CN111202934A - Automatic sound wave extinguishing device of regulation power - Google Patents
Automatic sound wave extinguishing device of regulation power Download PDFInfo
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Abstract
The invention provides a sound wave fire extinguishing device capable of automatically adjusting power.A main control module generates sine wave analog electric signals with specific frequency and amplitude; the power amplification module amplifies the sine wave analog electric signal to generate a high-current low-frequency sound wave electric signal and drive the loudspeaker; the loudspeaker plays the low-frequency sound wave electric signal; the acoustic cavity collects low-frequency acoustic waves; the mechanical arm module realizes three-dimensional rotation of the sound cavity; the steering engine driving module drives each joint of the mechanical arm to move; a far infrared flame sensor detects the fire intensity; the angular displacement sensor monitors the displacement and the angle of the mechanical arm; and the distance measuring module is used for detecting the distance between the combustible and the sound cavity. Aiming at the defects that the three-dimensional rotation in any direction, the automatic power regulation, the directional aiming at a fire source, the effective fire extinguishing and the like cannot be realized in the prior art, the automatic power regulation and the effective fire extinguishing by aiming at flame are realized according to the fire condition.
Description
Technical Field
The invention relates to the technical field of fire extinguishing equipment, in particular to a sound wave fire extinguishing device capable of automatically adjusting power.
Background
With the continuous progress of human civilization, the incidence of fire is high every year. According to incomplete statistics, 1 million fires occur every day around the world, and hundreds of people die. In recent years, about 4 thousands of fires occur in China every year, about 2000 deaths and 3000-4000 disabilities occur in China, the direct property loss caused by the fires every year is up to more than 20 billion yuan, wherein the number of deaths of family fires accounts for more than 60% of the total number of deaths, and the main reason is that most families are not equipped with fire extinguishing equipment or fire fighting measures are wrong, so that the combustion objects cannot be inhibited in the early stage, and further, large-scale fires are caused.
Currently, the more common fire extinguishers comprise foam, dry powder, carbon dioxide and other fire extinguishers. The chemical substances generated by the foam fire extinguisher are harmful to human bodies, and the chemical substances can explode due to mixing in a wrong use in special occasions and are ineffective to electrical fire; the dry powder fire extinguisher can not extinguish metal fire, is easy to be inhaled into respiratory tract when in use, generates irreversible damage to human body and is difficult to clean at the later stage; the carbon dioxide fire extinguisher has higher requirement on storage conditions, and requires the environment to be relatively closed when in use, so that operators are easy to suffocate.
The combustion phenomenon should have three effective conditions of combustible, combustion-supporting material (oxygen) and temperature. Conventional fire extinguishing devices essentially block the combustibles from oxygen with chemicals, thereby breaking the chain reaction of combustion.
Through search, the following results are found:
an intelligent portable sound wave fire extinguisher is disclosed in the Chinese utility model patent with the publication number of CN205391536U, which comprises a power supply, a sound wave emission tube and an electric control function module; the electric control function module comprises an MSP430 single chip microcomputer, a temperature sensor, a sound wave conversion module, a sound wave power amplifier, a loudspeaker and a GSM wireless communication module. The utility model discloses a can produce the sine wave pulse of 30 ~ 60Hz adjustable frequency, the transform step length is 5 Hz. However, the utility model fails to adjust the output power, and has low fire adaptability to different areas.
A Chinese utility model patent with an authorization publication number of CN204932657U, namely a low-frequency sound wave fire extinguisher, discloses a low-frequency sound wave fire extinguisher based on STC89C52 single-chip microcomputer control. The utility model discloses a by single chip microcomputer control's acoustic generator, power amplifier, speaker, sight constitute. The utility model discloses an adopt the interior stainless steel that pastes of cardboard section of thick bamboo as the sight, the guidance quality is good, light in weight, and the cavity that weakens is favorable to in time, accurate transmission to the fire source department of sound wave to the weakening effect of sound wave, has improved fire extinguishing efficiency, but this utility model does not fall the processing of making an uproar to sound wave transmission cavity, consequently at high load state during operation, can produce noise pollution, long-term the use will produce adverse effect to user's health.
The Chinese patent application with publication number CN105903137A discloses a low-frequency sound wave fire extinguisher, which comprises a power supply, a waveform generator, a power amplifier, a loudspeaker and a sound cavity. The portable power supply device has good portability, can be powered by a mobile power supply, is convenient to carry and enter a fire scene, but cannot monitor the residual electric quantity of the mobile power supply in real time, so that a user cannot know the service time of the device conveniently.
The Chinese patent application with the publication number of CN110279954A discloses a power-adjustable sound wave fire extinguishing device, and discloses an adjustable sound wave fire extinguishing device designed based on an STM32F407VET6 chip. The device comprises a main control module, a key module, a buzzer module, a display module, a power amplification module, a loudspeaker, a sound cavity, a distance measurement module, a guide module, a power supply module and a voltage/current acquisition module. The device is controlled to output three power values of 30W, 45W and 60W in a button mode through programming, but the power cannot be automatically adjusted according to the fire intensity and the fire source cannot be automatically aimed.
At present, no explanation or report of the similar technology of the invention is found, and similar data at home and abroad are not collected.
