CN111135694A - Toxic gas eliminating method and device and robot - Google Patents
Toxic gas eliminating method and device and robot Download PDFInfo
- Publication number
- CN111135694A CN111135694A CN202010040541.2A CN202010040541A CN111135694A CN 111135694 A CN111135694 A CN 111135694A CN 202010040541 A CN202010040541 A CN 202010040541A CN 111135694 A CN111135694 A CN 111135694A
- Authority
- CN
- China
- Prior art keywords
- gas
- target
- concentration
- robot
- solution
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/34—Chemical or biological purification of waste gases
- B01D53/74—General processes for purification of waste gases; Apparatus or devices specially adapted therefor
- B01D53/77—Liquid phase processes
- B01D53/78—Liquid phase processes with gas-liquid contact
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/34—Chemical or biological purification of waste gases
- B01D53/46—Removing components of defined structure
- B01D53/48—Sulfur compounds
- B01D53/52—Hydrogen sulfide
- B01D53/523—Mixtures of hydrogen sulfide and sulfur oxides
Abstract
The embodiment of the application discloses a toxic gas eliminating method, a toxic gas eliminating device and a robot. The technical scheme that this application embodiment provided detects the poisonous target gas of human body through on-the-spot to the conflagration, and when the concentration of target gas reached and predetermines the threshold value, according to the type of target gas, confirm the target solution who is used for handling this target gas to control the robot and spray this target solution, in time handle target gas, reduce the human condition of receiving the injury because of inhaling a large amount of poisonous target gas, be favorable to the protection to the scene of conflagration stranded personnel.
Description
Technical Field
The embodiment of the application relates to the field of fire fighting, in particular to a toxic gas eliminating method and device and a robot.
Background
In case of fire, a large amount of toxic gases such as sulfur dioxide and hydrogen sulfide are often accompanied in a fire scene, and if a human body inhales excessive toxic gases, the people in the fire can be injured.
At present, a robot for cleaning and disinfection appears on the market, and the robot drives the robot to walk through a walking crawler and an obstacle crossing arm, and sprays cleaning and disinfecting solution on the site through a spraying device to clean and disinfect the site.
The robot is generally used for cleaning pipelines, but for a fire scene, the robot cannot perform effective toxic gas treatment on the fire scene, and is not beneficial to protecting trapped people on the fire scene.
Disclosure of Invention
The embodiment of the application provides a toxic gas elimination method, a toxic gas elimination device and a robot, so that toxic gas on a fire scene is treated, and the harm of the toxic gas to a human body is reduced.
In a first aspect, an embodiment of the present application provides a toxic gas abatement method, including:
judging whether the concentration of the target gas reaches a preset threshold value or not based on the target gas concentration signal, wherein different types of target gases are provided with different preset threshold values;
generating a gas overproof signal pointing to a target gas in response to the concentration of the target gas reaching a preset threshold;
determining a target solution for processing the target gas based on the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for processing different types of target gases;
controlling a robot to spray the target solution in response to the gas elimination instruction.
Further, the determining whether the concentration of the target gas reaches a preset threshold based on the in-situ target gas concentration includes:
acquiring a target gas concentration signal detected and output by a toxic gas sensor;
determining a concentration of a target gas based on the target gas concentration signal;
and comparing the concentration of the target gas with a preset threshold, and if the concentration of the target gas is greater than or equal to the preset threshold, judging that the concentration of the target gas reaches the preset threshold.
Further, before determining a target solution for treating the target gas based on the gas overproof signal and generating a gas elimination instruction directed to the target solution, the method further comprises:
judging whether a human body exists on the site or not based on the human body detection signal, and generating a human body existence signal when the human body exists on the site;
the determining a target solution for treating the target gas based on the gas overproof signal, generating a gas elimination instruction directed to the target solution, comprising:
and determining a target solution for processing the target gas based on the human body existence signal and the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution.
In a second aspect, an embodiment of the present application provides a toxic gas elimination apparatus, including a gas concentration judgment module, an overproof signal generation module, an elimination instruction generation module, and an execution module, wherein:
the gas concentration judging module is used for judging whether the concentration of the target gas reaches a preset threshold value or not based on a target gas concentration signal, and different types of target gases are provided with different preset threshold values;
the standard exceeding signal generating module is used for responding to the fact that the concentration of the target gas reaches a preset threshold value to generate a gas standard exceeding signal pointing to the target gas;
the elimination instruction generation module is used for determining a target solution for treating the target gas based on the gas standard exceeding signal and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for treating different types of target gases;
and the execution module is used for responding to the gas elimination instruction to control the robot to spray the target solution.
