the control module, and a power supply module supplies power to the modules. The intelligent fire extinguishing vehicle uses the infrared sensor to assist the photosensitive diode to detect the obstacles in the advancing process, and avoids the influence of the obstacles on the intelligent fire extinguishing vehicle.
Description
Technical Field
The invention relates to an intelligent fire extinguishing vehicle and a control method thereof, belonging to the field of fire fighting.
Background
A fire is called one of three disasters in nature. When a fire disaster occurs, the fire extinguishing working environment is very severe, and fire extinguishing tasks with high risks exist. Personnel are not well suited to accomplish these high risk fire fighting tasks, and thus a fire fighting vehicle is required.
The existing intelligent fire extinguishing vehicle adopts a photosensitive diode to detect the fire. In practical application, however, various obstacles can block the advance of the intelligent fire extinguishing vehicle, and the photosensitive diode cannot identify the obstacles.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an intelligent fire extinguishing vehicle and a control method thereof, which can avoid the influence of non-fire source obstacles on the fire extinguishing vehicle.
The technical scheme is as follows: the invention adopts the technical scheme that the intelligent fire extinguishing vehicle comprises a control module, and a driving module, a display module, a fire source detection module, an obstacle avoidance module and a fire extinguishing module which are connected with the control module, wherein the power supply module supplies power to the modules, and the intelligent fire extinguishing vehicle comprises a power supply module, a fire extinguishing vehicle body and a fire extinguishing vehicle body, wherein the power supply module supplies power to the fire extinguishing vehicle
The control module is used for controlling the running, detection and fire extinguishing of the intelligent fire extinguishing vehicle;
the driving module drives the motor to operate;
the display module is used for displaying the state information of the intelligent fire extinguishing vehicle;
the fire source detection module is used for detecting a fire source;
the obstacle avoidance module is used for detecting obstacles and realizing obstacle avoidance movement;
the fire extinguishing module comprises a water storage tank and a water pump connected to the water storage tank through a suction pipe.
The control module is an STC89C52 singlechip.
The STC89C52 single chip microcomputer is arranged according to a minimum system.
The power module adopts 6 sections of 1.5V dry batteries to be connected in series, and supplies power to other modules after passing through the 7805 voltage stabilizing chip.
The fire source detection module detects a fire source using a photodiode and a comparator.
The obstacle avoidance module is an E18-D50NK type infrared sensor.
A control method of an intelligent fire extinguishing vehicle comprises the following steps:
after initialization, the intelligent fire extinguishing vehicle sends out a prompt tone and starts to advance;
in the advancing process, the fire source detection module and the obstacle avoidance module continuously detect obstacles and fire sources;
when a non-fire source barrier is found, the intelligent fire extinguishing vehicle keeps going forward after avoiding the barrier;
when a fire source is found, the intelligent fire extinguishing vehicle extinguishes fire and turns to continue to advance.
Has the advantages that: the intelligent fire extinguishing vehicle uses the infrared sensor to assist the photosensitive diode to detect the obstacles in the advancing process, and avoids the influence of the obstacles on the intelligent fire extinguishing vehicle.
Drawings
FIG. 1 is a circuit diagram of a control module;
FIG. 2 is a circuit diagram of a driving module;
FIG. 3 is a circuit diagram of a power module;
FIG. 4 is a circuit diagram of a fire source detection module;
FIG. 5 is a circuit diagram of an obstacle avoidance module;
FIG. 6 is a flow chart of the operation of the intelligent fire-fighting vehicle;
fig. 7 is a circuit diagram of a display module.
Detailed Description
The present invention is further illustrated by the following figures and specific examples, which are to be understood as illustrative only and not as limiting the scope of the invention, which is to be given the full breadth of the appended claims and any and all equivalent modifications thereof which may occur to those skilled in the art upon reading the present specification.
The intelligent fire extinguishing vehicle comprises a control module, a power supply module, a driving module, a display module, a fire source detection module, an obstacle avoidance module and a fire extinguishing module.
