CN112096445B - Mobile fire-extinguishing robot system for tunnel - Google Patents
Mobile fire-extinguishing robot system for tunnel Download PDFInfo
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- CN112096445B CN112096445B CN202011060705.4A CN202011060705A CN112096445B CN 112096445 B CN112096445 B CN 112096445B CN 202011060705 A CN202011060705 A CN 202011060705A CN 112096445 B CN112096445 B CN 112096445B
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- cleanliness
- fire
- control module
- cleaning mechanism
- power transmission
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/04—Spraying barriers
Abstract
The invention relates to the technical field of tunnel fire fighting, and particularly discloses a mobile fire-fighting robot system for a tunnel, which comprises a power supply device, a track body and a fire-fighting robot, wherein the track body is arranged at the top of the tunnel, the fire-fighting robot is positioned in the track body, and the power supply device comprises a power transmission mechanism and a power taking mechanism; the first cleaning mechanism comprises an insulating tube, a brush head, an air pump and a camera, the lower end of the insulating tube is connected with an air outlet of the air pump, the brush head is fixed on the annular surface of the top of the insulating tube, and the brush head is in contact with the power transmission copper bar; the camera is fixed on the insulating tube; the camera is used for collecting image information of the power transmission copper bar and sending the image information to the processing module, the processing module is used for judging the cleanliness of the power transmission copper bar according to the image information and sending the cleanliness to the control module, and the control module is used for controlling the air pump to be started according to the cleanliness. By adopting the technical scheme of the invention, the stable supply of electric energy can be ensured.
Description
Technical Field
The invention relates to the technical field of tunnel fire fighting, in particular to a mobile fire-fighting robot system for a tunnel.
Background
The tunnel fire has the characteristics of large smoke, high temperature, difficult evacuation, difficult fire fighting and the like. Once a fire disaster occurs in the tunnel, due to the limitation of conditions such as dense smoke, illumination and the like and the dense vehicles in the tunnel, firefighters are difficult to approach a fire source, and the fire disaster is very difficult to extinguish and cause serious loss.
In order to solve the problem that a fire-fighting vehicle cannot reach a fire point in time, a fire-fighting robot for a tunnel is arranged in the prior art, a track is arranged at the top end of the side wall in the tunnel, and the track traverses the whole tunnel; the fire extinguishing robot is arranged on the track, can freely move along the track and can extinguish fire when reaching a fire point. Because fire-fighting robot needs electric power to drive, if adopt the mode of cable power supply, because fire-fighting robot can remove, need reserve longer cable. This puts high demands on the storage of the cables, and the lengthy cables are also liable to entangle with other devices, causing malfunctions. If the built-in battery is adopted, the maintenance cost of keeping the built-in battery in the working state is high because the frequency of fire occurrence is low.
The applicant provides a bearing type power supply track, which comprises a power supply device, a track body and a mobile robot positioned in the track body, wherein the power supply device comprises a power transmission mechanism and a power taking mechanism; the power transmission mechanism comprises a power transmission copper bar; the power transmission copper bar is fixed in the track body; the electricity taking mechanism comprises an insulating bracket, an electricity taking device and a wiring pile; the insulation support is fixed on the mobile robot, and the wiring pile is fixed on the insulation support; a cylindrical hole for accommodating the power taking device is vertically formed in the insulating bracket; the upper part of the power taking device is in contact with the power transmission copper bar, and the lower part of the power taking device is electrically connected with the wiring pile. The problem of the robot removes the in-process and continuously supplies power can be solved to above-mentioned scheme.
But because the vehicle flow is great in the tunnel, can produce a large amount of dusts, adhere to the transmission of electricity copper bar easily on, moreover, a large amount of dense smoke and impurity that produce when the conflagration takes place also adhere to the transmission of electricity copper bar easily on, the influence is got the contact of electrical apparatus and transmission of electricity copper bar, leads to the power supply unstability, and then influences the normal operating of robot.
For this reason, there is a need for a mobile fire-fighting robot system for tunnels capable of ensuring a stable supply of electric energy.
Disclosure of Invention
The invention provides a mobile fire-extinguishing robot system for a tunnel, which can ensure stable supply of electric energy.