In a third aspect, embodiments of the present application provide a robot for implementing the toxic gas elimination method according to the first aspect, including a robot body, a walking mechanism, a spraying mechanism, and a detection mechanism, wherein:
a robot body provided with a controller;
the walking mechanism is arranged on the robot body, is in communication connection with the controller and is used for driving the robot body to walk;
the spraying mechanism is arranged on the robot body, is in communication connection with the controller and is used for spraying the solution;
and the detection mechanism is arranged on the robot body, is in communication connection with the controller and is used for detecting the concentration of the target gas.
Furthermore, the walking mechanism comprises walking crawler mechanisms arranged on two sides of the robot body and obstacle crossing swing arm mechanisms arranged on two sides of the front portion of the robot, and the walking crawler mechanisms and the obstacle crossing swing arm mechanisms are in communication connection with the controller.
Further, the spraying mechanism comprises a liquid storage container, a connecting pipe, a solution pump and a nozzle, wherein the liquid storage container, the connecting pipe, the solution pump and the nozzle are arranged on the robot body, the connecting pipe is connected between the liquid storage container and the nozzle, and the solution pump is connected into the connecting pipe and controlled by the controller and used for pumping the solution in the liquid storage container out of the nozzle through the connecting pipe.
Further, a plurality of liquid storage spaces are arranged in the liquid storage container, the connecting pipes are respectively connected to the different liquid storage spaces, and the parts of the connecting pipes connected to the different liquid storage spaces are all connected with the solution pumps.
Further, detection mechanism including can dismantle connect in the toxic gas sensor of robot, be provided with a plurality ofly on the robot and be used for the confession the fixed mounting groove of toxic gas sensor.
Further, a human body detection device is installed on the robot body and is in communication connection with the controller.
The embodiment of the application detects toxic target gas to the human body on the fire scene, determines the target solution for treating the target gas according to the type of the target gas when the concentration of the target gas reaches a preset threshold value, controls the robot to spray the target solution, timely treats the target gas, reduces the harm to the human body due to the fact that the human body inhales a large amount of toxic target gas, and is favorable for protecting trapped people on the fire scene.
Drawings
FIG. 1 is a flow chart of a toxic gas abatement method provided by an embodiment of the present application;
FIG. 2 is a flow chart of another toxic gas abatement method provided by an embodiment of the present application;
FIG. 3 is a schematic view of a toxic gas elimination apparatus according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
fig. 6 is a schematic circuit structure diagram of a robot according to an embodiment of the present disclosure;
fig. 7 is a structural diagram of a toxic gas sensor and a mounting groove according to an embodiment of the present disclosure.
Reference numerals: 1. a robot body; 2. a controller; 3. a walking crawler mechanism; 4. an obstacle-crossing swing arm mechanism; 5. a reservoir; 6. a connecting pipe; 7. a solution pump; 8. a nozzle; 9. a toxic gas sensor; 10. mounting grooves; 11. a USB slot; 12. the sensor outputs to the USB module; 13. a USB interface; 14. a human body detection device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In the description of the embodiments of the present application, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Fig. 1 is a flowchart illustrating a toxic gas elimination method according to an embodiment of the present invention, which is applicable to elimination of toxic gas in a fire scene, and the toxic gas elimination method can be performed by a toxic gas elimination device, which can be implemented by hardware and/or software and integrated into a computer device (e.g., a robot).
The toxic gas elimination method performed by the toxic gas elimination apparatus will be described as an example. Referring to fig. 1, the toxic gas elimination method includes:
s101: and judging whether the concentration of the target gas reaches a preset threshold value or not based on the target gas concentration signal, wherein different types of target gases are provided with different preset threshold values.
The target gas is toxic gas generated at a fire scene, such as acid gas such as sulfur dioxide and hydrogen sulfide and alkaline gas such as ammonia gas. Aiming at different toxic gases, corresponding toxic gas sensors (such as a sulfur dioxide concentration sensor, a hydrogen sulfide concentration sensor, an ammonia gas concentration sensor and the like) can be installed on the robot, and the concentration of the target gas is detected through the toxic gas sensors so as to judge whether the concentration of the target gas reaches a preset threshold value. Specifically, the step of determining whether the concentration of the target gas reaches the preset threshold includes steps S1011 to S1013:
s1011: and acquiring a target gas concentration signal detected and output by the toxic gas sensor.
Specifically, a plurality of toxic gas sensors for detecting the concentrations of different target gases are mounted on the robot, and the toxic gas sensors detect the concentrations of the corresponding target gases and output target gas concentration signals corresponding to the target gases in real time.
Optionally, all the toxic gas sensors corresponding to common toxic gases (target gases) can be fixedly mounted on the robot, and the toxic gas sensors mounted on the robot can be selected according to specific conditions of a fire scene and combustion materials in the fire scene, so that the applicability is improved.