Disclosure of Invention
The invention provides a sound wave fire extinguishing device capable of automatically adjusting power, aiming at the defects that three-dimensional rotation can not be carried out in any direction, the power can not be automatically adjusted, and the defects that a fire source can not be directionally aimed for effective fire extinguishing and the like exist in the prior art, the sound wave fire extinguishing device capable of automatically adjusting power can judge the affiliated section of a data value by utilizing data acquired by a far infrared flame sensor according to the fire situation, the degree of fire can be known, three-gear corresponding power of 30W low, 40W medium and 60W high is automatically output, and effective fire extinguishing is carried out by aiming at flames.
The invention is realized by the following technical scheme.
An automatic power regulation acoustic wave fire suppression device, comprising: the device comprises a main control module, a far infrared flame sensor, an angle displacement sensor, a steering engine driving module, a power amplification module, a loudspeaker, a sound cavity, a mechanical arm module, a distance measurement module, a power supply module and a voltage/current acquisition module; wherein:
the main control module is used for generating sine wave analog electric signals with specific frequency and amplitude;
the power amplification module is used for amplifying the sine wave analog electric signal generated by the main control module, generating a high-current low-frequency sound wave electric signal and driving the loudspeaker;
the loudspeaker is used for playing the low-frequency sound wave electric signal generated by the power amplification module;
the sound cavity is used for gathering low-frequency sound waves emitted by the loudspeaker;
the mechanical arm is connected with the sound cavity in a matched mode and used for achieving three-dimensional rotation of the sound cavity;
the steering engine driving module is controlled by the main control module and is used for driving each joint of the mechanical arm to move;
the far infrared flame sensor is used for converting the brightness of flame into a level signal with variable height and inputting the level signal into the main control module, and the main control module performs corresponding processing on the frequency of the sine wave analog electric signal according to the change of the level signal;
the angle displacement sensor is used for monitoring the displacement and the angle of the mechanical arm, acquiring the motion trail of the mechanical arm in real time, converting the motion trail into an electric signal, transmitting the electric signal to the main control module, and allowing the main control module to process the electric signal and generate a driving control signal for the steering engine driving module;
the distance measuring module is used for detecting the distance between the combustible and the sound cavity, transmitting the distance to the main control module, and processing and generating an alarm control signal for the buzzer module by the main control module;
the power module comprises a power supply circuit, a charging circuit and a lithium battery; the power supply circuit is used for providing power for the whole device through commercial power or a lithium battery, the charging circuit is used for charging the lithium battery, and the lithium battery is used for supplying power for the whole device under the condition of no commercial power;
and the voltage/current acquisition module is used for detecting the residual electric quantity of the lithium battery and sending the detected value to the main control module for electric quantity estimation.
Preferably, the main control module adopts an STM32F407VET6 minimum system board.
Preferably, the power amplification module adopts a power amplification module with the model number of LM 4766.
Preferably, the loudspeaker adopts a 35W rated subwoofer with peak power of 150W, the diameter of the subwoofer is 4 inches, and the size of the magnetic steel is 70.
Preferably, the cylinder body of the sound cavity is of a cylindrical structure, and is prepared by using a photosensitive resin material and adopting a 3D printing technology.
Preferably, the distance measuring module adopts an infrared distance measuring module with the model number GP2Y0A21YK 0F.
Preferably, the power supply circuit includes: the device comprises a transformer, a rectifying and filtering circuit, a DC/DC voltage reduction module and a voltage stabilization module; the transformer is used for reducing voltage of 220V single-phase alternating current supplied to the city, the voltage is supplied to the power amplification module through the rectification filter circuit after being reduced, and then the voltage is supplied to the outside by the DC/DC voltage reduction circuit, so that +5V voltage is supplied to the outside on one hand, and +3.3V voltage is supplied to the outside continuously through the voltage stabilization module on the other hand.
Preferably, in the power supply circuit, a single-phase 220V input double 21V output transformer is adopted as a transformer; the rectification filter circuit adopts a rectification module KBU2510 and two 10000 muF/45V electrolytic capacitors; the DC/DC voltage reduction module adopts a voltage reduction module with the model number of LM 2596S; the voltage stabilizing circuit adopts a voltage stabilizing module with the model of LM 350; the lithium battery adopts a lithium battery with the specification of 48V/12 Ah.
Preferably, in the voltage/current collection module, the voltage collection module uses an operational amplifier with the model number of LM258P to form a voltage differential amplification isolation sampling circuit, and the current collection module uses a hall current sensor with the model number of ACS 712-05B.
Preferably, the device further comprises a buzzer module, wherein the buzzer module is controlled by the main control module and is used for generating an alarm when the distance between the sound cavity and the combustible is within a set distance and/or generating an alarm when the electric quantity of the lithium battery in the power supply module is not enough to set a threshold value.
Preferably, the buzzer module adopts an active buzzer module.
Preferably, the device further comprises a display module, and the display module is used for calling the main control module for the current state quantity of the device.
Preferably, the display module adopts an OLED liquid crystal display module.