The control module is an STC89C52 single chip microcomputer, and the single chip microcomputer is basically set according to a minimum system. As shown in fig. 1, thirty-two pins P0.7 through forty pins VCC are all connected to the resistor pack RP1, with forty pins VCC also connected to the 5V power supply. And then a reset circuit is configured, a crystal oscillator Y1 is connected in series between the eighteen pins XTAL2 and the nineteen pins XTAL1 of the singlechip, and the oscillation frequency of the crystal oscillator Y1 is 12 MHz. And a branch circuit is connected in parallel with two ends of the crystal oscillator Y1 and consists of a third capacitor C3 and a fourth capacitor C4 which are connected in series, wherein the common end point of the third capacitor C3 and the fourth capacitor C4 is grounded together with the twenty-pin GND. In addition, a reset function of the nine-pin RST is configured, the pin is connected to a 5V power supply through the second capacitor C2, and the nine-pin RST is grounded through the eleventh resistor R11. A second switch K2 is provided as a reset switch in parallel with the second capacitor C2.
The driving module adopts an L298N driving chip to drive the motor of the intelligent fire extinguishing vehicle, and the driving chip is a double-H-bridge motor driving chip. As shown in FIG. 2, the nine-pin VCC is connected to a 5V power supply, the four-pin VC is connected to a 9V power supply, and the eight-pin GND is grounded. One pin INA and fifteen pins ISB are both grounded through the interface. Five pin IN1, seven pin IN2, ten pin IN3, and twelve pin IN4 are all logic inputs. The six pins INA and the eleven pins INB are the enabling terminals for the control of the two motors, respectively, because L298N can drive two motors simultaneously. If the six-pin INA and the eleven-pin INB input PWM control signals, PWM speed regulation can be realized. Two OUT1 and three OUT2 pins are used to connect the first motor, and thirteen OUT3 and fourteen OUT4 pins are used to connect the second motor. Also used between the 9V power source and ground are thirteenth through sixteenth freewheeling diodes D13-D16, and twenty-first through twenty-fourth freewheeling diodes D21-D24. According to the prior art, these freewheeling diodes are connected to the input of the motor. A branch containing a light emitting diode is connected to the 5V power supply at five pin IN1, seven pin IN2, ten pin IN3, and twelve pin IN 4. For example, a nineteenth resistor R19 and a twenty-fifth led D25 are connected IN series from the five-pin IN1 to the 5V power supply, a twentieth resistor R20 and a nineteenth led D19 are connected IN series from the seven-pin IN2 to the 5V power supply, a twenty-first resistor R21 and a twenty-sixth led D26 are connected IN series from the ten-pin IN3 to the 5V power supply, and a twenty-second resistor R22 and a twenty-second led D20 are connected IN series from the twelve-pin IN4 to the 5V power supply. When the logic input is loaded to the pin, the corresponding light emitting diode is lightened to play a role in prompting. The nineteenth resistor R19, the twentieth resistor R20, the twenty-first resistor R21 and the twenty-second resistor R22 are all 1K ohm. Five pins IN1 IN logic input pins of the L298N driving chip are connected with twelve pins P3.2 of the singlechip, seven pins IN2 are connected with thirteen pins P3.3 of the singlechip, ten pins IN3 are connected with fourteen pins P3.4 of the singlechip, twelve pins IN4 are connected with fifteen pins P3.5 of the singlechip, six pins INA are connected with sixteen pins P3.6 of the singlechip, and eleven pins INB are connected with seventeen pins P3.7 of the singlechip.