S1012: determining a concentration of the target gas based on the target gas concentration signal.
Specifically, after receiving a target gas concentration signal returned by the toxic gas sensor, the type of the toxic gas sensor corresponding to the target gas concentration signal is determined according to a tag or an ID address attached to the target gas concentration signal, and the concentration of each type of target gas is determined according to the concentration indicated by the target gas concentration signal.
S1013: and comparing the concentration of the target gas with a preset threshold, and if the concentration of the target gas is greater than or equal to the preset threshold, judging that the concentration of the target gas reaches the preset threshold.
Specifically, after the concentration of each type of target gas is obtained, the concentration of each type of target gas is compared with a corresponding preset threshold, and when the concentration of the target gas is greater than or equal to the corresponding preset threshold, it is determined that the concentration of the type of target gas has reached the preset threshold.
Further, different preset thresholds are preset according to different types of target gases, for example, corresponding preset thresholds are set according to tolerance or sensitivity of a human body to different types of target gases. And when the concentration of the target gas is compared with a preset threshold value, calling the corresponding preset threshold value according to the type of the target gas for comparison.
S102: generating a gas overproof signal directed at a target gas in response to a concentration of the target gas reaching a preset threshold.
Specifically, when the concentration of the target gas is judged to reach the preset threshold, a gas standard exceeding signal pointing to the target gas is generated according to the type of the target gas to indicate that the concentration of the target gas of the type exceeds the standard and needs to be processed.
In other embodiments, different threshold ranges can be further divided according to different degrees of the concentration of the target gas exceeding a preset threshold, and when a gas standard exceeding signal is generated, the threshold range corresponding to the concentration of the target gas is attached, and when the robot is controlled to spray the target solution, the spraying amount or duration can be controlled according to the threshold range corresponding to the concentration of the target gas.
S103: and determining a target solution for processing the target gas based on the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for processing different types of target gases.
Specifically, after the gas excess signal is generated, a target solution for treating the target gas is determined according to the target gas pointed by the gas excess signal, wherein different types of target solutions are used for treating different types of target gases. For example, assuming that the target gas to which the gas excess signal is directed is an acidic gas, it may be determined that the target solution for treating the target gas is an alkaline solution, and if the target gas to which the gas excess signal is directed is an alkaline gas, it may be determined that the target solution for treating the target gas is an acidic solution. Further, after determining a target solution for treating the target gas, a gas elimination command directed to the target solution is generated.
Optionally, the corresponding relationship between the target solution and the target gas may be recorded by establishing a solution-gas comparison table, and the target solution for treating the target gas may be compared in the solution-gas comparison table according to the target gas exceeding the standard.
S104: controlling a robot to spray the target solution in response to the gas elimination instruction.
Illustratively, after the gas elimination command is generated, the robot is controlled to spray the target solution pointed by the gas elimination command, so that the target solution is sprayed to the surrounding environment to neutralize toxic target gas in the fire scene. For example, if the concentration of sulfur dioxide in a fire scene reaches a preset threshold, an alkaline target solution such as lime water is sprayed to neutralize the sulfur dioxide, and if the concentration of ammonia in the fire scene reaches a preset threshold, an acidic solution such as hydrochloric acid is sprayed to neutralize the ammonia, i.e., acidic gas is neutralized by the alkaline solution, and alkaline gas is neutralized by the acidic solution.
Furthermore, a plurality of liquid storage spaces are arranged in the robot, different types of target solutions such as lime water and hydrochloric acid are stored in the liquid storage spaces respectively, when one of the target solutions needs to be sprayed, the robot can be controlled to pump out the target solution in the corresponding liquid storage space, and therefore the target solution is sprayed to the surrounding environment.
The corresponding relations between different liquid storage spaces and different types of target solutions can be recorded in the solution-gas comparison table at the same time, the corresponding relations between the different types of target solutions and the different liquid storage spaces are established one by one, and the corresponding types of target solutions are poured into the liquid storage spaces.
Above-mentioned, through detecting the scene of a fire to the poisonous target gas of human body, when the concentration of target gas reaches and predetermines the threshold value, according to the type of target gas, confirm the target solution who is used for handling this target gas to control the robot and spray this target solution, in time handle target gas, reduce the human condition of receiving the injury because of inhaling a large amount of poisonous target gas, be favorable to the protection to the scene of a fire stranded personnel.
Fig. 2 is a flowchart of another toxic gas elimination method according to an embodiment of the present application, which is an embodiment of the above toxic gas elimination method. Referring to fig. 2, the toxic gas elimination method includes:
s201: and judging whether the concentration of the target gas reaches a preset threshold value or not based on the target gas concentration signal, wherein different types of target gases are provided with different preset threshold values.