Preferably, the method for generating the sine wave analog electrical signal by the main control module comprises the following steps: the method comprises the steps that a timer TIM8 is used for outputting sine voltage waveforms, a universal timer TIM4 is used for generating interruption, the width of a rectangular wave output by the timer TIM8 is changed according to a sine rule, the frequency of the sine wave is determined by the interruption time of the timer TIM4, and in the interruption process, the amplitude of a sine wave signal is changed according to the fact that a far infrared flame sensor collects fire data and the power interval where the data value belongs is judged; wherein the power size interval comprises: and the third gear is more than 0 and less than or equal to 30W, more than 30 and less than or equal to 40W, and more than 40 and less than or equal to 60W.
Preferably, the method for detecting the remaining capacity of the lithium battery by the voltage/current collection module comprises the following steps: converting the terminal voltage and the current value of the lithium battery to enable the sampling circuit to convert the converted direct current voltage/current signal into a small voltage signal, forming a residual electric quantity detection value of the lithium battery after the small voltage signal is followed by an operational amplifier, and transmitting the residual electric quantity detection value to a main control module, wherein the main control module performs analog-to-digital conversion on the small voltage signal, and performs battery state estimation after the conversion to obtain the current residual electric quantity of the battery; wherein, the small voltage signal is: a voltage signal between 0 and 3.3V.
Preferably, the method for estimating the battery state by the main control module comprises: after a lithium battery in a power supply module is switched on, acquiring terminal voltage of the lithium battery at the first moment after a main control module is powered on as open-circuit voltage of the lithium battery, and obtaining an initial value of the residual electric quantity by applying an obtained OCV-SOC identification function; and finally, the main control module detects the whole discharge loop, continuously collects load current when the device runs, and calculates the current residual electric quantity of the lithium battery by using a current ampere-hour integration method.
Preferably, the current ampere-hour integration method is as follows:
recording the charge-discharge initial state as SOC0, then the current charge-discharge state SOC is:
wherein, CNThe rated capacity of the battery, the current of the battery, and the charging and discharging efficiency are respectively shown as I and η.
Preferably, the method for detecting the distance between the acoustic cavity and the combustible by the ranging module comprises the following steps: the intensity of the reflected light of the ranging module is measured by using the input capturing function of the timer TIM3, and the distance between the obstacles is detected by using the principle that the intensity of different reflections is different when the infrared signal meets the obstacles.
Preferably, the display module writes corresponding data into the display module controller according to the displayed read-write time sequence and the operation instruction.
Preferably, the far infrared flame probe of the far infrared flame sensor converts the intensity change of external infrared light into the change of current, and the change is reflected as the change of a numerical value within the range of 0-255 through the A/D converter; the larger the fire, the stronger the external infrared light, and the smaller the numerical value; the smaller the fire, the weaker the infrared light, and the larger the value, thereby realizing the detection of the fire.
Preferably, the method for the mechanical arm module to realize the three-dimensional rotation of the acoustic cavity comprises the following steps: a sensing module of the mechanical arm module is formed by an angle displacement sensor, and a motion module of the mechanical arm module is formed by a steering engine driving circuit; the main control module adopts a fuzzy PID control method to calculate the track deviation in the motion process of the mechanical arm module to form a control quantity; and then, sending a regulation signal to a motion module of the mechanical arm module according to the control quantity, so that the mechanical arm module drives the sound cavity to realize three-dimensional rotation.
Preferably, the fuzzy PID control method is: let the proportional, differential and integral coefficients be KP、KD、KIThen, the algorithm expression of PID is:
wherein, p (t) is the control quantity output by the PID algorithm, and c (t) is the difference between the target value a (t) and the collected value b (t):
C(t)＝a(t)-b(t)
the track offset and the offset rate in the mechanical arm movement process are brought into a fuzzy regulation rule, and a proportion coefficient, a differential coefficient and an integral coefficient K are comparedP、KI、KDRecalculating to obtain new proportion, differential and integral coefficients as follows:
K’P＝KP+KPP
K’I＝KI+KII
K’D＝KD+KDD
wherein, KPP、KDD、KIIRespectively substituting the offset and the offset rate into the values calculated by the fuzzy regulation criterion; by new K'P、K′D、K′IThe formed PID algorithm is a fuzzy PID control method;
the fuzzy PID control method is related to the calibration quantity and the acquisition quantity of the track in the motion process of the mechanical arm.
Compared with the prior art, the sound wave fire extinguishing device capable of automatically adjusting power provided by the invention has the following beneficial effects:
1. the invention utilizes the STM32F407VET6 chip to generate one path of SPWM signal with low frequency oscillation, and has the advantages of low energy consumption, small volume, low development cost, high reliability and easy carrying.
2. The invention adopts specific low-frequency sinusoidal sound waves, has high fire extinguishing speed, and obviously reduces noise compared with other types of sound waves; no chemical reagent, no harm to human body and environment protection.
3. According to the invention, the main control module is utilized to judge the affiliated interval of the data value according to the data collected by the far infrared flame sensor, so that the degree of the fire can be known, the corresponding power of three grades of low 30W, medium 40W and high 60W can be automatically output, and the sensor automatically selects a proper power gear according to the fire condition and the size of the fire area, so that the fire extinguishing efficiency is improved, and the energy is saved.
