CN114536300A - Indoor rail type electric power inspection robot and fire extinguishing method - Google Patents
Indoor rail type electric power inspection robot and fire extinguishing method Download PDFInfo
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- CN114536300A CN114536300A CN202210311693.0A CN202210311693A CN114536300A CN 114536300 A CN114536300 A CN 114536300A CN 202210311693 A CN202210311693 A CN 202210311693A CN 114536300 A CN114536300 A CN 114536300A
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- 238000007689 inspection Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005070 sampling Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000002485 combustion reaction Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000000779 smoke Substances 0.000 abstract description 18
- 238000010586 diagram Methods 0.000 description 10
- 239000003795 chemical substances by application Substances 0.000 description 4
- 238000007726 management method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002090 carbon oxide Inorganic materials 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an indoor rail type electric power inspection robot and a fire extinguishing method, which comprises a rail, wherein at least one robot is arranged on the rail, the robot comprises a travelling mechanism assembled on the rail, the bottom of the travelling mechanism is fixedly connected with a shell, a storage battery, a controller and a sampling box are arranged in the shell, the upper end and the lower end of the sampling box are respectively communicated with an air inlet pipe and an exhaust pipe, an exhaust fan and a smoke gas-sensitive sensor are arranged in the sampling box, an audible and visual alarm device is arranged outside the shell, the storage battery is charged by a wireless charger, the smoke gas-sensitive sensor is connected with the input end of the controller, and the exhaust fan, a driving motor and the audible and visual alarm device are connected with the output end of the controller.
Description
Technical Field
The invention relates to an indoor rail type electric power inspection robot and a fire extinguishing method.
Background
The inspection robot: the inspection robot takes a mobile robot as a carrier, a visible light camera, an infrared thermal imager and other detecting instruments as a load system, multi-field information fusion of machine vision-electromagnetic field-GPS-GIS as a navigation system for autonomous movement and autonomous inspection of the robot, an embedded computer as a software and hardware development platform of a control system, and has the functions of obstacle detection and identification, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of an inspection image and data of a robot body, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like so as to prevent accidents and ensure safety, and in many occasions of the modern society, the inspection of a certain area needs to be repeated, the inspection is mainly completed by signing with paper and pens, so that the problems of no evidence for signing and signing supplement can be solved, the electronic inspection is a management system which automatically and accurately records the information in the inspection work through the mobile identification technologies such as face identification, accurate positioning and the like, and the appearance of the management system is the progress of the monitoring means of the inspection and patrol processes. The existing inspection robot mainly depends on a smoke gas sensor for sampling field smoke, but the smoke gas sensor is insufficient in receiving gas yield, so that the sensitivity is not high, and the alarm time has certain delay.
Disclosure of Invention
The invention aims to provide an indoor rail type electric power inspection robot and a fire extinguishing method, and aims to solve the problems that a smoke gas sensor in the conventional inspection robot is insufficient in gas collection amount and low in sensitivity.
In order to solve the problems, the technical scheme of the invention is as follows:
the utility model provides a track formula electric power inspection robot for it is indoor, includes the track, is equipped with a robot on the track at least, the robot is including the running gear who assembles on the track, running gear bottom fixedly connected with casing is equipped with the battery, controller and sampling box in the casing, both ends switch-on intake pipe and blast pipe respectively about the sampling box, be equipped with air exhauster and smog gas sensitive sensor in the sampling box, be equipped with audible-visual alarm device outside the casing, the battery is charged it by wireless charger, smog gas sensitive sensor connection director input, the air exhauster, driving motor and audible-visual alarm device connection director output.
The casing is connected with the connecting plate through connecting the pole, fixed mounting has the axle sleeve and turns to the motor on the connecting plate, is equipped with the pivot in the axle sleeve, and the pivot lower extreme is connected with the carousel, turns to the motor and passes through synchronous belt drive mechanism and be connected with the pivot transmission, installs infrared camera on the carousel, is equipped with wireless communication module in the casing, and the data that infrared camera will shoot take place for the user through wireless communication module.