The power module adopts 6 sections of 1.5V dry batteries to be connected in series, and supplies power to the control module and other modules after passing through the 7805 voltage stabilizing chip. As shown in fig. 3, the output voltage of the series-connected dry batteries is input to the input terminal Vin of the second voltage regulation chip VR2 through the double-pole double-throw first switch SW 1. The second regulator chip VR2 is a 7805 regulator chip that stably outputs 5V for a range of input voltages, so that the voltage at the output terminal Vout of the second regulator chip VR2 is 5V. In addition, two filter capacitors, namely a twelfth capacitor C12 and an eleventh capacitor C11, are connected in parallel to the input terminal Vin of the second voltage regulation chip VR2, wherein the capacitance of the twelfth capacitor C12 is 470uF, and the capacitance of the eleventh capacitor C11 is 0.01 uF. Two filter capacitors, namely a thirteenth capacitor C13 and a fourteenth capacitor C14, are also connected in parallel to the output terminal Vout of the second voltage regulation chip VR2, wherein the capacitance of the thirteenth capacitor C13 is 470uF, and the capacitance of the fourteenth capacitor C14 is 0.01 uF. The output terminal Vout of the second voltage regulation chip VR2 is connected in series with the eighteenth led D18 and the twenty-fourth resistor R24 of the load in turn. In this embodiment, the first voltage regulation chip VR1 is connected in parallel with the second voltage regulation chip VR2, the first voltage regulation chip VR1 and the second voltage regulation chip VR2 share the filter capacitor at the input end and the input voltage, and the output end of the first voltage regulation chip VR1 is also provided with a filter capacitor, that is, a tenth capacitor C10, whose capacitance value is 220 uF. The first voltage regulation chip VR1 provides a second 5V power supply for other circuits.
The display module comprises a 1602 liquid crystal display interface chip and a liquid crystal display screen with a corresponding dot matrix diagram. 1602 the liquid crystal display interface chip is used for driving a dot matrix type liquid crystal display, and the liquid crystal display displays the state information of the intelligent fire extinguishing vehicle. As shown in fig. 7, the seven-pin DB0 of the 1602 lcd interface chip is connected to the thirty-nine pin P0.0 of the single chip microcomputer, the eight-pin DB1 is connected to the thirty-eight pin P0.1 of the single chip microcomputer, the nine-pin DB2 is connected to the thirty-seven pin P0.2 of the single chip microcomputer, the ten-pin DB3 is connected to the thirty-sixteen pin P0.3 of the single chip microcomputer, the eleventh pin DB4 is connected to the thirty-five pin P0.4 of the single chip microcomputer, the twelfth pin DB5 is connected to the thirty-four pin P0.5 of the single chip microcomputer, the thirteen-pin DB6 is connected to the thirty-three pin P0.6 of the single.
The fire source detection module mainly uses a photodiode D2 and a comparator 12. As shown in fig. 4, a fourth resistor R4 and a photodiode D2 are connected in series between the 5V power supply and the ground in sequence, wherein the fourth resistor R4 has a resistance of 10k ohms. The common terminal of the photodiode D2 and the fourth resistor R4 is connected to the inverting input terminal of the comparator 12. The positive input terminal of the comparator 12 is connected to a sliding varistor R6, the output voltage of the sliding varistor R6 varies from 0V to the power source VCC, and a first capacitor C1 is connected between the output terminal of the sliding varistor R6 and ground for filtering in order to smooth the output voltage. While the power supply VCC also supplies the comparator 12. In order to conveniently display the output result of the comparator 12, the output terminal OUT1 of the comparator 12 is connected to the 5V power supply through the first light emitting diode D1 and the second resistor R2 in sequence, wherein the anode of the first light emitting diode D1 is connected to the second resistor R2, and the resistance of the second resistor R2 is 2k ohms. When the photodiode D2 in the fire detection module is turned on by receiving fire, the inverting input terminal of the comparator 12 is grounded, so that the comparator 12 outputs a low level to turn on the first light emitting diode D1. Otherwise, when the fire source is not detected, the photodiode D2 is turned off, the inverting input terminal of the comparator 12 is pulled up to 5V, so that the comparator 12 outputs a high level to turn off the first light emitting diode D1. The output terminal OUT1 of the comparator 12 is connected to a pin P1.0 of the single chip microcomputer. In order to improve the capability of detecting fire sources, a plurality of fire source detection modules can be installed at the front part of the intelligent fire extinguishing vehicle, and the output ends of the fire source detection modules are respectively connected to two pins P1.1 to six pins P1.5 of the single chip microcomputer.
The obstacle avoidance module adopts an E18-D50NK infrared sensor which is an infrared reflection type proximity switch sensor and is used for the reflection type detection of objects. As shown in fig. 5, the infrared sensor emits infrared light that is reflected back to the sensor when an obstacle is encountered. When the infrared sensor receives the reflected light, it outputs a low level to the single chip.