4. The invention adopts two power supply modes, can be directly connected with a mains supply socket, and can also supply power by utilizing a built-in high-capacity lithium battery, thereby enhancing the applicability and portability of different fire scene devices.
5. The far infrared flame sensor and the infrared distance measuring sensor which are arranged at the sound outlet of the sound wave emission cavity can acquire information and feed the information back to the main control module, so that the position of a fire source is accurately positioned, and the fire extinguishing efficiency is improved.
6. The invention combines the sound cavity and the mechanical arm, and realizes the three-dimensional rotation of the sound cavity by using the mechanical arm.
7. The invention is provided with the liquid crystal display module to display the related state quantity in real time, thereby being convenient for a user to operate.
8. The sound cavity is manufactured by using a 3D printer, adopts a photosensitive resin material, and has the characteristics of high strength, high temperature resistance, water resistance and the like.
9. The invention can realize the maximum protection of cultural relics, precision equipment and circuits in case of fire and prevent secondary pollution and damage.
10. The invention is based on that under the action of lower sound wave frequency, the air around the combustion object is distributed sparsely and densely under the pushing of sound wave energy, and the oxygen content of the sparse part of the air is minimum, thereby weakening the combustion reaction rate in a physical mode until the flame is extinguished, which not only has great significance for the human health of people, but also can generate great economic benefit.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a block diagram of an embodiment of the present invention for an automatic power regulation sonic fire extinguisher;
FIG. 2 is a flow chart of the operation of the automatic power-regulating acoustic wave fire extinguishing apparatus according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a sound wave fire extinguishing apparatus capable of automatically adjusting power according to an embodiment of the present invention.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a sound wave fire extinguishing apparatus that automatically adjusts power, the apparatus including: the device comprises a main control module, a far infrared flame sensor, an angular displacement sensor, a steering engine driving module, a buzzer module, a display module, a power amplification module, a loudspeaker, a sound cavity, a mechanical arm module, a distance measurement module, a power supply module and a voltage/current acquisition module; wherein:
the main control module is used for generating sine wave analog electric signals with specific frequency and amplitude; further, the main control module adopts an STM32F407VET6 minimum system board; the main control module can automatically adjust the frequency and amplitude of the sine wave analog electric signal, further automatically adjust the related content of the output power, specifically, an advanced timer TIM8 inside the main control module is used for outputting a sine voltage waveform, and an I/O port PA0 is used as an output port. The main control module generates interruption through a general timer TIM4, so that the width of a rectangular wave output by the TIM8 changes according to a sine rule, the frequency of the sine wave is determined by the interruption time of the TIM4, and an SPWM waveform can be output. The high, middle and low three-gear power realizes output according to three amplitudes of sine waves with different sizes. The SPWM full-scale sine pulse width modulation technology uses a series of pulse equivalent sine waves with equal amplitude and unequal width. The SPWM technology is based on the principle of 'area equality and effect equivalence', namely, the integration of narrow pulse signals with different shapes to time is equal (the areas are equal), and the effect is the same;
the power amplification module is used for amplifying the sine wave analog electric signal generated by the main control module, generating a high-current low-frequency sound wave electric signal and driving the loudspeaker; further, the power amplification module adopts LM 4766;
the loudspeaker is used for playing the low-frequency sound wave electric signal generated by the power amplification module; furthermore, the loudspeaker adopts a super bass loudspeaker with rated power of 35W and peak power of 150W, the diameter of the super bass loudspeaker is 4 inches, and the size of the magnetic steel is 70;
the sound cavity is used for gathering low-frequency sound waves emitted by the loudspeaker; furthermore, the cylinder body of the sound cavity is of a cylindrical structure, is prepared by using photosensitive resin materials and adopting a 3D printing technology, and has the advantages of high strength, high temperature resistance and the like;
the mechanical arm module is connected with the sound cavity in a matched mode and used for achieving three-dimensional rotation of the sound cavity;
the steering engine driving module is controlled by the main control module, is used for driving each joint of the mechanical arm to move, and consists of a steering engine;
the far infrared flame sensor is used for detecting the fire intensity, a special infrared receiving tube is used for detecting the flame by utilizing the characteristic that infrared rays are very sensitive to the flame, then the brightness of the flame is converted into a level signal with variable height, the level signal is input into the main control module, and the main control module correspondingly processes the frequency of the sine wave analog electrical signal according to the change of the level signal; the special infrared receiving tube mainly comprises a phototriode and a receiving IC and is packaged by epoxy resin;
the angle displacement sensor is used for monitoring the displacement and the angle of the mechanical arm, acquiring the motion trail of the mechanical arm in real time, converting the motion trail into an electric signal, transmitting the electric signal to the main control module, and allowing the main control module to process the electric signal and generate a driving control signal for the steering engine driving module;
the distance measuring module is used for detecting the distance between the combustible and the sound cavity, transmitting the distance to the main control module, and processing and generating an alarm control signal for the buzzer module by the main control module; further, the distance measurement module adopts a GP2Y0A21YK0F infrared distance measurement module;
the buzzer module is controlled by the main control module and is used for giving an alarm when the distance between the sound cavity and the combustible material is within 20cm, and giving an alarm when the electric quantity of the lithium battery in the power supply module is less than 10%; further, the buzzer module adopts an active buzzer module;
the power module comprises a power supply circuit, a charging circuit and a lithium battery; the power supply circuit is used for providing power for the whole device through commercial power or a lithium battery, the lithium battery is charged through the commercial power through the charging circuit, and a high-capacity lithium battery is adopted for supplying power when the commercial power is unavailable; further, the alternating current voltage regulator adopts a single-phase 220V input double 21V output transformer, the rectification filter circuit adopts a rectification module KBU2510 and two 10000 muF/45V electrolytic capacitors, the DC/DC voltage reduction circuit adopts an LM2596S voltage reduction module, the voltage regulation circuit adopts an LM350 module, and the high-capacity lithium battery adopts a 48V/12Ah lithium battery which is connected in series; the circuit structure of the power supply circuit of the power supply module and the circuit connection relationship with other modules, and the circuit structure of the charging circuit and the circuit connection relationship with the lithium battery can all adopt the existing circuit connection technology in the field, and the details are not repeated here.
