CN113813537A - Flame detection robot - Google Patents
Flame detection robot Download PDFInfo
- Publication number
- CN113813537A CN113813537A CN202111243808.9A CN202111243808A CN113813537A CN 113813537 A CN113813537 A CN 113813537A CN 202111243808 A CN202111243808 A CN 202111243808A CN 113813537 A CN113813537 A CN 113813537A
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- China
- Prior art keywords
- sensor
- driving motor
- nozzle
- fire extinguishing
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 24
- 239000000779 smoke Substances 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 15
- 230000008054 signal transmission Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 5
- 210000005239 tubule Anatomy 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005507 spraying Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a flame detection robot which comprises a sensor assembly, a fire extinguishing device, a walking driving device, a control system and a monitoring control center, wherein the sensor assembly, the fire extinguishing device and the control system are all arranged on the walking driving device, the signal output end of the sensor assembly is connected with the signal input end of the control system, the control output end of the control system is connected with the walking driving device and the fire extinguishing device, and the control system is wirelessly connected with the monitoring control center. Compared with the prior art, the fire extinguishing robot has the advantages that the fire fighters are remotely controlled, so that the situation that the fire fighters directly enter a fire scene to risk and extinguish fire is reduced, the casualties of the fire fighters can be effectively reduced, in addition, the fire source position can be accurately identified through the sensor carried on the robot, the fire extinguishing is realized, the use is convenient, and the popularization and application values are realized.
Description
Technical Field
The invention relates to a fire fighting device, in particular to a flame detection robot.
Background
The method mainly comprises the steps of rescuing personnel on a fire scene, rescuing important facilities and equipment, rescuing cultural relics, protecting and rescuing important properties safely, extinguishing fire and the like. Aims to reduce the damage degree caused by fire and reduce casualties and property loss. Among the prior art, especially put out a fire to mountain forest needs the fire fighter to get into the scene of a fire and put out a fire, but too big to fire fighter potential safety hazard like this, causes the fire fighter casualties, and also difficult accurate finding the fire source under smog, high temperature state, the degree of difficulty is higher, consequently, has the space of improving.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a flame detection robot.
The invention realizes the purpose through the following technical scheme:
the fire extinguishing system comprises a sensor assembly, a fire extinguishing device, a walking driving device, a control system and a monitoring control center, wherein the sensor assembly, the fire extinguishing device and the control system are all arranged on the walking driving device, the signal output end of the sensor assembly is connected with the signal input end of the control system, the control output end of the control system is connected with the walking driving device and the fire extinguishing device, and the control system is wirelessly connected with the monitoring control center.
Further, the sensor subassembly includes satellite positioning sensor, image transmission camera, ambient temperature sensor, environment smoke transducer, gyroscope sensor and infrared distance measurement sensor, satellite positioning sensor environment temperature sensor environment smoke transducer gyroscope sensor set up in the walking drive device, the image transmission camera with infrared distance measurement sensor set up in on the walking drive device, satellite positioning sensor, image transmission camera, ambient temperature sensor, environment smoke transducer, gyroscope sensor and infrared distance measurement sensor's signal output part all with control system's signal input part connects.
Further, the control system comprises a sensor data acquisition unit, a core data processor, a motor driving module, a wireless signal transmission antenna and a wireless data transmission module, wherein the signal output ends of the satellite positioning sensor, the image transmission camera, the environment temperature sensor, the environment smoke sensor, the gyroscope sensor and the infrared distance measuring sensor are connected with the signal input end of the sensor data acquisition unit, the signal output end of the sensor data acquisition unit is connected with the signal input end of the core data processor, the control signal output end of the core data processor is connected with the motor driving module, the control signal output end of the motor driving module is connected with the walking driving device and the control end of the fire extinguishing device, the signal end of the core data processor is connected with the wireless data transmission module, the wireless data transmission module is in wireless connection with the monitoring control center through the wireless signal transmission antenna.
Furthermore, the fire extinguishing device consists of a fire extinguishing water spray nozzle, a fire extinguishing water supply joint, a nozzle left and right driving motor, a nozzle up and down driving motor and a nozzle valve driving motor, one end of the fire extinguishing water supply joint is connected with a water source, the other end of the fire extinguishing water supply joint is connected with the fire extinguishing water spray nozzle through the nozzle left and right driving motor, the nozzle up and down driving motor and the nozzle valve driving motor, the nozzle left and right driving motor controls the fire extinguishing water spray nozzle to swing left and right, the nozzle up and down driving motor controls the fire extinguishing water spray nozzle to swing up and down, the nozzle valve driving motor controls the opening degree of the fire-extinguishing water-spraying nozzle, and the control signal input ends of the left and right driving motors of the nozzle, the upper and lower driving motors of the nozzle and the nozzle valve driving motor are connected with the control signal output end of the motor driving module.
