CN113616957A - Fire control system and method for underground pipe-jacking tunnel - Google Patents
Fire control system and method for underground pipe-jacking tunnel Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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Abstract
The invention provides a fire control system and method for an underground pipe-jacking tunnel, which comprises a main rail, an auxiliary rail, a rail cutting mechanism, a rail fixing piece, an inspection robot, a fire extinguishing robot and a main control module, wherein the main rail is arranged on the main rail; a plurality of auxiliary tracks are arranged on one side of the main track and are respectively communicated with the main track; the rail cutting mechanisms are respectively arranged at the connecting channels of the auxiliary rail and the main rail; the rail cutting mechanism is used for controlling the opening or closing of a connecting channel of the auxiliary rail and the main rail; the main track is provided with a plurality of position sensors in an arrangement manner; the inspection robot is arranged on the main track, and the fire extinguishing robot is arranged on the auxiliary track; the invention realizes the automatic monitoring and the automatic fire extinguishing of the fire in the tunnel, improves the reaction speed of the fire, ensures the safety of the tunnel, and timely extinguishes the fire source, thereby avoiding the injury of workers caused by fire extinguishing when entering the tunnel.
Description
Technical Field
The invention relates to the technical field of tunnel fire extinguishing, in particular to a fire condition control system and method for an underground pipe-jacking tunnel.
Background
Along with the continuous and stable growth of economy in China, the urbanization process is further accelerated, and the demand of underground pipe-jacking tunnels in China is increased year by year. Meanwhile, the underground pipe-jacking tunnel can pass through highways, railways, rivers, ground buildings, underground structures, various underground pipelines and the like. The cable is placed in the underground pipe-jacking tunnel, so that the cable can be effectively prevented from being damaged by severe conditions such as typhoon, hailstone, ice and snow, and the underground pipe-jacking tunnel is not limited by terrain; a large number of underground pipe-jacking tunnels are arranged below a city, electric power personnel place cables in the underground pipe-jacking tunnels, and then a transformer substation transmits electric energy to each household and various plants through the cables of the underground pipe-jacking tunnels.
And underground push pipe tunnel can be because the environment is dry, the cable short circuit, the condition such as cable concatenation department generates heat very easily takes place the conflagration, it has 600 meters to arrange in underground push pipe tunnel the shortest, there is 1100 meters length longest, lack in the tunnel at present and set up the detection monitored control system to the condition of a fire, after the condition of a fire appears in the tunnel inside, from the artificial detection condition of a fire to the artificial period of putting out the condition of a fire, reaction time and response time are all longer, cause stretching of the condition of a fire easily, thereby cause great economic loss, and there is certain danger when the condition of a fire is great for the artificial fire extinguishing.
Disclosure of Invention
Aiming at the defects, the invention aims to provide a fire control system and a fire control method for an underground pipe-jacking tunnel, and solves the problems that the fire monitoring effect in the tunnel is poor, the reaction time and the response time are long, and the fire is easy to spread to cause great economic loss.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fire control system for an underground pipe-jacking tunnel comprises a main rail, a secondary rail, a rail cutting mechanism, a rail fixing piece, an inspection robot, a fire extinguishing robot and a main control module;
the main track and the auxiliary track are respectively arranged towards the ground; the top ends of the main track and the auxiliary track are respectively provided with a track fixing piece;
a plurality of auxiliary tracks are arranged on one side of the main track and are respectively communicated with the main track;
the rail cutting mechanisms are respectively arranged at the connecting channels of the auxiliary rail and the main rail; the rail cutting mechanism is used for controlling the opening or closing of a connecting channel of the auxiliary rail and the main rail;
the main track is provided with a plurality of position sensors for sensing the position of the inspection robot;
the inspection robot is arranged on the main track and can slide along the main track; the inspection robot is provided with a temperature detector and a camera device;
the fire extinguishing robot is arranged on the auxiliary track, can slide to the main track along the auxiliary track and can slide along the main track;
the main control module is respectively in communication connection with the rail cutting mechanism, the inspection robot and the fire extinguishing robot.
Preferably, the auxiliary track is provided with a first rebound sensor, the main track is provided with a second rebound sensor, the second rebound sensor is arranged at an outlet of the auxiliary track, and the fire-fighting robot triggers the first rebound sensor or the second rebound sensor to control and drive the track cutting mechanism to move, so that a connecting channel between the auxiliary track and the main track is opened or closed.