The voltage/current acquisition module is used for detecting the residual electric quantity of the lithium battery and sending the detected value to the main control module for electric quantity estimation; further, the voltage acquisition module adopts an operational amplifier LM258P to form a voltage differential amplification isolation sampling circuit, and the current acquisition module adopts a Hall current sensor ACS 712-05B;
the display module is called from the main control module and is used for displaying the current power value of the driving loudspeaker, the distance between the combustible and the sound cavity, the electric quantity of the lithium battery in the power module and other state quantities; further, the display module adopts an OLED liquid crystal display module.
Further:
flame sensors are sensors that are used specifically to search for a source of fire, and are particularly sensitive to flames. The flame sensor utilizes the characteristic that infrared rays are very sensitive to flames, a special infrared receiving tube is used for detecting the flames, then the brightness of the flames is converted into level signals with variable heights, the level signals are input into a central processing unit, and the central processing unit carries out corresponding program processing according to the change of the signals.
The far infrared flame sensor can detect infrared light with the wavelength ranging from 700 nanometers to 1000 nanometers, the detection angle is 60, and when the wavelength of the infrared light is near 880 nanometers, the sensitivity of the infrared flame sensor reaches the maximum. The far infrared flame probe converts the intensity change of external infrared light into the change of current, and the change is reflected as the change of a numerical value within a range of 0-255 through the A/D converter. The stronger the external infrared light is, the smaller the numerical value is; the weaker the infrared light, the larger the value.
On this basis, the method for generating the sine wave analog electric signal with the variable frequency and amplitude by the main control module comprises the following steps: the main control module outputs a sinusoidal voltage waveform through an internal advanced timer TIM8, and uses an I/O port PA0 as an output port; the main control module generates interruption through a general timer TIM4, so that the width of a rectangular wave output by the TIM8 changes according to a sine rule, the frequency of the sine wave is determined by the interruption time of the TIM4, and in the interruption process, the amplitude of a sine wave signal is changed by judging a power interval to which a data value belongs according to the data of fire intensity collected by a far infrared flame sensor; wherein the power size interval comprises: third gear with the weight of more than 0 and less than or equal to 30W, more than 30 and less than or equal to 40W, more than 40 and less than or equal to 60W;
the method for detecting the residual electric quantity of the lithium battery by the voltage/current acquisition module comprises the following steps: the converted direct current voltage/current signals are converted into small voltage signals by the sampling circuit through converting the terminal voltage and the current value of the lithium battery, the small voltage signals are transmitted to the main control module after being followed by the operational amplifier LM258P, the small voltage signals are subjected to analog-to-digital conversion by the main control module, and the battery state estimation is performed after the conversion. The small voltage signal is: a voltage signal between 0 and 3.3V.
The specific method for estimating the residual electric quantity of the lithium battery by the main control module comprises the following steps: after a lithium battery in a power supply module is switched on, acquiring terminal voltage of the lithium battery at the first moment after a main control module is powered on as open-circuit voltage of the lithium battery, and obtaining an initial value of the residual electric quantity by applying an obtained OCV-SOC identification function; and finally, the main control module detects the whole discharge loop, continuously collects load current when the device runs, and calculates the current residual electric quantity of the lithium battery by using a current ampere-hour integration method.
The ampere-hour integration method is widely applied to the fields of industry, daily life and the like, and the estimation of the state of charge (SOC) of the battery becomes an important link of battery management.
The Ah integration method is the most commonly used SOC estimation method. Recording the charge-discharge initial state as SOC0, then the current charge-discharge state SOC is:
wherein, CNThe rated capacity of the battery, the current of the battery, and the charging and discharging efficiency are respectively shown as I and η.
The method for detecting the distance between the sound cavity and the combustible by the distance measuring module comprises the following steps: the intensity of the reflected light of the ranging module is measured by using the input capturing function of the timer TIM3, and the distance between the obstacles is detected by using the principle that the intensity of different reflections is different when the infrared signal meets the obstacles.
And the display module writes corresponding data into the display module controller according to the displayed read-write time sequence and the operation instruction.
The method for detecting the fire intensity by the far infrared flame sensor comprises the following steps: the far infrared flame probe converts the intensity change of external infrared light into the change of current, and the change is reflected as the change of a numerical value within the range of 0-255 through an A/D converter; the larger the fire, the stronger the external infrared light, and the smaller the numerical value; the smaller the fire, the weaker the infrared light and the larger the value.