S202: generating a gas overproof signal directed at a target gas in response to a concentration of the target gas reaching a preset threshold.
S203: and judging whether a human body exists on the site or not based on the human body detection signal, and generating a human body existence signal when the human body exists on the site.
Specifically, a human body detection device (for example, a human body pyroelectric infrared sensor or a human body detection camera) is mounted on the robot, and the human body detection device is used for detecting a human body in a fire scene and outputting a corresponding human body detection result.
Further, when the human body detection result indicates that a human body exists, the existence of the human body in the current environment of the fire scene is determined, and a human body existence signal is generated. And when the human body detection result indicates that no human body exists, returning to the step S201, and re-determining whether the concentration of the target gas reaches the preset threshold, at this time, spraying of the target solution is not needed, so that waste of the target solution is reduced.
In other embodiments, the detection of the human body may be performed before determining whether the concentration of the target gas reaches the preset threshold, that is, step S203 may be performed before step S201, and when the human body detection result indicates that a human body exists and generates a human body existence signal, the determination of whether the concentration of the target gas reaches the preset threshold is performed, so as to ensure that the target solution is sprayed only when a human body exists in the surrounding environment, thereby improving the effective utilization rate of the target solution.
S204: determining a target solution for treating the target gas based on the human body presence signal and the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution, wherein different types of the target solution are used for treating different types of the target gas.
Specifically, after a human body existence signal and a gas exceeding signal are generated, a target solution for treating the target gas is determined according to the target gas pointed by the gas exceeding signal, wherein different types of target solutions are used for treating different types of target gases. For example, assuming that the target gas to which the gas excess signal is directed is an acidic gas, it may be determined that the target solution for treating the target gas is an alkaline solution, and if the target gas to which the gas excess signal is directed is an alkaline gas, it may be determined that the target solution for treating the target gas is an acidic solution. Further, after determining a target solution for treating the target gas, a gas elimination command directed to the target solution is generated.
Optionally, the corresponding relationship between the target solution and the target gas may be recorded by establishing a solution-gas comparison table, and the target solution for treating the target gas may be compared in the solution-gas comparison table according to the target gas exceeding the standard.
S205: controlling a robot to spray the target solution in response to the gas elimination instruction.
Above-mentioned, through detecting the scene of a fire to the poisonous target gas of human body, when the concentration of target gas reaches and predetermines the threshold value, according to the type of target gas, confirm the target solution who is used for handling this target gas to control the robot and spray this target solution, in time handle target gas, reduce the human condition of receiving the injury because of inhaling a large amount of poisonous target gas, be favorable to the protection to the scene of a fire stranded personnel. And the spraying of the target solution is carried out when the human body in the surrounding environment is detected, so that the waste of the target solution is reduced.
Fig. 3 is a schematic view of a toxic gas abatement apparatus according to an embodiment of the present disclosure. Referring to fig. 3, the toxic gas elimination apparatus includes a gas concentration judgment module 31, an excessive signal generation module 32, an elimination instruction generation module 33, and an execution module 34.
The gas concentration judging module 31 is configured to judge whether the concentration of the target gas reaches a preset threshold value based on a target gas concentration signal, where different types of target gases are provided with different preset threshold values; the overproof signal generating module 32 is used for responding to the situation that the concentration of the target gas reaches a preset threshold value to generate a gas overproof signal pointing to the target gas; a gas elimination instruction generation module 33, configured to determine a target solution for treating the target gas based on the gas standard exceeding signal, and generate a gas elimination instruction directed to the target solution, where different types of the target solutions are used for treating different types of the target gas; and an execution module 34 for controlling the robot to spray the target solution in response to the gas elimination instruction.
Above-mentioned, through detecting the scene of a fire to the poisonous target gas of human body, when the concentration of target gas reaches and predetermines the threshold value, according to the type of target gas, confirm the target solution who is used for handling this target gas to control the robot and spray this target solution, in time handle target gas, reduce the human condition of receiving the injury because of inhaling a large amount of poisonous target gas, be favorable to the protection to the scene of a fire stranded personnel.
The embodiment of the application also provides computer equipment which can be integrated with the toxic gas eliminating device provided by the embodiment of the application. Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application. Referring to fig. 4, the computer apparatus includes: an input device 43, an output device 44, a memory 42, and one or more processors 41; the memory 42 for storing one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 41 are caused to implement the toxic gas elimination method provided as the above embodiment. Wherein the input device 43, the output device 44, the memory 42 and the processor 41 may be connected by a bus or other means, for example, in fig. 4.