Further, the walking driving device is composed of a robot body, a robot walking driving motor and a walking driving crawler belt, wherein the robot walking driving motor and the walking driving crawler belt are two groups, and the walking driving crawler belt is controlled and driven by the robot walking driving motor through one respectively, the robot walking driving motor is connected with a control signal output end of a motor driving module, and the two walking driving crawler belts are arranged on two sides of the robot body respectively, and the robot walking driving motor is fixedly connected with the robot body.
Preferably, the input of the water supply joint of putting out a fire inserts two tubules, the output that the water supply joint of putting out a fire is the thick pipe.
The invention has the beneficial effects that:
the invention relates to a flame detection robot, which is characterized in that a fire detector is arranged on the robot, a fire detector is arranged on the fire detector, and a controller is arranged on the fire detector.
Drawings
FIG. 1 is a schematic block diagram of the system architecture of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is another side schematic view of the present invention;
fig. 4 is an external structural view of the present invention.
In the figure: robot 1, robot walking driving motor 2, sensor module 3, the water spray nozzle 4 of putting out a fire, the water supply joint 5 of putting out a fire, wireless signal transmission antenna 6, driving motor 7 about the shower nozzle, driving motor 8 about the shower nozzle, shower nozzle valve driving motor 9, sensor data collection station 10, core data processor 11, motor drive module 12, wireless data transmission module 13, control center 14, walking drive track 15, satellite positioning sensor 31, image transmission camera 32, ambient temperature sensor 33, environment smoke sensor 34, gyroscope sensor 35, infrared distance measuring sensor 36.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1-4: the fire extinguishing system comprises a sensor assembly 3, a fire extinguishing device, a walking driving device, a control system and a monitoring control center 14, wherein the sensor assembly 3, the fire extinguishing device and the control system are all arranged on the walking driving device, a signal output end of the sensor assembly 3 is connected with a signal input end of the control system, a control output end of the control system is connected with the walking driving device and the fire extinguishing device, and the control system is wirelessly connected with the monitoring control center 14.
Further, the sensor module 3 includes satellite positioning sensor 31, image transmission camera 32, ambient temperature sensor 33, environment smoke sensor 34, gyroscope sensor 35 and infrared distance measuring sensor 36, satellite positioning sensor 31 ambient temperature sensor 33 environment smoke sensor 34 gyroscope sensor 35 set up in the walking drive device, image transmission camera 32 with infrared distance measuring sensor 36 set up in on the walking drive device, satellite positioning sensor 31, image transmission camera 32, ambient temperature sensor 33, environment smoke sensor 34, gyroscope sensor 35 and infrared distance measuring sensor 36's signal output part all with control system's signal input part connects.
Further, the control system comprises a sensor data collector 10, a core data processor 11, a motor driving module 12, a wireless signal transmission antenna 6 and a wireless data transmission module 13, signal output ends of the satellite positioning sensor 31, the image transmission camera 32, the ambient temperature sensor 33, the ambient smoke sensor 34, the gyroscope sensor 35 and the infrared distance measuring sensor 36 are connected with a signal input end of the sensor data collector 10, a signal output end of the sensor data collector 10 is connected with a signal input end of the core data processor 11, a control signal output end of the core data processor 11 is connected with the motor driving module 12, a control signal output end of the motor driving module 12 is connected with control ends of the walking driving device and the fire extinguishing device, a signal transmission end of the core data processor 11 is connected with the wireless data transmission module 13, the wireless data transmission module 13 is wirelessly connected with the monitoring control center 14 through the wireless signal transmission antenna 6.
Furthermore, the fire extinguishing device consists of a fire extinguishing water spray nozzle 4, a fire extinguishing water supply joint 5, a nozzle left and right driving motor 7, a nozzle up and down driving motor 8 and a nozzle valve driving motor 9, one end of the fire extinguishing water supply joint 5 is connected with a water source, the other end of the fire extinguishing water supply joint 5 is connected with the fire extinguishing water spray nozzle 4 through the nozzle left and right driving motor 7, the nozzle up and down driving motor 8 and the nozzle valve driving motor 9, the nozzle left and right driving motor 7 controls the fire extinguishing water spray nozzle 4 to swing left and right, the nozzle up and down driving motor 8 controls the fire extinguishing water spray nozzle 4 to swing up and down, the nozzle valve driving motor 9 controls the opening degree of the fire-extinguishing water-spraying nozzle 4, and the control signal input ends of the nozzle left and right driving motor 7, the nozzle up and down driving motor 8 and the nozzle valve driving motor 9 are connected with the control signal output end of the motor driving module 12.