Preferably, the rail cutting mechanism comprises a rail cutting motor, a rotating shaft, a return spring and a switching rail;
the rail cutting motor is connected with the rotating shaft, the rotating shaft is connected with the switching track, and the rotating shaft rotates to drive the rail cutting track to rotate under the driving of the rail cutting motor;
the reset spring is sleeved outside the rotating shaft, and under the action of the elastic force of the reset spring, the rotating shaft has a tendency of rotating towards the direction of closing the connecting channel between the auxiliary track and the main track.
Preferably, cut rail mechanism set up in on the main track the auxiliary orbit with one side that the main track is connected cut the offside of rail mechanism be provided with anticollision sensor on the main track, anticollision sensor is used for the response patrol and examine robot or fire-fighting robot, can detect cut rail mechanism department on the main track and whether exist patrol and examine robot or fire-fighting robot.
Preferably, the inspection robot and the fire-extinguishing robot are both provided with ultrasonic sensors and used for inspecting the distance between the inspection robot and the fire-extinguishing robot and between the fire-extinguishing robots.
The application also provides a fire control method for the underground pipe-jacking tunnel, which comprises the following steps:
the inspection robots move back and forth on the main track along the inspection paths, the inspection paths of the inspection robots form the whole main track path, and the inspection robots monitor the field conditions in the tunnel;
the inspection robot detects the ambient temperature and shoots the environment, and sends the real-time temperature information and the shot pictures to the main control module;
the main control module receives the detected temperature information and the photo information of the inspection robot, judges whether a fire occurs or not, acquires the position of the current inspection robot if the fire occurs, and sends a fire extinguishing signal to the fire extinguishing robot closest to the position of the inspection robot;
the fire extinguishing robot is started, the rail cutting rail communicates the auxiliary rail with the main rail, the auxiliary rail enters the main rail and moves to the position where fire occurs, and fire extinguishing agents are sprayed to extinguish fire.
Preferably, the method for extinguishing the fire according to the fire level comprises the following steps:
the main control module receives the detected temperature information and the photo information of the inspection robot and judges the fire level;
judging the fire grade according to the number of the detected high-temperature points exceeding the threshold value and the related range: the number of the high temperature points is 1, and the temperature range is less than 50cm, and the temperature is three stages; the number of the high-temperature points is more than 1 and less than or equal to 3, or the temperature range of more than or equal to 50cm and less than 100cm is two-stage; the number of high temperature points is more than 3 or the temperature range is more than or equal to 100 cm;
if the fire condition grade is judged to be second grade, controlling at least one fire-extinguishing robot to extinguish the fire;
and if the fire condition grade is judged to be the first grade, controlling all the fire extinguishing robots in the tunnel to extinguish the fire.
Preferably, the movement of the fire fighting robot comprises the steps of:
the fire extinguishing robot receives the fire extinguishing signal and moves from the auxiliary track to the main track;
the fire extinguishing robot triggers a first rebounding sensor, and the first rebounding sensor sends a signal to the rail cutting mechanism; the rail cutting mechanism opens a connecting channel of the main rail and the auxiliary rail;
the fire extinguishing robot moves from the auxiliary track to the main track and triggers the second rebound sensor;
and the second resilience sensor sends a signal to the rail cutting mechanism, and the rail cutting mechanism closes a connecting channel between the main rail and the auxiliary rail.
Preferably, the moving method of the rail cutting mechanism comprises the following steps:
the rail cutting motor receives the signal and judges whether the signal is an opening signal or a closing signal of the channel;
if the signal is started, the track cutting motor starts to rotate forwards; the rotating shaft rotates in the positive direction to drive the switching track to rotate, the return spring is compressed, and the track cutting motor stops operating after a channel between the auxiliary track and the main track is opened;
if the signal is closed, starting the track cutting motor to reversely rotate; the rotating shaft rotates reversely to drive the switching track to rotate reversely, and under the action of reset elastic force, the track cutting motor stops operating after a channel between the auxiliary track and the main track is closed.
Preferably, the method for avoiding collision between the rail cutting mechanism and the robot comprises the following steps:
the rail cutting mechanism receives an opening signal;
judging whether a routing inspection robot or a fire extinguishing robot exists on a main track outside the rail cutting mechanism, if so, sending a yield signal to a main control module, controlling the robot outside the rail cutting mechanism to move by the main control module, making room for opening the rail cutting mechanism, and then starting the rail cutting mechanism; if the auxiliary track does not exist, the track cutting mechanism is immediately started, and a connecting channel of the auxiliary track and the main track is opened.