The rotary table is provided with a steering engine, the casing is provided with a plurality of tank-type fire extinguishers, the steering engine steering wheel is provided with fire extinguishing pipes, the fire extinguishing pipes are communicated with the tank-type fire extinguishers through hoses, and the hoses are provided with electromagnetic valves which are connected with the output end of the controller.
The shell is provided with a laser ranging sensor, the guide rail is provided with a plurality of bumps, and the laser ranging sensor is connected with the input end of the controller.
A track type electric power inspection robot for indoor use is provided with a filter screen at an air inlet of a sampling passage.
The utility model provides a fire extinguishing method for indoor rail mounted electric power inspection robot, including the controller regularly start the robot, let the robot move along the track, the in-process of removal, the air exhauster extracts indoor air as for smog gas sensor, when smog gas sensor monitors indoor burning smog or combustible gas, then start audible-visual annunciator earlier and report to the police, then at the notice user, the user observes the site conditions through infrared camera, if indoor article have burnt, then remote control robot is close to burning article, and remote control steering wheel and steering motor, with the injection direction of adjustment fire extinguishing pipe towards the combustion department, later open the solenoid valve, let the fire extinguishing agent in the pot fire extinguisher spout to article department that catches fire, put out a fire to it.
The beneficial effects of the invention are as follows:
1. the passive air receiving mode of the smoke gas sensor is changed into the mode that the exhaust fan actively removes the extracted air, the flow of the air passing through the smoke gas sensor is improved, the smoke gas sensor can detect more air during inspection, the sampling amount of the smoke gas sensor is improved, and the smoke gas sensor is more timely and reliable in detection.
2. When the goods burning appears, the staff can observe the scene conflagration condition by infrared camera to according to the burning situation control fire extinguishing pipe towards burning department, and the blowout fire extinguishing agent is put out a fire to it, prevents that the intensity of a fire from further stretching.
Drawings
The invention is further described below with reference to the accompanying drawings:
figure 1 is a schematic structural view of the present invention,
figure 2 is a schematic view of the connection between the electric devices of the present invention,
FIG. 3 is a power supply circuit diagram of the present invention;
FIG. 4 is a signal communication circuit diagram of the present invention;
FIG. 5 is a circuit diagram of a wifi module of the present invention;
FIG. 6 is a circuit diagram of the smoke sensor of the present invention;
FIG. 7 is a circuit diagram of the acousto-optic alarm device of the present invention;
FIG. 8 is a circuit diagram of the ME2-CO sensor of the present invention;
FIG. 9 is a circuit diagram of a sensor signal acquisition circuit of the present invention;
FIG. 10 is a circuit diagram of a solenoid valve control of the present invention;
FIG. 11 is a circuit diagram of a motor driving circuit of the traveling mechanism of the present invention;
FIG. 12 is a control circuit diagram of the present invention.
In the figure: the wireless fire extinguisher comprises a wireless charger 1, a casing 2, a storage battery 3, a traveling mechanism 4, a laser ranging sensor 5, a bump 6, a controller 7, a sampling box 8, an audible and visual alarm device 9, an exhaust fan 10, a smoke gas sensor 11, a tank fire extinguisher 12, an infrared camera 13, a connecting plate 14, a steering motor 15, a rotary table 16, a fire extinguishing pipe 17, a steering engine 18, an electromagnetic valve 19, a hose 20, a wireless communication module 21 and a track 22.
Detailed Description
As shown in fig. 1 and 2, a be used for indoor rail mounted electric power to patrol and examine robot, including setting up at indoor track 22, be equipped with a robot on track 22 at least, the robot is including assembly running gear 4 on track 22, 4 bottom fixedly connected with casings 2 of running gear, be equipped with battery 3 in casing 2, controller 7 and sampling box 8, intake pipe and blast pipe are put through respectively to both ends about sampling box 8, be equipped with air exhauster 10 and smog gas sensor 11 in the sampling box 8, be equipped with reputation alarm device 9 outside casing 2, battery 3 is charged it by wireless charger, smog sensor 11 connection director 7 input, air exhauster 10, driving motor and reputation alarm device 9 connection director 7 output. The smoke gas sensor 11 can be a CO smoke concentration composite alarm element of an ME 2-CO-carbon oxide electrochemical gas sensor.