In order to solve the technical problem, the present application provides the following technical solutions:
a mobile fire-extinguishing robot system for a tunnel comprises a power supply device, a track body and a fire-extinguishing robot, wherein the track body is installed at the top of the tunnel, the fire-extinguishing robot is located in the track body, and the power supply device comprises a power transmission mechanism and a power taking mechanism; the power transmission mechanism comprises a power transmission copper bar; the power transmission copper bar is fixed in the track body; the electricity taking mechanism comprises an insulating bracket, an electricity taking device and a wiring pile; the insulating support is fixed on the fire-extinguishing robot, and the wiring pile is fixed on the insulating support; a cylindrical hole for accommodating the power taking device is vertically formed in the insulating bracket; the upper part of the electricity taking device is in contact with the power transmission copper bar, and the lower part of the electricity taking device is electrically connected with the wiring pile;
the cleaning device comprises a first cleaning mechanism, a control module and a processing module, wherein the first cleaning mechanism comprises an insulating tube, a brush head, an air pump and a camera, the insulating tube is vertically fixed on an insulating support, the air pump is fixed on the insulating support, the lower end of the insulating tube is connected with an air outlet of the air pump, the brush head is fixed on the annular surface of the top of the insulating tube, and the brush head is in contact with a power transmission copper bar; the camera is fixed on the insulating tube; the camera is used for collecting image information of the power transmission copper bar and sending the image information to the processing module, the processing module is used for judging the cleanliness of the power transmission copper bar according to the image information and sending the cleanliness to the control module, and the control module is used for controlling the air pump to be started according to the cleanliness.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, through the fixed brush head on the annular surface at insulating tube top, at the in-process that the robot that puts out a fire removed, the brush head lasts and transmits electricity the copper bar contact, helps sweeping the dust that will adhere to on transmitting electricity the copper bar to guarantee to get the good contact of electrical apparatus and transmission of electricity copper bar. Through setting up the image information that the camera gathered the transmission of electricity copper bar, can learn the cleanliness of transmission of electricity copper bar, for example when the transmission of electricity copper bar is very dirty, the air pump starts, can blow away the dust, compares in singly leaning on the brush head, can reach better clean effect. To sum up, this scheme is when the fire-fighting robot removes, cleans the transmission of electricity copper bar, makes electrical apparatus and the good contact of transmission of electricity copper bar ability of getting, can guarantee the stable supply of electric energy.
Further, the fire-extinguishing robot comprises a support plate, a connecting bracket and a fire-extinguishing mechanism; the insulating support is fixed on the upper surface of the support plate, and the upper end of the connecting support is fixedly connected with the lower surface of the support plate; the fire extinguishing mechanism comprises a carrier frame, a fire extinguishing steel cylinder, a connecting pipe and a fire extinguishing nozzle;
the lower extreme and the carrier frame fixed connection of linking bridge, the steel bottle of putting out a fire and the shower nozzle of putting out a fire all fix on the carrier frame, and the one end of connecting pipe is connected with the bottleneck of the steel bottle of putting out a fire, and the other end of connecting pipe and the input interface connection of shower nozzle of putting out a fire.
By hanging the fire extinguishing steel cylinder, water, dry powder and the like can be stored, and a good fire extinguishing effect is achieved.
Further, the fire-extinguishing robot further comprises a walking wheel and a driving device, the walking wheel is rotatably connected to the lower surface of the support plate, and the driving device is used for driving the walking wheel to rotate.
The walking wheels rotate to drive the whole fire-extinguishing robot to move along the track body.
Further, the cleanliness includes excellent, medium and poor; when the cleanliness is excellent, the control module controls the driving device to work at a set speed; when the cleanliness is middle, the control module controls the air pump to start; when the cleanliness is poor, the control module controls the air pump to start and the driving device to work in a first preset range in a deceleration mode.
When the cleanliness is excellent, the air pump is not started, and the energy can be effectively saved. When the cleanliness is middle, start the air pump can be better clean transmission of electricity copper bar. When the cleanliness is poor, the driving device decelerates the first preset amplitude to work, the moving speed of the fire-extinguishing robot on the whole becomes slow, and the air pump has more time to blow away dust attached to the power transmission copper bar, so that the cleaning effect can be improved.