One of the above technical solutions has the following advantages or beneficial effects:
realized the automated inspection to the temperature in the tunnel through patrolling and examining the robot, the fire source etc. realizes real time monitoring when the condition of a fire appears, the robot of putting out a fire can respond at once, get into the main track from the secondary track, then remove in time putting out the condition of a fire to the position that the condition of a fire appears, realize the automatic monitoring of the condition of a fire and the condition of a fire control system of automatic fire extinguishing in one set of tunnel from this, ensure the safety in tunnel, improve the reaction rate to the condition of a fire, the source of a fire can in time put out, avoid the diffusion of the source of a fire to cause bigger loss, simultaneously can also avoid in the staff gets into the tunnel, prevent that the staff from taking place in the injured condition of putting out a fire.
Drawings
FIG. 1 is a schematic perspective view of a fire control system for underground pipe-jacking tunnels according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a track according to an embodiment of the fire control system for underground pipe-jacking tunnels provided by the invention;
FIG. 3 is a schematic flow chart of one embodiment of a fire control method for an underground pipe-jacking tunnel according to the present invention;
fig. 4 is a schematic process diagram of the fire extinguishing robot moving from the secondary track according to an embodiment of the fire control method for the underground pipe-jacking tunnel according to the invention.
Wherein: the system comprises a main track 1, a secondary track 2, a first rebound sensor 21, a second rebound sensor 22, a track cutting mechanism 3, a rotating shaft 31, a return spring 32, a switching track 33, a track fixing piece 4, an inspection robot 5, a fire extinguishing robot 6, a position sensor 7 and an anti-collision sensor 8.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following describes a fire control system for an underground pipe-jacking tunnel according to an embodiment of the present invention with reference to fig. 1 to 4, including a main track 1, an auxiliary track 2, a rail cutting mechanism 3, a track fixing member 4, an inspection robot 5, a fire extinguishing robot 6 and a main control module;
the main track 1 and the auxiliary track 2 are respectively arranged towards the ground; the top ends of the main track 1 and the auxiliary track 2 are respectively provided with a track fixing piece 4;
a plurality of auxiliary tracks 2 are arranged on one side of the main track 1, and the auxiliary tracks 2 are respectively communicated with the main track 1;
the rail cutting mechanism 3 is respectively arranged at the connecting channel of the auxiliary track 2 and the main track 1; the rail cutting mechanism 3 is used for controlling the opening or closing of a connecting channel of the auxiliary rail 2 and the main rail 1;
the main track 1 is provided with a plurality of position sensors 7 in an arrangement mode and used for sensing the positions of the inspection robots 5;
the inspection robot 5 is arranged on the main track 1, and the inspection robot 5 can slide along the main track 1; the inspection robot 5 is provided with a temperature detector and a camera device;
the fire-fighting robot 6 is arranged on the auxiliary track 2, and the fire-fighting robot 6 can slide to the main track 1 along the auxiliary track 2 and can slide along the main track 1;
the main control module is respectively in communication connection with the rail cutting mechanism 3, the inspection robot 5 and the fire extinguishing robot 6.
Specifically, the top of main track 1 and secondary rail 2 all is provided with track mounting 4, main track 1 and secondary rail 2 pass through track mounting 4 to be fixed on the top in push pipe tunnel, make main track 1 and secondary rail 2 be the gesture of establishing of falling, and patrol and examine robot 5 and fire-fighting robot 6 and then install the below at main track 1 or secondary rail 2, make and patrol and examine robot 5 and fire-fighting robot 6 and can slide along the track, can set up many according to the length in tunnel and patrol and examine robot 5 and fire-fighting robot 6 collocation, use 600 meters as the example, 600 meters underground push pipe tunnel can respectively design one at both ends and patrol and examine robot 5, each is responsible for the tunnel of half distance and patrols and examines work, simultaneously, 300 meters design a fire-fighting robot 6 every, the system collocation mode is: the two inspection robots 5 are matched with the two fire extinguishing robots 6, the inspection robots 5 can run on the main track 1 during daily inspection, the fire extinguishing robots 6 are charged in a standby mode on the auxiliary tracks 2, and when the inspection robots 5 find that abnormal conditions such as highest temperature points, open fire and the like occur in a tunnel, the inspection robots 6 can be informed to put out a fire in the front;
the inspection robot 5 in the embodiment is provided with a temperature detector, a flame detector, a camera device, a gas sensor and the like, the condition in the tunnel is monitored in real time, the temperature, flame, gas toxicity and the like in the tunnel can be detected, the camera device is used for infrared camera shooting, even if the brightness in the tunnel is insufficient, the image in the tunnel can be shot, the camera device is also provided with water leakage detection, whether the underground pipe-jacking tunnel has water leakage condition or not can be detected in the inspection process, the specific condition is sent to the main control module for analysis, meanwhile, a worker can also obtain the specific information in the tunnel from the main control module, the worker can obtain the real-time information in the tunnel in time, and the safety and protection performance is improved; position sensor 7 can respond to the position of patrolling and examining robot 5, and real-time feedback patrols and examines robot 5's position, when the condition of a fire appears, is favorable to confirming the position of patrolling and examining robot 5 discovery condition of a fire simultaneously.