The memory 42 serves as a storage medium readable by a computing device and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the toxic gas elimination method according to any embodiment of the present application (for example, the gas concentration judgment module 31, the excessive signal generation module 32, the elimination instruction generation module 33, and the execution module 34 in the toxic gas elimination apparatus). The memory 42 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 44 may include a display device such as a display screen.
The processor 41 executes various functional applications of the device and data processing by executing software programs, instructions, and modules stored in the memory 42, that is, implements the toxic gas elimination method described above.
The toxic gas elimination device and the computer equipment can be used for executing the toxic gas elimination method provided by the embodiment, and have corresponding functions and beneficial effects.
Embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the toxic gas elimination method provided by the above embodiments, the toxic gas elimination method comprising: judging whether the concentration of the target gas reaches a preset threshold value or not based on the target gas concentration signal, wherein different types of target gases are provided with different preset threshold values; generating a gas overproof signal pointing to a target gas in response to the concentration of the target gas reaching a preset threshold; determining a target solution for processing the target gas based on the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for processing different types of target gases; controlling a robot to spray the target solution in response to the gas elimination instruction.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided by the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the toxic gas elimination method described above, and can also execute the relevant operations in the toxic gas elimination method provided by any embodiments of the present application.
The toxic gas elimination apparatus, the device and the storage medium provided in the above embodiments may perform the toxic gas elimination method provided in any embodiments of the present application, and the technical details not described in the above embodiments may be referred to the toxic gas elimination method provided in any embodiments of the present application.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided by the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the toxic gas elimination method described above, and can also execute the relevant operations in the toxic gas elimination method provided by any embodiments of the present application.
Fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present application, and fig. 6 is a schematic circuit structural diagram of a robot according to an embodiment of the present application, where the robot according to the present embodiment is used to implement the toxic gas elimination method according to any of the embodiments described above. As shown in fig. 5 and 6, the robot includes a robot body 1, a traveling mechanism, a spraying mechanism, and a detecting mechanism, a controller 2 is disposed in the robot body 1, wherein the controller 2 integrates an input device, an output device, a memory, and a processor provided by the computer device in the above embodiment.
Further, the traveling mechanism is installed on the robot body 1, and is in communication connection with the controller 2, so as to drive the robot body 1 to travel. Specifically, the walking mechanism comprises walking crawler mechanisms 3 arranged on two sides of the robot body 1 and obstacle crossing swing arm mechanisms 4 arranged on two sides of the front portion of the robot, and the walking crawler mechanisms 3 and the obstacle crossing swing arm mechanisms 4 are both in communication connection with the controller 2. A track starting motor (not shown in the figure) for driving the walking track mechanism 3 to move is arranged in the robot body 1, a driver of the track driving motor is electrically connected to the controller 2, and a control instruction is sent to the driver of the track driving motor through the controller 2, so that the track driving motor is controlled to rotate, and the robot body 1 is controlled to walk. Meanwhile, a swing arm starting motor (not shown in the figure) for driving the obstacle crossing swing arm mechanism 4 to act is arranged in the robot body 1, a driver of the swing arm driving motor is electrically connected to the controller 2, a control instruction is sent to the driver of the swing arm driving motor through the controller 2 to control the obstacle crossing swing arm mechanism 4 to rotate, and the robot body 1 is controlled to swing relative to the ground along with the rotation of the obstacle crossing swing arm mechanism 4, so that the obstacle crossing robot can cross the obstacle in the advancing process.
At the front end demountable installation of robot body 1 advancing direction (if through bolt fastening, joint fixed or grafting fixed) human detection device 14 to communication connection is in controller 2, human detection device 14 detects the human body that exists in to the surrounding environment, and output result is the human detection result that the human body exists when detecting the human body existence, and with the human detection result upload to controller 2 in. The human body detection device 14 may be a human body pyroelectric infrared sensor, a human body detection camera, or other detection equipment for detecting a human body, and the embodiment is not limited.
Fig. 7 is a structural diagram of a toxic gas sensor and a mounting groove according to an embodiment of the present disclosure. Specifically, detection mechanism is provided with a plurality of mounting grooves 10 that are used for supplying toxic gas sensor 9 to fix including dismantling the toxic gas sensor 9 who connects in robot 1 on robot 1. The number of the mounting grooves 10 can be set according to actual needs, the embodiment is described by taking 4 mounting grooves 10 as an example, and the number of the installed toxic gas sensors 9 can also be set according to actual needs. Preferably, the installation groove 10, in which the toxic gas sensor 9 is not installed, may be blocked with a dust plug to block the unnecessary toxic gas sensor 9.