Further, the control module is also used for controlling the driving device to temporarily stop every other first preset time when the cleanliness is excellent, controlling the driving device to temporarily stop every other second preset time when the cleanliness is medium, and controlling the driving device to temporarily stop every other third preset time when the cleanliness is poor;
the control module is also used for controlling the camera to start when temporarily stopping, and controlling the driving device to restart and the camera to close after the camera finishes image information acquisition;
the first preset time is longer than the second preset time, and the second preset time is longer than the third preset time.
The environment in the tunnel is different, so that dust attached to each section of the power transmission copper bar can be different, and the cleanliness of the power transmission copper bar can be reevaluated by reevaluating image information at intervals.
Further, the first cleaning mechanism further comprises a flash lamp, and the flash lamp is used for illuminating the power transmission copper bar; the control module is also used for controlling the starting of the flash lamp while controlling the starting of the camera.
Because the tunnel internal environment is darker, set up the flash light and illuminate the transmission of electricity copper bar, can improve the formation of image effect of camera, follow-up also more accurate based on image information judges the cleanliness.
Further, the device comprises a second cleaning mechanism, the first cleaning mechanism and the second cleaning mechanism are respectively located at two ends of the insulating support, the power taking device is located in the middle of the insulating support, and the second cleaning mechanism is identical to the first cleaning mechanism in structure and is in mirror symmetry.
Through setting up first clean mechanism and the clean mechanism of second, no matter fire-fighting robot goes to which in tunnel, all can clean the transmission of electricity copper bar earlier.
Further, the processing module is further used for acquiring ignition point information, determining a driving direction based on the ignition point information, and marking the first cleaning mechanism and the second cleaning mechanism as a vehicle head cleaning mechanism or a vehicle tail cleaning mechanism respectively based on the driving direction; when the cleanliness is medium and the cleanliness is poor, the control module controls the air pump of the headstock cleaning mechanism to start.
The vehicle head cleaning mechanism and the vehicle tail cleaning mechanism are marked, so that an air pump of the vehicle head cleaning mechanism can be accurately started, and compared with the situation that two cleaning mechanisms are started, the vehicle head cleaning mechanism and the vehicle tail cleaning mechanism are more energy-saving.
The processing module is further used for comparing the cleanliness obtained by the image information obtained by the vehicle head cleaning mechanism with the cleanliness obtained by the image information obtained by the vehicle tail cleaning mechanism, judging whether the cleannesses are equal, and if the cleannesses are equal and the cleannesses are all medium, reducing the cleannesses into a difference by the processing module and sending the difference to the control module;
if the cleanliness is equal and the cleanliness is poor, the processing module reduces the cleanliness to be extremely poor and sends the cleanliness to the control module; the control module is also used for controlling an air pump of the headstock cleaning mechanism to improve power and controlling the driving device to decelerate to work by a second preset amplitude when the cleanliness is extremely poor; the second predetermined amplitude is greater than the first predetermined amplitude.
When the cleanliness is equal and the cleaness is medium, the cleaning effect of the headstock cleaning mechanism is proved to be poor, and the cleaness is not obviously improved after cleaning, so that the cleanability is reduced to be poor, and a stronger cleaning means is used conveniently. And when the cleanliness is equal and the cleanliness is poor, the same principle is carried out.
Further, the control module is further configured to control the driving device to temporarily stop every fourth preset time when the cleanliness is extremely poor, and the third preset time is longer than the fourth preset time.
Drawings
FIG. 1 is a logic block diagram of a mobile fire-fighting robot system for a tunnel according to an embodiment;
FIG. 2 is a longitudinal sectional view of a fire extinguishing robot in a mobile fire extinguishing robot system for a tunnel according to an embodiment;
FIG. 3 is a longitudinal sectional view of a fire fighting robot in a mobile fire fighting robot system for a tunnel according to an embodiment;
fig. 4 is a plan view of an insulating tube in a mobile fire-fighting robot system for tunnels according to an embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the track comprises a track body 1, a mounting plate 2, a power transmission copper bar 3, an insulating support 4, a power taking device 5, a wiring pile 6, an insulating tube 7, a brush head 8, a support plate 9, a connecting support 10, a walking wheel 11, a carrier frame 12, a fire extinguishing steel cylinder 13, a connecting pipe 14, a fire extinguishing nozzle 15 and a camera 16.