The application can open and close the connecting channel of the main track 1 entering the auxiliary track 2 through the position of the track cutting mechanism 3, under normal conditions, the fire-extinguishing robot 6 is in standby in the auxiliary track 2, the track cutting mechanism 3 is in the original position, is used for connecting the main rails 1 at the left end and the right end of the rail cutting mechanism 3, the connecting channel of the main rails 1 and the auxiliary rails 2 is closed at the moment, the auxiliary rails 2 can be provided with charging piles which can charge the moving drive of the fire-fighting robot 6 so as to ensure that the fire-fighting robot 6 has enough electric energy, when the inspection robot 5 inspects the fire condition on the main track 1 in the back and forth inspection, the track cutting mechanism 3 rotates to switch to the state that the auxiliary track 2 is communicated with the main track 1, the fire extinguishing robot 6 moves from the auxiliary track 2 to the main track 1, then the rail cutting mechanism 3 resets to restore the communication of the main rail 1, and the inspection robot 5 and the fire extinguishing robot 6 can move on the main rail 1.
According to the system, the automatic detection of the temperature, the fire source and the like in the tunnel is realized through the inspection robot 5, the real-time monitoring is realized, and the working personnel can know the condition in the tunnel in real time; when the condition of a fire appears, fire-fighting robot 6 can respond at once, get into main track 1 from secondary track 2, then remove in time to put out the condition of a fire to the position that appears the condition of a fire, realize the automatic monitoring of the condition of a fire and the condition of a fire control system of automatic fire extinguishing in one set of tunnel from this, ensure the safety in tunnel, improve the reaction rate to the condition of a fire, can in time put out the fire source, avoid the diffusion of fire source to cause bigger loss, can also avoid in the staff gets into the tunnel simultaneously, prevent that the staff from taking place in the condition of putting out a fire injured.
Further, the auxiliary track 2 is provided with a first rebound sensor 21, the main track 1 is provided with a second rebound sensor 22, the second rebound sensor 22 is arranged at the outlet of the auxiliary track 2, and the fire-fighting robot 6 triggers the first rebound sensor 21 or the second rebound sensor 22 to control and drive the track cutting mechanism 3 to move, so that the connecting channel between the auxiliary track 2 and the main track 1 is opened or closed.
Specifically, in this embodiment, the first rebound sensor 21 and the second rebound sensor 22 are similar to a double-control switch design, the first rebound sensor 21 and the second rebound sensor 22 are NFC identification sensors, each fire-fighting robot 6 is provided with a different independent IC card, the NFC identification sensors are understood as card readers, and one NFC identification sensor only recognizes a corresponding IC card to respond, so that different fire-fighting robots 6 do not affect each other on different rail-cutting mechanisms 3, and each fire-fighting robot 6 only can trigger its corresponding rail-cutting mechanism 3 to enter a corresponding secondary rail 2; through combining first resilience sensor 21 and second resilience sensor 22, realize cutting the automatic control of rail mechanism 3, can make corresponding action again after confirming that fire-extinguishing robot 6 is fallen to the position, avoid cutting the main track 1 of stopping for a long time of rail mechanism 3, have control accuracy height, advantage that response speed is fast.
Further, the rail cutting mechanism 3 comprises a rail cutting motor, a rotating shaft 31, a return spring 32 and a switching rail 33;
the rail cutting motor is connected with the rotating shaft 31, the rotating shaft 31 is connected with the switching track 33, and the rotating shaft 31 rotates to drive the rail cutting track to rotate under the driving of the rail cutting motor;
the return spring 32 is sleeved outside the rotating shaft 31, and under the elastic force of the return spring, the rotating shaft 31 tends to rotate in a direction of closing the connecting passage between the auxiliary rail 2 and the main rail 1.
Specifically, in this embodiment, when the fire-fighting robot 6 needs to move to the main track 1, the first resilient sensor 21 is triggered, the track-cutting motor is started, the driving rotating shaft 31 rotates and drives the switching track 33 to switch tracks, the secondary track 2 is connected with the main track 1, the return spring 32 is compressed at this time, and has elastic potential energy for closing the connecting channel between the secondary track 2 and the main track 1 by rotating the switching track 33, the fire-fighting robot 6 can pass through the connecting channel between the main track 1 and the secondary track 2 and reach the main track 1, when the fire-fighting robot 6 triggers the second resilient sensor 22, the track-cutting motor resets, under the elastic force of the return spring 32, the switching track 33 is rotated to close the connecting channel between the main track 1 and the secondary track 2, and the main track 1 is communicated, so that the structure is simple, and the response speed is fast through the track-cutting motor driving, the switching track 33 is smoothly connected.