Wherein the toxic gas sensor 9 is used for detecting the concentration of the toxic gas, and the type of the toxic gas sensor 9 can be determined according to the toxic gas (target gas) generated at the fire scene, such as a sulfur dioxide concentration sensor, a hydrogen sulfide concentration sensor, an ammonia concentration sensor, and the like. The toxic gas sensor 9 detects the concentration of the target gas, generates a target gas concentration signal reflecting the concentration of the target gas, and transmits the target gas concentration signal to the controller 2.
Further, be provided with USB slot 11 in the bottom of mounting groove 10, and USB slot 11 communication connection is in controller 2, toxic gas sensor 9 communication connection has sensor output to change USB module 12 (for example RS485 changes the USB module, RS232 changes the USB module etc. can select suitable conversion module according to the communication protocol of toxic gas sensor 9 output), sensor output changes USB module 12 and is provided with the USB interface 13 that is used for pegging graft with USB slot 11, with the data transmission who realizes between USB slot 11 and the USB interface 13. The concentration signal of the target gas generated by the toxic gas sensor 9 is converted by the sensor output-to-USB module 12, and then transmitted to the controller 2 through the USB slot 11 and the USB interface 13.
Further, referring to fig. 5 and 6, the spraying mechanism provided in the present embodiment includes a liquid storage container 5 provided in the robot body 1, a connection pipe 6, a solution pump 7, and a nozzle 8. Specifically, a plurality of liquid storage spaces are provided in the liquid storage container 5 (this embodiment is described by taking 4 liquid storage spaces as an example). Optionally, the upper end of the liquid storage container 5 is open, and the opening of the liquid storage solution is covered by a blocking cover movably connected (for example, hinged, clamped, and slidably connected) to the upper surface of the robot body 1.
Connecting pipe 6 is vertical in the upper surface setting of robot 1 to fixed connection is in robot 1, and the bottom of connecting pipe 6 penetrates robot 1 and communicates in the bottom of stock solution container 5 from the upper surface of robot 1. The number of the connecting pipes 6 is consistent with that of the liquid storage spaces and corresponds to the liquid storage spaces one by one, and the bottom end of each connecting pipe 6 is communicated with the bottom of one liquid storage space.
Further, the number of the solution pumps 7 is the same as the number of the connecting pipes 6 and corresponds to one, each solution pump 7 is mounted on one connecting pipe 6, and the drivers of the solution pumps 7 are communicatively connected to the controller 2, and the solution pumps 7 are controlled to operate in response to the control command of the controller 2, so as to pump out the target solution pump 7 stored in the reservoir 5.
Further, the nozzles 8 are fixedly installed at the top of the connecting pipe 6, the number of the nozzles 8 is consistent with that of the connecting pipe 6 and corresponds to one another, the nozzles 8 can be atomizing nozzles, rotating nozzles and the like, and the embodiment is not limited. Under the action of the solution pump 7, the target solution in the liquid storage container 5 can be pumped out from the nozzle 8 through the connecting pipe 6, and the target solution is uniformly sprayed to the periphery under the action of the nozzle 8.
The controller 2 can store a travelling route aiming at a fire scene, and the controller 2 controls the travelling crawler mechanism 3 and the obstacle crossing swing arm mechanism 4 to move according to the travelling route, so that the robot is controlled to move in the fire scene according to the track of the travelling route; a wireless communication module for communicating with an external terminal (such as a mobile phone, a computer, etc.) may be installed in the robot body 1, and a control instruction may be sent to the controller 2 through the external terminal, so as to control the traveling path of the robot body 1. The robot sprays the target solution when someone is trapped and the target gas concentration is higher, and the safety of the person is protected. Optionally, the human body detection device 14 or an additional camera device may also be sent to an external terminal through the wireless communication module to return an image of the fire scene in real time, so that the situation of the fire scene can be known in real time conveniently.
Above-mentioned, detect the concentration of the poisonous target gas of scene of fire to the human body through poisonous gas sensor 9, detect whether there is the human body in the surrounding environment through human detection device 14 simultaneously, when the concentration of target gas reaches and presets the threshold value and exists the human body, according to the type of target gas, confirm the target solution who is used for handling this target gas, and control the robot and start the solution pump 7 that corresponds with the stock solution space who stores this target solution, pump the target solution who stores in the stock solution container 5 from nozzle 8, spray the target solution to all around, in time handle the target gas, reduce the human condition that receives the injury because of inhaling a large amount of poisonous target gas, be favorable to the protection to the scene of fire stranded personnel.