Example one
As shown in fig. 1, the mobile fire-fighting robot system for the tunnel of the embodiment includes a power supply device, a first cleaning mechanism, a control module, a processing module, a track body 1 installed on the top of the tunnel, and a fire-fighting robot located in the track body 1.
As shown in fig. 2 and 3, the rail body 1 is a hollow box rail, the top surface and the side wall of the box rail are sealed, and the middle position of the bottom surface is opened; the left and right sides of the upper surface of the bottom surface are provided with running grooves. The upper portion in the box track still the level be provided with mounting panel 2, the both ends of mounting panel 2 respectively with box track's lateral wall fixed connection.
The power supply device comprises a power transmission mechanism and a power taking mechanism; the power transmission mechanism comprises a power transmission copper bar 3; the power transmission copper bar 3 is fixed on the mounting plate 2 in the track body 1; the electricity taking mechanism comprises an insulating bracket 4, an electricity taking device 5 and a wiring pile 6; the wiring pile 6 is fixed on the insulating bracket 4; a cylindrical hole for accommodating the electricity taking device 5 is vertically formed in the insulating support 4; the upper part of the electricity taking device 5 is in contact with the power transmission copper bar 3, and the lower part of the electricity taking device 5 is electrically connected with the wiring pile 6. In this embodiment, transmission of electricity copper bar 3 is two sets ofly, is the live wire and the zero line of power transmission line respectively, and is corresponding, and the quantity of getting the electric mechanism also is two sets of. The power supply device and the track body 1 are prior art and will not be described herein.
First clean mechanism includes insulating tube 7, brush head 8 and air pump, and insulating tube 7 is vertical to be fixed on insulating support 4, and the air pump is fixed on insulating support 4, and the lower extreme of insulating tube 7 is connected with the gas outlet of air pump, and as shown in figure 4, brush head 8 is fixed on the annular surface at insulating tube 7 top, and brush head 8 and transmission of electricity copper bar 3 contact. In this embodiment, the number of the first cleaning mechanisms is two, and the first cleaning mechanisms correspond to the two power transmission copper bars 3 respectively.
The fire-extinguishing robot comprises a carrier plate 9, a connecting bracket 10, a fire-extinguishing mechanism, a traveling wheel 11 and a driving device; the insulating support 4 is fixed on the upper surface of the carrier plate 9, and the upper end of the connecting support 10 is fixedly connected with the lower surface of the carrier plate 9;
the fire extinguishing mechanism comprises a carrier frame 12, a fire extinguishing steel cylinder 13, a connecting pipe 14 and a fire extinguishing nozzle 15; the lower end of the connecting bracket 10 is fixedly connected with the carrier frame 12, the fire extinguishing steel cylinder 13 and the fire extinguishing nozzle 15 are both fixed on the carrier frame 12, one end of the connecting pipe 14 is connected with the bottle mouth of the fire extinguishing steel cylinder 13, and the other end of the connecting pipe 14 is connected with the input interface of the fire extinguishing nozzle 15.
The traveling wheels 11 are rotatably connected to the lower surface of the carrier plate 9, and in this embodiment, four traveling wheels 11 are rotatably connected to four corners of the bottom surface of the carrier plate 9. The road wheels 11 are positioned in the driving grooves. The driving device is used for driving the travelling wheels 11 to rotate, so that the fire-extinguishing robot integrally moves in the box-type track. The driving device can use a motor or the like to drive the traveling wheels 11 to rotate, which is prior art and will not be described in detail herein.
The first cleaning mechanism further comprises a camera 16, and the camera 16 is fixed on the insulating tube 7; the camera 16 is used for collecting the image information of the power transmission copper bar 3 and sending the image information to the processing module.
And the processing module is used for judging the cleanliness of the power transmission copper bar 3 according to the image information and sending the cleanliness to the control module. The cleanliness comprises a good degree, a middle degree and a poor degree, and in the embodiment, when the cleanliness of the two power transmission copper bars 3 is judged to be inconsistent according to the image information acquired by the two cameras 16, the cleanliness of a low grade is sent; for example, the cleanliness of the power transmission copper bar 3 representing the live wire is excellent, and the cleanliness of the power transmission copper bar 3 representing the zero wire is moderate, the cleanliness is transmitted to the control module.