Further, cut rail mechanism 3 set up in on the main track 1 the auxiliary track 2 with one side that the main track 1 is connected cut rail mechanism 3's offside be provided with anticollision sensor 8 on the main track 1, anticollision sensor 8 is used for the response patrol and examine robot 5 or fire-fighting robot 6, can detect whether the department of cutting rail mechanism 3 on the main track 1 exists patrol and examine robot 5 or fire-fighting robot 6.
Specifically, when cutting rail mechanism 3 and starting the connecting channel that needs main track 1 and auxiliary track 2 and open, if cut rail mechanism 3 department and just berth and patrol and examine robot 5 or fire-fighting robot 6, cut the motion of rail mechanism 3 and will collide with the robot this moment, cause damage between them, consequently, this embodiment, set up anticollision sensor 8 in the offside of cutting the rail structure, when cutting rail mechanism 3 department at main track 1 and just berth and patrol and examine robot 5, will trigger anticollision sensor 8, will send signal to cutting rail mechanism 3, prevent to cut rail mechanism 3 and robot and bump and cause the damage, influence normal use and life between them.
Further, patrol and examine robot 5 and fire-fighting robot 6 and all be provided with ultrasonic sensor for patrol and examine between robot 5 and the distance between fire-fighting robot 6 and the fire-fighting robot 6. Specifically, in this embodiment, patrol and examine robot 5 and fire-fighting robot 6 and all be provided with ultrasonic sensor, through the position of ultrasonic wave response with the robot that moves on main track 1, will descend speed or even stop when being too near apart from other its robots, can prevent to bump and cause the damage between the robot, improve the safety that the robot used.
The application also provides a fire control method for the underground pipe-jacking tunnel, which is characterized by comprising the following steps: the method comprises the following steps:
the inspection robots 5 move back and forth on the main track 1 along the inspection paths, the inspection paths of the inspection robots 5 form the path of the whole main track 1, and the inspection robots 5 monitor the field conditions in the tunnel;
the inspection robot 5 detects the ambient temperature and shoots the environment, and sends the real-time temperature information and the shot pictures to the main control module;
the main control module receives the detected temperature information and the photo information of the inspection robot 5, judges whether a fire occurs, acquires the position of the inspection robot 5 if the fire occurs, and sends a fire extinguishing signal to the fire extinguishing robot 6 closest to the position of the inspection robot 5;
the fire extinguishing robot 6 is started, the rail cutting rail is communicated with the auxiliary rail 2 and the main rail 1, the auxiliary rail 2 enters the main rail 1, the fire extinguishing robot moves to the position where fire occurs, and fire extinguishing agents are sprayed to extinguish fire.
Specifically, in the present embodiment, each inspection robot 5 moves back and forth on a set path to perform patrol and monitoring, the inspection routes of all the inspection robots 5 encompass the whole tunnel, so that the whole-course monitoring of the tunnel is realized, the inspection robots 5 automatically detect the temperature, the fire source and the like in the tunnel, so that real-time monitoring is realized, and temperature information, a shot picture and the position of the current inspection robot 5 are sent to the main control module; the staff also can follow host system and acquire relevant information, thereby know the situation in the tunnel, when the condition of a fire appears, fire extinguishing robot 6 can respond at once, get into main track 1 from secondary rail 2, then remove in time to put out the condition of a fire to the position that the condition of a fire appears, automatic monitoring and automatic fire extinguishing to the condition of a fire in the realization tunnel from this, guarantee tunnel safety, the improvement is to the reaction rate of the condition of a fire, can in time put out the fire source, avoid the diffusion of fire source to cause bigger loss, simultaneously can also avoid the staff to get into in the tunnel, prevent that the staff from taking place in the condition of putting out a fire injured.
Further, the method for extinguishing the fire according to the fire level comprises the following steps:
the main control module receives the detected temperature information and the photo information of the inspection robot 5 and judges the fire level;
judging the fire grade according to the number of the detected high-temperature points exceeding the threshold value and the related range: the number of the high temperature points is 1, and the temperature range is less than 50cm, and the temperature is three stages; the number of the high-temperature points is more than 1 and less than or equal to 3, or the temperature range of more than or equal to 50cm and less than 100cm is two-stage; the number of high temperature points is more than 3 or the temperature range is more than or equal to 100 cm;
if the fire condition grade is judged to be second grade, controlling at least 2 fire-extinguishing robots 6 to extinguish fire;
and if the fire condition grade is judged to be the first grade, controlling all the fire extinguishing robots 6 in the tunnel to extinguish the fire.