Further, the walking driving device is composed of a robot body 1, a robot walking driving motor 2 and a walking driving crawler belt 15, the robot walking driving motor 2 and the walking driving crawler belt 15 are two groups, the walking driving crawler belt 15 is respectively driven by the robot walking driving motor 2 in a control mode, the robot walking driving motor 2 is connected with the control signal output end of the motor driving module 12, the two walking driving crawler belts 15 are respectively arranged on two sides of the robot body 1, and the robot walking driving motor 2 is fixedly connected with the robot body 1.
Preferably, the input of the fire extinguishing water supply joint 5 is connected with two thin pipes, and the output of the fire extinguishing water supply joint 5 is a thick pipe.
The working principle of the invention is as follows:
when the fire extinguishing water spraying device is used, the control center 14 remotely controls the robot walking driving motor 2 to drive the walking driving crawler belt 15, the whole robot is moved to a fire area, the position of the robot is monitored through the satellite positioning sensor 31, pictures are transmitted in real time through the image transmission camera 32, the environment temperature is sensed through the environment temperature sensor 33, the environment smoke is sensed through the environment smoke sensor 34, the angle of the robot is sensed through the gyroscope sensor 35, the target distance is sensed through the infrared distance measuring sensor 36, the core data processor 11 automatically adjusts the left and right nozzle driving motors 7 and the upper and lower nozzle driving motors 8 through signals of the gyroscope sensor 35 to enable the fire extinguishing water spraying nozzles 4 to keep parallel, the fire target position sensed through the satellite positioning sensor 31 is used, and the core data processor 11 controls the left and right nozzle driving motors 7 and the upper and lower nozzle driving motors 8 through the motor driving module 12 to control the fire extinguishing water spraying nozzles 4 to align with each other The target judges infrared distance sensor 36's target distance signal through core data processor 11 to control shower nozzle valve driving motor 9's the degree of opening a valve, thereby control the water source of putting out a fire and accurately spout water to the position of putting out a fire of conflagration, the water spray adopts two thin water piping connection water supply connector 5 of putting out a fire, because of thin water pipe is softer than thick water pipe, thereby does benefit to the walking of robot.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A flame detection robot, characterized in that: including sensor module (3), extinguishing device, walking drive device, control system and control center (14), sensor module (3) extinguishing device control system all set up in on the walking drive device, the signal output part of sensor module (3) with control system's signal input part connects, control system's control output end with walking drive device with extinguishing device connects, control system with wireless connection between control center (14).
2. The flame detection robot of claim 1, wherein: the sensor component (3) comprises a satellite positioning sensor (31), an image transmission camera (32), an environment temperature sensor (33), an environment smoke sensor (34), a gyroscope sensor (35) and an infrared distance measuring sensor (36), the satellite positioning sensor (31), the environment temperature sensor (33), the environment smoke sensor (34) and the gyroscope sensor (35) are arranged in the walking driving device, the image transmission camera (32) and the infrared distance measurement sensor (36) are arranged on the walking driving device, and signal output ends of the satellite positioning sensor (31), the image transmission camera (32), the environment temperature sensor (33), the environment smoke sensor (34), the gyroscope sensor (35) and the infrared distance measuring sensor (36) are connected with a signal input end of the control system.
3. The flame detection robot of claim 2, wherein: the control system comprises a sensor data collector (10), a core data processor (11), a motor driving module (12), a wireless signal transmission antenna (6) and a wireless data transmission module (13), signal output ends of a satellite positioning sensor (31), an image transmission camera (32), an environment temperature sensor (33), an environment smoke sensor (34), a gyroscope sensor (35) and an infrared distance measurement sensor (36) are connected with a signal input end of the sensor data collector (10), a signal output end of the sensor data collector (10) is connected with a signal input end of the core data processor (11), a control signal output end of the core data processor (11) is connected with the motor driving module (12), and a control signal output end of the motor driving module (12) is connected with a control end of the walking driving device and a control end of the fire extinguishing device, the signal transmission end of the core data processor (11) is connected with the wireless data transmission module (13), and the wireless data transmission module (13) is in wireless connection with the monitoring control center (14) through the wireless signal transmission antenna (6).