When the cleanliness is excellent, the control module controls the driving device to work at a set speed; when the cleanliness is medium, the control module controls the air pump to start; when the cleanliness is poor, the control module controls the air pump to start and the driving device to decelerate to work by a first preset amplitude. The first predetermined amplitude is 10% to 30%, in this example 20%.
The control module is also used for controlling the driving device to temporarily stop every other first preset time when the cleanliness is excellent, controlling the driving device to temporarily stop every other second preset time when the cleanliness is medium, and controlling the driving device to temporarily stop every other third preset time when the cleanliness is poor;
the control module is also used for controlling the camera 16 to start when temporarily stopping, and controlling the driving device to restart and controlling the camera 16 to close after the camera 16 finishes image information acquisition; the first preset time is longer than the second preset time, and the second preset time is longer than the third preset time. In this embodiment, the first preset time is 50-60s, the second preset time is 40-49s, and the third preset time is 20-30 s.
Example two
The present embodiment is different from the first embodiment in that the first cleaning mechanism further includes a flash lamp fixed to the insulating tube 7. The flash lamp is used for illuminating the power transmission copper bar 3 when the flash lamp is started; the control module is also used for controlling the flash to start at the same time of controlling the camera 16 to start.
EXAMPLE III
The difference between the present embodiment and the second embodiment is that the present embodiment further includes a second cleaning mechanism, the first cleaning mechanism and the second cleaning mechanism are respectively located at two ends of the insulating support 4, and the electricity taking device 5 is located in the middle of the insulating support 4. The second cleaning mechanism has the same structure as the first cleaning mechanism and is in mirror symmetry. In this embodiment, the number of the second cleaning mechanisms is also two.
The processing module is further used for acquiring ignition point information, determining a driving direction based on the ignition point information, and marking the first cleaning mechanism and the second cleaning mechanism as a vehicle head cleaning mechanism or a vehicle tail cleaning mechanism respectively based on the driving direction; when the cleanliness is medium and the cleanliness is poor, the control module controls the air pump of the headstock cleaning mechanism to start.
The processing module is also used for comparing the cleanliness obtained by the image information obtained by the vehicle head cleaning mechanism with the cleanliness obtained by the image information obtained by the vehicle tail cleaning mechanism, judging whether the cleannesses are equal, and if the cleannesses are equal and the cleannesses are all medium, reducing the cleanliness into a difference by the processing module and sending the difference to the control module; if the cleanliness is equal and the cleanliness is poor, the processing module reduces the cleanliness to be extremely poor and sends the cleanliness to the control module;
the control module is also used for controlling an air pump of the headstock cleaning mechanism to improve power and controlling the driving device to decelerate to work by a second preset amplitude when the cleanliness is extremely poor; the second predetermined magnitude is greater than the first predetermined magnitude. The second predetermined amplitude is 31% to 50%, in this embodiment 40%.
The control module is further used for controlling the driving device to temporarily stop every fourth preset time when the cleanliness is extremely poor, and the third preset time is longer than the fourth preset time. The fourth preset time is 10-19 s.
Example four
The difference between the present embodiment and the first embodiment is that the present embodiment further includes a first coating mechanism and a second coating mechanism respectively fixed on two ends of the insulating support 4.
In other words, the first coating mechanism is close to the first cleaning mechanism and closer to one end of the insulating support 4 than the first cleaning mechanism; the second coating mechanism is close to the second cleaning mechanism and closer to the other end portion of the insulating support 4 than the second cleaning mechanism.
In this embodiment, the first electric telescopic rod and the first cleaning mechanism are located at the right end of the insulating support 4, and the second electric telescopic rod and the second cleaning mechanism are located at the left end of the insulating support 4.
In this embodiment, the first coating mechanism includes a first electric telescopic rod, a second electric telescopic rod, a delivery pump and a storage bottle, and both the first electric telescopic rod and the second electric telescopic rod include an electric driving part and a telescopic rod part, and the telescopic rod part is made of an insulating material. The top of the flexible pole portion of first electric telescopic handle is fixed with insulating shovel, and the top of the flexible pole portion of second electric telescopic handle is fixed with insulating coating shower nozzle, and the storage has the copper antioxidant in the storage bottle, and the liquid outlet of storage bottle passes through pipe connection with the import of delivery pump, and the export of delivery pump passes through pipe connection with the coating shower nozzle.