Specifically, in this embodiment, according to the scope that high temperature number and fire source related, judge the difference of condition of a fire grade, and control the fire extinguishing robot 6 of different quantity and come to put out a fire jointly, the high temperature number is more or the fire source scope is big more, then calls more fire extinguishing robot 6 and put out a fire, improves the efficiency of putting out a fire and can in time put out the fire source, avoids the diffusion of fire source to cause bigger loss.
Further, the movement of the fire fighting robot 6 comprises the steps of:
the fire extinguishing robot 6 receives the fire extinguishing signal and moves from the auxiliary track 2 to the main track 1;
the fire-extinguishing robot 6 triggers the first rebound sensor 21, and the first rebound sensor 21 sends a signal to the rail cutting mechanism 3; the rail cutting mechanism 3 opens a connecting channel of the main rail 1 and the auxiliary rail 2;
the fire fighting robot 6 moves from the secondary track 2 to the primary track 1 and triggers the second rebound sensor 22;
the second rebound sensor 22 sends a signal to the rail cutting mechanism 3, and the rail cutting mechanism 3 closes the connection passage of the main rail 1 and the sub rail 2.
Concretely, through combining first resilience sensor 21 and second resilience sensor 22, realize cutting the automatic control of rail mechanism 3, control accuracy is high, can confirm the real-time position of fire-fighting robot 6 through first resilience sensor 21 and second resilience sensor 22, simultaneously through sending instant signal through first resilience sensor 21 and second resilience sensor 22, cut rail mechanism 3 and carry out corresponding motion according to instant signal, can effectively prevent to cut the long-time operation of control program of rail mechanism 3 and make mistakes, lead to cutting the unusual operation of rail mechanism 3.
Further, the movement method of the rail cutting mechanism 3 comprises the following steps: the rail cutting motor receives the signal and judges whether the signal is an opening signal or a closing signal of the channel;
if the signal is started, the track cutting motor starts to rotate forwards; the rotating shaft 31 rotates in the positive direction to drive the switching track 33 to rotate, and the return spring 32 is compressed, so that the track cutting motor stops operating after a channel between the auxiliary track 2 and the main track 1 is opened;
if the signal is closed, starting the track cutting motor to reversely rotate; the rotating shaft 31 rotates reversely to drive the switching track 33 to rotate reversely, and under the action of the reset elastic force, the track cutting motor stops operating after the channel between the auxiliary track 2 and the main track 1 is closed.
Specifically, in this embodiment, the first rebound sensor 21 and the second rebound sensor 22 are self-locking sensors, when a fire occurs, the inspection robot 5 notifies the fire-extinguishing robot 6 through the main control module, the fire-extinguishing robot 6 on the secondary rail 2 starts to travel towards the primary rail 1, a metal baffle on the fire-extinguishing robot 6 triggers the first rebound sensor 21 (which can only be triggered by the fire-extinguishing robot 6) during the travel, the normal close of the first rebound sensor 21 is changed into normal open, the normal open is changed into normal close, the overall circuit is in a closed state, a high-level signal is output and transmitted to the rail-cutting motor in the rail-cutting mechanism 3, the rail-cutting motor rotates forwards, then the switching rail 33 rotates along with the normal, the connecting channel between the primary rail 1 and the secondary rail 2 is opened, and when the fire-extinguishing robot 6 has traveled onto the primary rail 1, the fire-extinguishing robot 6 can also travel a distance, in the course, a second rebound sensor 22 is triggered (the sensor can be triggered only by the fire-extinguishing robot 6), the normally closed state in the second rebound sensor 22 is changed into the normally open state, the normally open state is changed into the normally closed state, the whole circuit is in an open state, the circuit presents a low level signal, the low level signal is output and transmitted to a rail cutting motor in the rail cutting mechanism 3, the rail cutting motor in the rail cutting mechanism 3 is reset, the rail 33 is switched under the elastic force action of a reset spring 32 to close a connecting channel between the main rail 1 and the auxiliary rail 2, at the moment, the main rail 1 is restored to a normal state, and the fire-extinguishing robot 6 and the inspection robot 5 can normally run on the main rail 1;
when the fire-fighting robot 6 returns to the auxiliary track 2, the second rebound sensor 22 is triggered and triggered firstly, the normally closed state in the second rebound sensor 22 is changed into the normally open state, the normally open state is changed into the normally closed state, the whole circuit is in a closed state, the circuit presents a high level signal, the high level signal is output and transmitted to the track cutting motor in the track cutting mechanism 3, the track cutting motor rotates forwards, then the switching track 33 will open the connection channel between the main track 1 and the secondary track 2, the fire-fighting robot 6 will enter the secondary track 2, and after a certain distance of travel, the fire-extinguishing robot 6 triggers the first rebounding sensor 21, the normally closed in the first rebounding sensor 21 is normally opened, the normally opened sensor is normally closed, the circuit presents low level, a low level signal is output and transmitted to the rail cutting motor in the rail cutting mechanism 3, the rail cutting motor rotates reversely, the rail cutting motor resets, and the return spring 32 is matched to switch the rail 33 to close the connecting channel of the main rail 1 and the auxiliary rail 2.