4. The flame detection robot of claim 3, wherein: the fire extinguishing device is composed of a fire extinguishing water spray nozzle (4), a fire extinguishing water supply connector (5), a nozzle left and right driving motor (7), a nozzle upper and lower driving motor (8) and a nozzle valve driving motor (9), wherein one end of the fire extinguishing water supply connector (5) is connected with a water source, the other end of the fire extinguishing water supply connector (5) is connected with the nozzle left and right driving motor (7), the nozzle upper and lower driving motor (8) and the nozzle valve driving motor (9) are connected with the fire extinguishing water spray nozzle (4), the nozzle left and right driving motor (7) controls the fire extinguishing water spray nozzle (4) to swing left and right, the nozzle upper and lower driving motor (8) controls the fire extinguishing water spray nozzle (4) to swing up and down, the nozzle valve driving motor (9) controls the valve opening degree of the fire extinguishing water spray nozzle (4), the nozzle left and right driving motor (7), And the control signal input ends of the nozzle up-and-down driving motor (8) and the nozzle valve driving motor (9) are connected with the control signal output end of the motor driving module (12).
5. The flame detection robot of claim 3, wherein: the walking driving device is composed of a robot body (1), a robot walking driving motor (2) and a walking driving crawler belt (15), the robot walking driving motor (2) and the walking driving crawler belt (15) are two sets of and two sets of the walking driving crawler belt (15) is respectively driven by the robot walking driving motor (2) in a control mode, the robot walking driving motor (2) is connected with the control signal output end of a motor driving module (12) in a two-to-one mode, the walking driving crawler belt (15) is respectively arranged on two sides of the robot body (1), and the robot walking driving motor (2) is fixedly connected with the robot body (1).
6. The flame detection robot of claim 4, wherein: the input of putting out a fire water supply joint (5) inserts two tubules, the output of putting out a fire water supply joint (5) is the thick pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111243808.9A CN113813537A (en) | 2021-10-25 | 2021-10-25 | Flame detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111243808.9A CN113813537A (en) | 2021-10-25 | 2021-10-25 | Flame detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN113813537A true CN113813537A (en) | 2021-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111243808.9A Pending CN113813537A (en) | 2021-10-25 | 2021-10-25 | Flame detection robot |
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| CN (1) | CN113813537A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000116809A (en) * | 1998-10-12 | 2000-04-25 | Shinko Electric Co Ltd | Method of fire fighting, fire robot and hose reel-out robot of fire fighting system in tunnel |
| CN102784451A (en) * | 2012-08-06 | 2012-11-21 | 西安硅光电子科技有限公司 | Automatic positioning flame detection system for three-dimensional space |
| CN103816626A (en) * | 2012-11-19 | 2014-05-28 | 西安众智惠泽光电科技有限公司 | Walking control system for forest fire fighting robot |
| CN207996374U (en) * | 2018-02-05 | 2018-10-23 | 苏州科技大学 | A kind of Intelligent fire-fighting robot |
| CN208207607U (en) * | 2018-05-29 | 2018-12-07 | 西安文理学院 | A kind of search and rescue system and trolley based on sound and light detecting |
| CN110787398A (en) * | 2019-11-13 | 2020-02-14 | 苏州大成有方数据科技有限公司 | Control system of fire-fighting robot with reconnaissance and fire-extinguishing functions |
| CN111803835A (en) * | 2020-06-24 | 2020-10-23 | 江苏深渡消防装备科技有限公司 | Intelligent fire-fighting robot capable of automatically identifying fire scene |
-
2021
- 2021-10-25 CN CN202111243808.9A patent/CN113813537A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000116809A (en) * | 1998-10-12 | 2000-04-25 | Shinko Electric Co Ltd | Method of fire fighting, fire robot and hose reel-out robot of fire fighting system in tunnel |
| CN102784451A (en) * | 2012-08-06 | 2012-11-21 | 西安硅光电子科技有限公司 | Automatic positioning flame detection system for three-dimensional space |
| CN103816626A (en) * | 2012-11-19 | 2014-05-28 | 西安众智惠泽光电科技有限公司 | Walking control system for forest fire fighting robot |
| CN207996374U (en) * | 2018-02-05 | 2018-10-23 | 苏州科技大学 | A kind of Intelligent fire-fighting robot |
| CN208207607U (en) * | 2018-05-29 | 2018-12-07 | 西安文理学院 | A kind of search and rescue system and trolley based on sound and light detecting |
| CN110787398A (en) * | 2019-11-13 | 2020-02-14 | 苏州大成有方数据科技有限公司 | Control system of fire-fighting robot with reconnaissance and fire-extinguishing functions |
| CN111803835A (en) * | 2020-06-24 | 2020-10-23 | 江苏深渡消防装备科技有限公司 | Intelligent fire-fighting robot capable of automatically identifying fire scene |
Non-Patent Citations (1)
| Title |
|---|
| 中国机械工程学会: "《中国机械史 技术卷》", 中国科学技术出版社, pages: 444 * |
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Application publication date: 20211221 |