The toxic gas elimination apparatus, the device, the storage medium, and the robot provided in the above embodiments may perform the toxic gas elimination method provided in any embodiments of the present application, and the technical details not described in detail in the above embodiments may be referred to the toxic gas elimination method provided in any embodiments of the present application.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (10)
1. A toxic gas abatement method, comprising:
judging whether the concentration of the target gas reaches a preset threshold value or not based on the target gas concentration signal, wherein different types of target gases are provided with different preset threshold values;
generating a gas overproof signal pointing to a target gas in response to the concentration of the target gas reaching a preset threshold;
determining a target solution for processing the target gas based on the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for processing different types of target gases;
controlling a robot to spray the target solution in response to the gas elimination instruction.
2. The toxic gas elimination method of claim 1, wherein the determining whether the concentration of the target gas reaches the preset threshold based on the on-site target gas concentration comprises:
acquiring a target gas concentration signal detected and output by a toxic gas sensor;
determining a concentration of a target gas based on the target gas concentration signal;
and comparing the concentration of the target gas with a preset threshold, and if the concentration of the target gas is greater than or equal to the preset threshold, judging that the concentration of the target gas reaches the preset threshold.
3. The toxic gas elimination method of claim 1 or 2, wherein before determining a target solution for treating the target gas based on the gas overproof signal and generating a gas elimination instruction directed to the target solution, the method further comprises:
judging whether a human body exists on the site or not based on the human body detection signal, and generating a human body existence signal when the human body exists on the site;
the determining a target solution for treating the target gas based on the gas overproof signal, generating a gas elimination instruction directed to the target solution, comprising:
and determining a target solution for processing the target gas based on the human body existence signal and the gas standard exceeding signal, and generating a gas elimination instruction pointing to the target solution.
4. The toxic gas eliminating device is characterized by comprising a gas concentration judging module, a standard exceeding signal generating module, an eliminating instruction generating module and an executing module, wherein:
the gas concentration judging module is used for judging whether the concentration of the target gas reaches a preset threshold value or not based on a target gas concentration signal, and different types of target gases are provided with different preset threshold values;
the standard exceeding signal generating module is used for responding to the fact that the concentration of the target gas reaches a preset threshold value to generate a gas standard exceeding signal pointing to the target gas;
the elimination instruction generation module is used for determining a target solution for treating the target gas based on the gas standard exceeding signal and generating a gas elimination instruction pointing to the target solution, wherein different types of target solutions are used for treating different types of target gases;
and the execution module is used for responding to the gas elimination instruction to control the robot to spray the target solution.
5. A robot for implementing the toxic gas elimination method of any one of claims 1 to 3, comprising a robot body (1), a traveling mechanism, a spraying mechanism, and a detection mechanism, wherein:
the robot comprises a robot body (1) provided with a controller (2);
the walking mechanism is arranged on the robot body (1), is in communication connection with the controller (2), and is used for driving the robot body (1) to walk;
the spraying mechanism is arranged on the robot body (1), is in communication connection with the controller (2), and is used for spraying a solution;
and the detection mechanism is arranged on the robot body (1), is in communication connection with the controller (2), and is used for detecting the concentration of the target gas.
6. The robot as recited in claim 5, characterized in that the walking mechanism comprises a walking crawler mechanism (3) arranged on two sides of the robot body (1) and an obstacle crossing swing arm mechanism (4) arranged on two sides of the front part of the robot, and the walking crawler mechanism (3) and the obstacle crossing swing arm mechanism (4) are both connected to the controller (2) in a communication way.
7. Robot according to claim 5, characterized in that the spraying mechanism comprises a reservoir (5) arranged in the robot body (1), a connecting pipe (6), a solution pump (7) and a nozzle (8), the connecting pipe (6) is connected between the reservoir (5) and the nozzle (8), the solution pump (7) is connected in the connecting pipe (6) and controlled by the controller (2) for pumping the solution in the reservoir (5) out of the nozzle (8) through the connecting pipe (6).
8. A robot according to claim 7, characterized in that a plurality of liquid storage spaces are provided in the liquid storage container (5), the connecting pipes (6) are connected to different liquid storage spaces, respectively, and the solution pumps (7) are connected to the parts of the connecting pipes (6) connected to different liquid storage spaces.
9. The robot according to claim 5, characterized in that the detection mechanism comprises a toxic gas sensor (9) detachably connected to the robot body (1), and a plurality of mounting grooves (10) for fixing the toxic gas sensor (9) are arranged on the robot body (1).