Further, the method for avoiding collision between the rail cutting mechanism 3 and the robot is also included: the rail cutting mechanism 3 receives an opening signal; judging whether an inspection robot 5 or a fire-extinguishing robot 6 exists on the main track 1 outside the rail cutting mechanism 3, if so, sending a yield signal to a main control module, controlling the robot outside the rail cutting mechanism 3 to move by the main control module, making room for opening the rail cutting mechanism 3, and then starting the rail cutting mechanism 3; if the auxiliary track 2 is not present, the track cutting mechanism 3 is started immediately, and the connecting channel of the auxiliary track 2 and the main track 1 is opened.
Specifically, in this embodiment, when cutting rail mechanism 3 and starting the connecting channel that needs to open main track 1 and secondary track 2, if cut rail mechanism 3 department and just berth and patrol and examine robot 5 or fire-fighting robot 6, the motion of cutting rail mechanism 3 this moment will collide with the robot, cause damage between them, when cutting the main track 1 outside rail mechanism 3 and have the robot, move and give way the space through the control of the robot outside rail mechanism 3, just can open cutting rail mechanism 3 smoothly, prevent to cut rail mechanism 3 and robot and collide and cause the damage, influence normal use and life between them.
Further, the method for preventing collision between robots comprises the following steps: the inspection robot 5 and the fire-extinguishing robot 6 perform ultrasonic detection on the front and the back in the sliding process of the main track 1, and detect whether other robots exist on the advancing path; if other robots are detected to exist on the advancing path, controlling to reduce the sliding speed; and if the detection distance exceeds the threshold value, controlling the robot to stop sliding.
Specifically, in this embodiment, patrol and examine robot 5 and fire-fighting robot 6 and can survey other robots through the ultrasonic wave respectively, through the position of ultrasonic wave response with the robot that moves on main track 1, will descend speed when being too near apart from other its robots, set up a fixed threshold value, this embodiment sets up the threshold value into 20cm, when induction distance is less than 20cm, the robot will stop, can avoid bumping between the robot and cause the damage, improve the safety that the robot used.
Other constructions and operations of a fire control system and method for underground pipe-jacking tunnels according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a condition of a fire control system for secret push pipe tunnel which characterized in that: the system comprises a main rail, an auxiliary rail, a rail cutting mechanism, a rail fixing piece, an inspection robot, a fire extinguishing robot and a main control module;
the main track and the auxiliary track are respectively arranged towards the ground; the top ends of the main track and the auxiliary track are respectively provided with a track fixing piece;
a plurality of auxiliary tracks are arranged on one side of the main track and are respectively communicated with the main track;
the rail cutting mechanisms are respectively arranged at the connecting channels of the auxiliary rail and the main rail; the rail cutting mechanism is used for controlling the opening or closing of a connecting channel of the auxiliary rail and the main rail;
the main track is provided with a plurality of position sensors for sensing the position of the inspection robot;
the inspection robot is arranged on the main track and can slide along the main track; the inspection robot is provided with a temperature detector and a camera device;
the fire extinguishing robot is arranged on the auxiliary track, can slide to the main track along the auxiliary track and can slide along the main track;
the main control module is respectively in communication connection with the rail cutting mechanism, the inspection robot and the fire extinguishing robot.
2. A fire control system for an underground pipe-jacking tunnel according to claim 1, wherein: the fire-fighting robot triggers the first rebound sensor or the second rebound sensor can control and drive the rail cutting mechanism to move, so that a connecting channel between the auxiliary track and the main track is opened or closed.
3. A fire control system for an underground pipe-jacking tunnel according to claim 2, wherein: the rail cutting mechanism comprises a rail cutting motor, a rotating shaft, a return spring and a switching rail;
the rail cutting motor is connected with the rotating shaft, the rotating shaft is connected with the switching track, and the rotating shaft rotates to drive the rail cutting track to rotate under the driving of the rail cutting motor;
the reset spring is sleeved outside the rotating shaft, and under the action of the elastic force of the reset spring, the rotating shaft has a tendency of rotating towards the direction of closing the connecting channel between the auxiliary track and the main track.