The second coating mechanism is identical in structure to the first coating mechanism.
The processing module is further used for acquiring ignition point information, determining a driving direction based on the ignition point information, and marking the first coating mechanism and the second coating mechanism as a vehicle head coating mechanism and a vehicle tail coating mechanism respectively based on the driving direction.
The processing module is also used for controlling the telescopic rod part of the second electric telescopic rod in the vehicle tail coating mechanism to extend upwards when the vehicle runs to a fire point, controlling the conveying pump to start, and coating the copper antioxidant on the power transmission copper bar 3 through the insulating coating nozzle. Wherein the coating thickness of the copper antioxidant is greater than a preset value. In this embodiment, the first preset value is 2 mm.
The processing module is further configured to determine the driving direction again based on a stopping point after fire extinguishment, where the stopping point is a position where the fire-fighting robot stops when there is no fire. And re-labeling the first coating mechanism and the second coating mechanism as a front coating mechanism or a rear coating mechanism, respectively, based on the re-determined travel direction.
The processing module is also used for controlling the telescopic rod part of the first electric telescopic rod in the vehicle head coating mechanism to extend upwards when the vehicle head coating mechanism runs to a stopping point, so that the insulating shovel is in contact with the power transmission copper bar 3. And shoveling off the copper antioxidant coated on the transmission copper bars 3 by using an insulating shovel.
Because when the conflagration, can produce a large amount of dense smokes and high temperature, dense smoke, high temperature accelerate the oxidation of transmission of electricity copper bar 3 easily, and the particulate matter that dense smoke smugglied secretly is attached to on transmission of electricity copper bar 3 in a large number easily. Through at the in-process that the robot of putting out a fire went to the ignition, to transmission of electricity copper bar 3 coating copper antioxidant, carry out further protection to transmission of electricity copper bar 3. The particulate matter that smugglies secretly in the dense cigarette adsorbs easily on transmission of electricity copper bar 3 this embodiment, because the coating thickness of copper antioxidant is great, when going to the starting point, directly shovels the adnexed particulate matter of copper antioxidant of coating before with together, and rethread brush head 8 cleans, and clean effect is better. By controlling the length of the first electric telescopic rod extending upwards, damage to the antioxidant coated on the power transmission copper bar 3 when leaving the factory can be avoided.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. A mobile fire-extinguishing robot system for a tunnel comprises a power supply device, a track body and a fire-extinguishing robot, wherein the track body is installed at the top of the tunnel, the fire-extinguishing robot is located in the track body, and the power supply device comprises a power transmission mechanism and a power taking mechanism; the power transmission mechanism comprises a power transmission copper bar; the power transmission copper bar is fixed in the track body; the electricity taking mechanism comprises an insulating bracket, an electricity taking device and a wiring pile; the insulation support is fixed on the fire-extinguishing robot, and the wiring pile is fixed on the insulation support; a cylindrical hole for accommodating the power taking device is vertically formed in the insulating bracket; the upper part of the electricity taking device is in contact with the power transmission copper bar, and the lower part of the electricity taking device is electrically connected with the wiring pile;
the device is characterized by further comprising a first cleaning mechanism, a control module and a processing module, wherein the first cleaning mechanism comprises an insulating tube, a brush head, an air pump and a camera; the camera is fixed on the insulating tube; the camera is used for collecting image information of the power transmission copper bar and sending the image information to the processing module, the processing module is used for judging the cleanliness of the power transmission copper bar according to the image information and sending the cleanliness to the control module, and the control module is used for controlling the air pump to be started according to the cleanliness;
the fire-extinguishing robot comprises a support plate, a connecting bracket and a fire-extinguishing mechanism; the insulating support is fixed on the upper surface of the support plate, and the upper end of the connecting support is fixedly connected with the lower surface of the support plate; the fire extinguishing mechanism comprises a carrier frame, a fire extinguishing steel cylinder, a connecting pipe and a fire extinguishing nozzle;
the lower end of the connecting support is fixedly connected with the carrier frame, the fire extinguishing steel cylinder and the fire extinguishing nozzle are both fixed on the carrier frame, one end of the connecting pipe is connected with the bottle opening of the fire extinguishing steel cylinder, and the other end of the connecting pipe is connected with the input interface of the fire extinguishing nozzle;