The fire extinguishing module comprises a water storage tank and a water pump connected to the water storage tank via a suction pipe.
As shown in fig. 6, after the initialization, the buzzer of the intelligent fire extinguishing vehicle emits an alarm sound, and the intelligent fire extinguishing vehicle starts to advance. And the fire source detection module and the obstacle avoidance module continuously search and detect obstacles and fire sources in the advancing process. Wherein, the infrared sensor of the obstacle avoidance module detects in the distance of 50 cm, and when finding that an obstacle exists, the intelligent fire extinguishing vehicle continues to advance until the obstacle enters the detection range of the fire source detection module. The fire detection module uses a photodiode D2 to detect the above-identified obstacles within a distance of 30 cm. If the fire source detection module detects that the barrier is a fire source, the intelligent fire extinguishing vehicle stops advancing, lights the first light emitting diode D1 and sends out a buzzer alarm, and meanwhile, the single chip microcomputer starts the fire extinguishing module to extinguish fire. After the fire is extinguished, the intelligent fire extinguishing vehicle turns to continue to search for a fire source. If the fire source detection module does not detect that the barrier is a fire source, the single chip microcomputer sends an instruction to complete obstacle avoidance by mutual cooperation of the driving module, the obstacle avoidance module and the single chip microcomputer, and then the intelligent fire extinguishing vehicle continues to advance.
Claims (7)
1. An intelligent fire extinguishing vehicle is characterized by comprising a control module, a driving module, a display module, a fire source detection module, an obstacle avoidance module and a fire extinguishing module, wherein the driving module, the display module, the fire source detection module, the obstacle avoidance module and the fire extinguishing module are connected with the control module, and a power supply module supplies power to the modules, wherein
The control module is used for controlling the running, detection and fire extinguishing of the intelligent fire extinguishing vehicle;
the driving module drives the motor to operate;
the display module is used for displaying the state information of the intelligent fire extinguishing vehicle;
the fire source detection module is used for detecting a fire source;
the obstacle avoidance module is used for detecting obstacles and realizing obstacle avoidance movement;
the fire extinguishing module comprises a water storage tank and a water pump connected to the water storage tank through a suction pipe.
2. The intelligent fire extinguishing vehicle of claim 1, wherein the control module is an STC89C52 single chip microcomputer.
3. The intelligent fire extinguishing vehicle of claim 2, wherein the STC89C52 single chip microcomputer is configured according to a minimum system.
4. The intelligent fire extinguishing vehicle according to claim 1, wherein the power module is formed by connecting 6 sections of 1.5V dry batteries in series, and supplies power to other modules after passing through a 7805 voltage stabilizing chip.
5. The intelligent fire fighting vehicle of claim 1, wherein the fire source detection module detects a fire source using a photodiode and a comparator.
6. An intelligent fire extinguishing vehicle according to claim 1, wherein the obstacle avoidance module is an infrared sensor of type E18-D50 NK.
7. A control method of an intelligent fire extinguishing vehicle according to claim 1, characterized by comprising the steps of:
after initialization, the intelligent fire extinguishing vehicle sends out a prompt tone and starts to advance;
in the advancing process, the fire source detection module and the obstacle avoidance module continuously detect obstacles and fire sources;
when a non-fire source barrier is found, the intelligent fire extinguishing vehicle keeps going forward after avoiding the barrier;
when a fire source is found, the intelligent fire extinguishing vehicle extinguishes fire and turns to continue to advance.
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| CN201911333979.3A CN110947137A (en) | 2019-12-23 | 2019-12-23 | Intelligent fire extinguishing vehicle and control method thereof |
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| CN201911333979.3A CN110947137A (en) | 2019-12-23 | 2019-12-23 | Intelligent fire extinguishing vehicle and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113350718A (en) * | 2021-04-13 | 2021-09-07 | 西安石油大学 | Remote control ultrasonic wave platform of putting out a fire based on FPGA |
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| CN113350718A (en) * | 2021-04-13 | 2021-09-07 | 西安石油大学 | Remote control ultrasonic wave platform of putting out a fire based on FPGA |
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