4. A fire control system for an underground pipe-jacking tunnel according to claim 2, wherein: cut rail mechanism set up in on the primary rail the auxiliary orbit with one side that the primary rail is connected cut the offside of rail mechanism be provided with anticollision sensor on the primary rail, anticollision sensor is used for the response patrol and examine the robot or put out a fire the robot, can detect cut on the primary rail that whether rail mechanism department exists patrol and examine the robot or put out a fire the robot.
5. A fire control system for an underground pipe-jacking tunnel according to claim 1, wherein: patrol and examine robot and fire-fighting robot and all be provided with ultrasonic sensor for patrol and examine the distance between robot and the fire-fighting robot and between the fire-fighting robot.
6. A fire control method for an underground pipe-jacking tunnel is characterized by comprising the following steps: the method comprises the following steps:
the inspection robots move back and forth on the main track along the inspection paths, the inspection paths of the inspection robots form the whole main track path, and the inspection robots monitor the field conditions in the tunnel;
the inspection robot detects the ambient temperature and shoots the environment, and sends the real-time temperature information and the shot pictures to the main control module;
the main control module receives the detected temperature information and the photo information of the inspection robot, judges whether a fire occurs or not, acquires the position of the current inspection robot if the fire occurs, and sends a fire extinguishing signal to the fire extinguishing robot closest to the position of the inspection robot;
the fire extinguishing robot is started, the rail cutting rail communicates the auxiliary rail with the main rail, the auxiliary rail enters the main rail and moves to the position where fire occurs, and fire extinguishing agents are sprayed to extinguish fire.
7. The fire control method for the underground pipe-jacking tunnel according to claim 6, wherein: also includes a method for extinguishing fire according to the fire level:
the main control module receives the detected temperature information and the photo information of the inspection robot and judges the fire level;
judging the fire grade according to the number of the detected high-temperature points exceeding the threshold value and the related range: the number of the high temperature points is 1, and the temperature range is less than 50cm, and the temperature is three stages; the number of the high-temperature points is more than 1 and less than or equal to 3, or the temperature range of more than or equal to 50cm and less than 100cm is two-stage; the number of high temperature points is more than 3 or the temperature range is more than or equal to 100 cm;
if the fire condition grade is judged to be second grade, controlling at least one fire-extinguishing robot to extinguish the fire;
and if the fire condition grade is judged to be the first grade, controlling all the fire extinguishing robots in the tunnel to extinguish the fire.
8. The fire control method for the underground pipe-jacking tunnel according to claim 6, wherein: the movement of the fire fighting robot comprises the following steps:
the fire extinguishing robot receives the fire extinguishing signal and moves from the auxiliary track to the main track;
the fire extinguishing robot triggers a first rebounding sensor, and the first rebounding sensor sends a signal to the rail cutting mechanism; the rail cutting mechanism opens a connecting channel of the main rail and the auxiliary rail;
the fire extinguishing robot moves from the auxiliary track to the main track and triggers the second rebound sensor;
and the second resilience sensor sends a signal to the rail cutting mechanism, and the rail cutting mechanism closes a connecting channel between the main rail and the auxiliary rail.
9. The fire control method for the underground pipe-jacking tunnel according to claim 8, wherein: the movement method of the rail cutting mechanism comprises the following steps:
the rail cutting motor receives the signal and judges whether the signal is an opening signal or a closing signal of the channel;
if the signal is started, the track cutting motor starts to rotate forwards; the rotating shaft rotates in the positive direction to drive the switching track to rotate, the return spring is compressed, and the track cutting motor stops operating after a channel between the auxiliary track and the main track is opened;
if the signal is closed, starting the track cutting motor to reversely rotate; the rotating shaft rotates reversely to drive the switching track to rotate reversely, and under the action of reset elastic force, the track cutting motor stops operating after a channel between the auxiliary track and the main track is closed.
10. A fire control system for an underground pipe-jacking tunnel according to claim 8, wherein: the method for avoiding collision between the rail cutting mechanism and the robot comprises the following steps:
the rail cutting mechanism receives an opening signal;
judging whether a routing inspection robot or a fire extinguishing robot exists on a main track outside the rail cutting mechanism, if so, sending a yield signal to a main control module, controlling the robot outside the rail cutting mechanism to move by the main control module, making room for opening the rail cutting mechanism, and then starting the rail cutting mechanism; if the auxiliary track does not exist, the track cutting mechanism is immediately started, and a connecting channel of the auxiliary track and the main track is opened.
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Application publication date: 20211109 |