the fire-extinguishing robot further comprises a travelling wheel and a driving device, the travelling wheel is rotatably connected to the lower surface of the carrier plate, and the driving device is used for driving the travelling wheel to rotate;
the cleanliness comprises a good degree, a medium degree and a poor degree; when the cleanliness is excellent, the control module controls the driving device to work at a set speed; when the cleanliness is medium, the control module controls the air pump to start; when the cleanliness is poor, the control module controls the air pump to start and the driving device to work at a first preset amplitude in a deceleration way;
the first cleaning mechanism and the second cleaning mechanism are respectively positioned at two ends of the insulating support, the power taking device is positioned in the middle of the insulating support, and the second cleaning mechanism and the first cleaning mechanism have the same structure and are in mirror symmetry;
the processing module is further used for acquiring ignition point information, determining a driving direction based on the ignition point information, and marking the first cleaning mechanism and the second cleaning mechanism as a vehicle head cleaning mechanism or a vehicle tail cleaning mechanism respectively based on the driving direction; when the cleanliness is medium and poor, the control module controls an air pump of the headstock cleaning mechanism to start;
the device also comprises a first coating mechanism and a second coating mechanism which are respectively fixed on two ends of the insulating bracket;
the second coating mechanism has the same structure as the first coating mechanism;
the processing module is further used for acquiring ignition point information, determining a driving direction based on the ignition point information, and marking the first coating mechanism and the second coating mechanism as a vehicle head coating mechanism and a vehicle tail coating mechanism respectively based on the driving direction;
the processing module is also used for controlling the vehicle tail coating mechanism to coat the copper antioxidant on the power transmission copper bar when the vehicle runs to the fire point, wherein the coating thickness of the copper antioxidant is larger than a preset value;
the processing module is also used for re-determining the driving direction based on the stopping point after fire extinguishment; the stopping point is the position where the fire-extinguishing robot stops when no fire exists; the processing module is also used for controlling the locomotive coating mechanism to shovel off the copper antioxidant coated on the power transmission copper bar when the vehicle travels to a stopping point.
2. The mobile fire fighting robot system for tunnels according to claim 1, wherein: the control module is also used for controlling the driving device to temporarily stop every other first preset time when the cleanliness is excellent, controlling the driving device to temporarily stop every other second preset time when the cleanliness is medium, and controlling the driving device to temporarily stop every other third preset time when the cleanliness is poor;
the control module is also used for controlling the camera to start when temporarily stopping, and controlling the driving device to restart and the camera to close after the camera finishes image information acquisition;
the first preset time is longer than the second preset time, and the second preset time is longer than the third preset time.
3. The mobile fire fighting robot system for tunnels according to claim 2, wherein: the first cleaning mechanism further comprises a flash lamp, and the flash lamp is used for illuminating the power transmission copper bar; the control module is also used for controlling the starting of the flash lamp while controlling the starting of the camera.
4. The mobile fire fighting robot system for tunnel according to claim 3, characterized in that: the processing module is also used for comparing the cleanliness obtained by the image information obtained by the vehicle head cleaning mechanism with the cleanliness obtained by the image information obtained by the vehicle tail cleaning mechanism, judging whether the cleanliness is equal, and if the cleanliness is equal and the cleanliness is medium, the processing module reduces the cleanliness into difference and sends the difference to the control module;
if the cleanliness is equal and the cleanliness is poor, the processing module reduces the cleanliness to be extremely poor and sends the cleanliness to the control module; the control module is also used for controlling an air pump of the headstock cleaning mechanism to improve power and controlling the driving device to decelerate to work by a second preset amplitude when the cleanliness is extremely poor; the second predetermined amplitude is greater than the first predetermined amplitude.
5. The mobile fire fighting robot system for tunnel according to claim 4, characterized in that: the control module is further used for controlling the driving device to temporarily stop every fourth preset time when the cleanliness is extremely poor, and the third preset time is longer than the fourth preset time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011060705.4A CN112096445B (en) | 2020-09-30 | 2020-09-30 | Mobile fire-extinguishing robot system for tunnel |
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