10. Robot according to claim 5, characterized in that a human body detection device (14) is mounted on the robot body (1), said human body detection device (14) being communicatively connected to the controller (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010040541.2A CN111135694A (en) | 2020-01-15 | 2020-01-15 | Toxic gas eliminating method and device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010040541.2A CN111135694A (en) | 2020-01-15 | 2020-01-15 | Toxic gas eliminating method and device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111135694A true CN111135694A (en) | 2020-05-12 |
Family
ID=70525026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010040541.2A Pending CN111135694A (en) | 2020-01-15 | 2020-01-15 | Toxic gas eliminating method and device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111135694A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205301237U (en) * | 2016-04-13 | 2016-06-08 | 交通运输部水运科学研究所 | Emergent monitoring robot of hazardous gas |
| CN107243133A (en) * | 2017-08-12 | 2017-10-13 | 山东凌鹏自动化技术有限公司 | A kind of fire-fighting robot system |
| CN206837300U (en) * | 2017-06-19 | 2018-01-05 | 汤品妍 | A kind of rotating-spray fire-fighting robot |
| CN109263869A (en) * | 2018-08-07 | 2019-01-25 | 杜军华 | A kind of intelligent type atmospheric purification unmanned plane and its application method |
| CN208756848U (en) * | 2018-04-27 | 2019-04-19 | 陈丽杨 | High-pressure water-mist fire extinguishing robot |
| CN209076385U (en) * | 2018-10-31 | 2019-07-09 | 派尔实验装备有限公司 | Purification system suitable for a variety of exhaust gas in laboratory |
| CN209422813U (en) * | 2018-09-20 | 2019-09-24 | 兰州城市学院 | Long-range unmanned firefighting robot |
-
2020
- 2020-01-15 CN CN202010040541.2A patent/CN111135694A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205301237U (en) * | 2016-04-13 | 2016-06-08 | 交通运输部水运科学研究所 | Emergent monitoring robot of hazardous gas |
| CN206837300U (en) * | 2017-06-19 | 2018-01-05 | 汤品妍 | A kind of rotating-spray fire-fighting robot |
| CN107243133A (en) * | 2017-08-12 | 2017-10-13 | 山东凌鹏自动化技术有限公司 | A kind of fire-fighting robot system |
| CN208756848U (en) * | 2018-04-27 | 2019-04-19 | 陈丽杨 | High-pressure water-mist fire extinguishing robot |
| CN109263869A (en) * | 2018-08-07 | 2019-01-25 | 杜军华 | A kind of intelligent type atmospheric purification unmanned plane and its application method |
| CN209422813U (en) * | 2018-09-20 | 2019-09-24 | 兰州城市学院 | Long-range unmanned firefighting robot |
| CN209076385U (en) * | 2018-10-31 | 2019-07-09 | 派尔实验装备有限公司 | Purification system suitable for a variety of exhaust gas in laboratory |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021175264A1 (en) | Multi-functional smart mobile disinfection robot | |
| CN211725327U (en) | Toxic gas elimination robot | |
| RU2319530C2 (en) | Fire-extinguishing robot assembly | |
| CN107007955A (en) | A kind of small-sized warning firefighting robot towards Initial Stage of Fire | |
| KR100690658B1 (en) | Fire extinguish apparatus and method in using robot cleaner | |
| CN112870599A (en) | Novel generation autonomous intelligent fire-fighting inspection robot | |
| CN106075782A (en) | Fire fighting extinguisher, big data Internet of Things intellectuality fire-fighting system | |
| CN111135694A (en) | Toxic gas eliminating method and device and robot | |
| KR102234765B1 (en) | Wild boar Repeller | |
| CN111459152A (en) | Control method and control device of intelligent equipment and air purifier | |
| KR20210128558A (en) | Robot system for a prevention of epidemics | |
| KR20160004774A (en) | Autonomous driving car for security-cleaning | |
| DE60035264D1 (en) | METHOD AND DEVICE FOR PROTECTING THE STAFF OF A BUILDING DURING A CHEMICAL OR BIOLOGICAL ATTACK | |
| CN113427490A (en) | Visual long-range intelligent epidemic prevention disinfection robot of disinfection operation | |
| Jalani et al. | Automatic fire fighting robot with notification | |
| KR101474970B1 (en) | Moving Apparatus for Preventing from Trespassing of Pirate | |
| CN215995395U (en) | Novel generation autonomous intelligent fire-fighting inspection robot | |
| Prabha et al. | A design of firefighting and supervising self-sufficient robots | |
| KR100690661B1 (en) | Fire extinguish apparatus and method in using robot cleaner | |
| CN112399138A (en) | Video monitoring method and system for photovoltaic power station | |
| Raghavendran et al. | An Intelligent Remote-Controlled Fire Fighting Machine for Autonomous Protection of Human being | |
| Sneka et al. | IoT Based Intelligent Fire Fighting Machine Using Arduino | |
| CN109457654A (en) | A kind of sprinkling truck preventing from mistake in jetting system based on pedestrian detection | |
| CN109841033A (en) | A kind of garage safety defense monitoring system | |
| RU2391125C1 (en) | Robotised fire complex with high pressure fire robots |
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 |