The method for realizing the three-dimensional rotation of the sound cavity by the mechanical arm module comprises the following steps: a sensing module of the mechanical arm module is formed by an angular displacement sensor, and a motion module of the mechanical arm module is formed by a steering engine driving circuit, so that a motion control hardware unit of the mechanical arm module is formed; the main control module adopts a fuzzy PID control method to calculate the track deviation in the motion process of the mechanical arm module to form a control quantity; and then, sending a regulation and control signal to the motion module of the mechanical arm module according to the control quantity, so that the mechanical arm module drives the sound cavity to aim at a fire source to extinguish fire.
The judgment of the motion track aims to calculate the deviation condition of the current mechanical arm motion track and the preset track, and the judgment result is the key influencing the accuracy of the whole system and also the key determining the efficiency of the system. The fuzzy PID algorithm is a control strategy with high control precision and low calculation complexity.
The fuzzy PID algorithm is developed on the basis of the PID algorithm. Let the proportional, differential and integral coefficients be KP、KD、KIThen, the algorithm expression of PID is:
wherein, p (t) is the control quantity output by the PID algorithm, and c (t) is the difference between the target value a (t) and the collected value b (t):
C(t)＝a(t)-b(t)
the track offset and the offset rate in the mechanical arm movement process are brought into a fuzzy regulation rule, and a proportion coefficient, a differential coefficient and an integral coefficient K are comparedP、KI、KDRecalculating to obtain new proportion, differential and integral coefficients as follows:
K’P＝KP+KPP
K’I＝KI+KII
K’D＝KD+KDD
wherein, KPP、KDD、KIIRespectively substituting the offset and the offset rate into the values calculated by the fuzzy regulation criterion; by new K'P、K′D、K′JThe formed PID algorithm is a fuzzy PID control method;
the fuzzy PID control method is precisely related to the calibration quantity and the acquisition quantity of the track in the motion process of the mechanical arm, so that the calculated control quantity has higher accuracy, and the control accuracy of the system is improved.
Fig. 3 is a schematic structural diagram of a specific application of the automatic power-regulating acoustic wave fire extinguishing apparatus according to the embodiment of the present invention. In the figure, 1 is a main control box, 2 is a strap, 3 is a display module, 4 is a start/stop switch, 5 is a strap pull ring a, 7 is a strap pull ring b, 6 is a power supply connecting wire socket, 8 is a base interface, 9 is a rotating chassis, 10 is a fixed base, 11 is a steering engine a, 12 is a connecting rod a, 13 is a steering engine b, 14 is a connecting rod b, 15 is a steering engine c, 16 is a loudspeaker, 17 is an acoustic cavity, 18 is a distance measuring module, and 19 is a far infrared flame sensor; wherein:
a main control module, a power amplification module, a power supply module and a voltage/current acquisition module are respectively arranged in the main control box 1; the shoulder strap 2 is respectively arranged on two side surfaces of the main control box 1 through a shoulder strap pull ring a5 and a shoulder strap pull ring b 7; the display module 3 and the start/stop switch 4 are arranged on the upper surface of the main control box 1; the power connecting wire socket 6 is arranged on one side surface of the main control box 1; the base interface 8 is arranged on the other side surface of the main control box 1, and the rotating chassis 9 is arranged on the base interface 8 through a fixed base 10; the steering engine a11 of the steering engine driving module, the connecting rod a12 of the mechanical arm module, the steering engine b13 of the steering engine driving module, the connecting rod b14 of the mechanical arm module and the steering engine c15 of the steering engine driving module are sequentially connected; the loudspeaker 16 is connected to a steering engine c 15; the acoustic cavity 17 is connected with a loudspeaker 16; the distance measuring module 18 and the far infrared flame sensor 19 are respectively arranged on the sound cavity 17.
As shown in fig. 2, the sound wave fire extinguishing apparatus with automatic power adjustment provided by the embodiment of the invention has the working process that:
after the device is powered on, the display module displays the current power value for driving the loudspeaker, the residual electric quantity of the lithium battery, the distance between the sound cavity and the combustible and other state quantities, wherein the current power set value corresponds to the degree of fire, and the current power set value is obtained by reading an internal memory of the main control module through the display module; the residual electric quantity of the lithium battery is obtained by the operation of a main control module through the terminal voltage and the current of the lithium battery acquired by a voltage/current acquisition module; the distance between the sound cavity and the combustible is detected and calculated in real time by the infrared distance measuring module and the main control module.
The main control module generates sine wave analog electric signals with specific frequency and amplitude according to the signals of the fire, the power amplification module amplifies the sine wave analog electric signals to generate low-frequency sound wave electric signals of large current to drive the loudspeaker, the sine wave analog electric signals are converted into sound waves to be played, and a specially-made sound cavity is installed at the generation end of the loudspeaker to enable the sound waves emitted by the loudspeaker to be gathered and improve the fire extinguishing efficiency.
When the distance between the sound cavity and the combustible substance detected by the infrared distance measuring module is within 20cm, the main control module controls the buzzer to generate an alarm signal 1; when the electric quantity of the lithium battery obtained by the operation according to the voltage and the current of the lithium battery acquired by the voltage/current acquisition module is less than 10%, the main control module controls the buzzer to generate an alarm signal 2; the alarm signal 1 is a prolonged sounding signal, and the alarm signal 2 is an intermittent sounding signal.
The power module is used for providing electric power for the whole system and charging the lithium battery at the same time so as to supply power by adopting the lithium battery when the commercial power is unavailable. The power module firstly adopts a transformer to step down 220V single-phase alternating current supplied in the market, the voltage is reduced and then passes through a rectification filter circuit to supply power to a power amplifier module LM4766, and then passes through a DC/DC voltage reduction module to provide +5V voltage outwards on one hand, and continues to provide +3.3V voltage outwards through a voltage stabilization module LM350 on the other hand (in the device provided by the embodiment of the invention, the power amplifier module LM4766 needs +/-18V voltage, the infrared distance measurement module, the buzzer, the liquid crystal display module, the operational amplifier LM258P, the steering engine driving module and the Hall current sensor need +5V voltage, and the main control module STM32F407VET6 and the mechanical arm module need +3.3V voltage);
the foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. An automatic power-adjusting sound wave fire extinguishing apparatus, comprising: the device comprises a main control module, a far infrared flame sensor, an angle displacement sensor, a steering engine driving module, a power amplification module, a loudspeaker, a sound cavity, a mechanical arm module, a distance measurement module, a power supply module and a voltage/current acquisition module; wherein:
the main control module is used for generating sine wave analog electric signals with specific frequency and amplitude;
the power amplification module is used for amplifying the sine wave analog electric signal generated by the main control module, generating a high-current low-frequency sound wave electric signal and driving the loudspeaker;
the loudspeaker is used for playing the low-frequency sound wave electric signal generated by the power amplification module;
the sound cavity is used for gathering low-frequency sound waves emitted by the loudspeaker;
the mechanical arm is connected with the sound cavity in a matched mode and used for achieving three-dimensional rotation of the sound cavity;
the steering engine driving module is controlled by the main control module and is used for driving each joint of the mechanical arm to move;
the far infrared flame sensor is used for converting the brightness of flame into a level signal with variable height and inputting the level signal into the main control module, and the main control module performs corresponding processing on the frequency of the sine wave analog electric signal according to the change of the level signal;
the angle displacement sensor is used for monitoring the displacement and the angle of the mechanical arm, acquiring the motion trail of the mechanical arm in real time, converting the motion trail into an electric signal, transmitting the electric signal to the main control module, and allowing the main control module to process the electric signal and generate a driving control signal for the steering engine driving module;
the distance measuring module is used for detecting the distance between the combustible and the sound cavity, transmitting the distance to the main control module, and processing and generating an alarm control signal for the buzzer module by the main control module;
the power module comprises a power supply circuit, a charging circuit and a lithium battery; the power supply circuit is used for providing power for the whole device through commercial power or a lithium battery, the charging circuit is used for charging the lithium battery, and the lithium battery is used for supplying power for the whole device under the condition of no commercial power;
and the voltage/current acquisition module is used for detecting the residual electric quantity of the lithium battery and sending the detected value to the main control module for electric quantity estimation.
2. A self-regulating power acoustic fire suppression apparatus as claimed in claim 1, further comprising any one or more of:
-the master control module employs STM32F407VET6 minimal system board;
the power amplification module adopts a power amplification module with the model number LM 4766;
the loudspeaker adopts a 35W rated super bass loudspeaker with peak power of 150W, the diameter of the super bass loudspeaker is 4 inches, and the size of the magnetic steel is 70;
the cylinder of the acoustic cavity is a cylindrical structure, and is made of a photosensitive resin material by a 3D printing technique;
the distance measurement module adopts an infrared distance measurement module with the model number GP2Y0A21YK 0F;
-the supply circuit comprises: the device comprises a transformer, a rectifying and filtering circuit, a DC/DC voltage reduction module and a voltage stabilization module; the transformer is used for reducing voltage of 220V single-phase alternating current supplied to the city, the voltage is reduced and then passes through the rectifying and filtering circuit to supply power to the power amplification module, and then the voltage is reduced by the DC/DC voltage reduction circuit, so that on one hand, the voltage of +5V is provided to the outside, and on the other hand, the voltage of +3.3V is provided to the outside continuously through the voltage stabilization module;
in the voltage/current collection module, the voltage collection module uses an operational amplifier of type LM258P to form a voltage differential amplification isolation sampling circuit, and the current collection module uses a hall current sensor of type ACS 712-05B;
-further comprising a buzzer module, controlled by the master control module, for generating an alarm when the acoustic chamber is within a set distance from the combustible and/or generating an alarm when the lithium battery in the power module is short of a set threshold;
the device further comprises a display module, wherein the display module is used for obtaining the current state quantity of the device through calling to the main control module.
3. A self-regulating power acoustic fire suppression apparatus as claimed in claim 2, further comprising any one or more of:
in the power supply circuit, a single-phase 220V input double 21V output transformer is adopted as a transformer; the rectification filter circuit adopts a rectification module KBU2510 and two 10000 muF/45V electrolytic capacitors; the DC/DC voltage reduction module adopts a voltage reduction module with the model number of LM 2596S; the voltage stabilizing circuit adopts a voltage stabilizing module with the model of LM 350; the lithium battery adopts a lithium battery with the specification of 48V/12 Ah;
-the buzzer module is an active buzzer module;
-the display module is an OLED liquid crystal display module.
4. The automatic power regulation sound wave fire extinguishing apparatus according to claim 1, wherein the main control module generates the sine wave analog electric signal by the following method: the method comprises the steps that a timer TIM8 is used for outputting sine voltage waveforms, a universal timer TIM4 is used for generating interruption, the width of a rectangular wave output by the timer TIM8 is changed according to a sine rule, the frequency of the sine wave is determined by the interruption time of the timer TIM4, and in the interruption process, the amplitude of a sine wave signal is changed according to the fact that a far infrared flame sensor collects fire data and the power interval where the data value belongs is judged; wherein the power size interval comprises: and the third gear is more than 0 and less than or equal to 30W, more than 30 and less than or equal to 40W, and more than 40 and less than or equal to 60W.
5. The sound wave fire extinguishing device capable of automatically adjusting power as claimed in claim 1, wherein the voltage/current collection module detects the remaining capacity of the lithium battery by the following method: converting the terminal voltage and the current value of the lithium battery to enable the sampling circuit to convert the converted direct current voltage/current signal into a small voltage signal, forming a residual electric quantity detection value of the lithium battery after the small voltage signal is followed by an operational amplifier, and transmitting the residual electric quantity detection value to a main control module, wherein the main control module performs analog-to-digital conversion on the small voltage signal, and performs battery state estimation after the conversion to obtain the current residual electric quantity of the battery; wherein, the small voltage signal is: a voltage signal between 0 and 3.3V.
6. The sound wave fire extinguishing apparatus with automatic power regulation function according to claim 5, wherein the method for the main control module to estimate the battery state comprises: after a lithium battery in a power supply module is switched on, acquiring terminal voltage of the lithium battery at the first moment after a main control module is powered on as open-circuit voltage of the lithium battery, and obtaining an initial value of the residual electric quantity by applying an obtained OCV-SOC identification function; finally, the main control module detects the whole discharge loop, continuously collects load current when the device runs, and calculates the current residual electric quantity of the lithium battery by using a current ampere-hour integral method; wherein, the current ampere-hour integration method comprises the following steps:
recording the charge-discharge initial state as SOC0, then the current charge-discharge state SOC is:
wherein, CNThe rated capacity of the battery, the current of the battery, and the charging and discharging efficiency are respectively shown as I and η.
7. The automatic power regulation sound wave fire extinguishing device according to claim 1, wherein the distance measuring module detects the distance between the sound cavity and the combustible by the following method: the intensity of the reflected light of the ranging module is measured by using the input capturing function of the timer TIM3, and the distance between the obstacles is detected by using the principle that the intensity of different reflections is different when the infrared signal meets the obstacles.
8. The sound wave fire extinguishing apparatus capable of automatically adjusting power according to claim 1, wherein the display module writes corresponding data into the display module controller according to the read-write time sequence and the operation instruction of the display.
9. The sound wave fire extinguishing device capable of automatically adjusting power according to claim 1, wherein a far infrared flame probe of the far infrared flame sensor converts intensity changes of external infrared light into changes of current, and the changes are reflected as changes of a number in a range of 0-255 through an A/D converter; the larger the fire, the stronger the external infrared light, and the smaller the numerical value; the smaller the fire, the weaker the infrared light, and the larger the value, thereby realizing the detection of the fire.
10. The automatic power regulation sound wave fire extinguishing apparatus according to claim 1, wherein the mechanical arm module realizes three-dimensional rotation of the sound cavity by: a sensing module of the mechanical arm module is formed by an angle displacement sensor, and a motion module of the mechanical arm module is formed by a steering engine driving circuit; the main control module adopts a fuzzy PID control method to calculate the track deviation in the motion process of the mechanical arm module to form a control quantity; then, sending a regulation signal to a motion module of the mechanical arm module according to the control quantity, so that the mechanical arm module drives the sound cavity to realize three-dimensional rotation;
the fuzzy PID control method comprises the following steps: let the proportional, differential and integral coefficients be KP、KD、KIThen, the algorithm expression of PID is:
wherein, p (t) is the control quantity output by the PID algorithm, and c (t) is the difference between the target value a (t) and the collected value b (t):
C(t)＝a(t)-b(t)
the track offset and the offset rate in the mechanical arm movement process are brought into a fuzzy regulation rule, and a proportion coefficient, a differential coefficient and an integral coefficient K are comparedP、KI、KDRecalculating to obtain new proportion, differential and integral coefficients as follows:
K′P＝KP+KPP
K′I＝KI+KII
K′D＝KD+KDD
wherein, KPP、KDD、KIIRespectively substituting the offset and the offset rate into the values calculated by the fuzzy regulation criterion; by new K'P、K′D、K′IThe formed PID algorithm is a fuzzy PID control method;
the fuzzy PID control method is related to the calibration quantity and the acquisition quantity of the track in the motion process of the mechanical arm.
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