The machine shell 2 is connected with a connecting plate 14 through a connecting rod, a shaft sleeve and a steering motor 15 are fixedly mounted on the connecting plate 14, a rotating shaft is assembled in the shaft sleeve, the lower end of the rotating shaft is connected with a rotating disc 16, the steering motor 15 is in transmission connection with the rotating shaft through a synchronous belt transmission mechanism, an infrared camera 13 is mounted on the rotating disc 16, a wireless communication module 21 is arranged in the machine shell 2, the infrared camera 13 sends shot data to a user through the wireless communication module 21, the output end of a controller 7 connected with the steering motor 15 is provided with the steering motor 15 which is a servo motor, the steering angle of the rotating disc 16 is plus or minus 80 degrees, and the infrared camera 13 can be selected from a Haikangwei DS-2TD1217-3/QA industrial temperature measuring camera.
A steering engine 18 is installed on the rotary table 16, a plurality of tank-type fire extinguishers 12 are installed on the machine shell 2, fire extinguishing pipes 17 are installed on the steering engine 18, the fire extinguishing pipes 17 are communicated with the tank-type fire extinguishers 12 through hoses 20, electromagnetic valves 19 are installed on the hoses 20, and the electromagnetic valves 19 are connected with the output end of the controller 7.
Be equipped with laser range sensor 5 on casing 2, be equipped with a plurality of lugs 6 on the guide rail, laser range sensor 5 connection director 7 input, for convenient installation, lug 6 can be magnet, and the thickness of a plurality of lugs 6 is inequality, laser range sensor 5 confirms the position of track 22 that the robot is located according to the thickness that detects lug 6, for example when detecting the arch of 0.5mm thick, then represent that the robot reaches wireless charging potential, when detecting the arch of 0.8mm thick, then represent that the robot reaches the crossroad of indoor goods shelves, control sabot corotation 80 degrees back at reversal 80 degrees by controller 7 this moment, so that infrared camera 13 shoots the crossroad left and right sides, observe whether there is the high temperature point in left and right sides goods shelves.
A track 22 type electric power inspection robot used indoors is provided with a filter screen at an air inlet of a sampling passage.
The working process of the invention is as follows:
the first step is as follows: the controller 7 starts the robot at regular time, so that the robot moves along the track 22, in the moving process, the exhaust fan 10 extracts indoor air to the smoke gas-sensitive sensor 11, when the smoke gas-sensitive sensor 11 monitors that combustion smoke or combustible gas exists indoors, the audible and visual alarm is started to alarm, then the user is informed through the wireless communication module 21, and meanwhile, the camera stays in the original place.
The second step is that: a user observes the field situation through the infrared camera 13, if indoor articles are burnt, the robot is controlled to be close to the burnt articles remotely, the steering engine 18 and the steering motor 15 are controlled remotely to adjust the spraying direction of the fire extinguishing pipe 17 to face the burning position, then the electromagnetic valve 19 is opened, the fire extinguishing agent in the tank type fire extinguisher 12 is sprayed to the article burning position, and fire is extinguished.
The third step: after the fire extinguishing agent in the tank fire extinguisher 12 is used up, the staff controls other robots on the track 22 to come to the burning place of the article to extinguish the fire.
Claims (6)
1. The utility model provides a be used for indoor rail mounted electric power to patrol inspection robot, includes track (22), is equipped with a robot on track (22) at least, the robot is including assembly running gear (4) on track (22), its characterized in that: running gear (4) bottom fixedly connected with casing (2), be equipped with battery (3) in casing (2), controller (7) and sample box (8), both ends switch-on intake pipe and blast pipe respectively about sample box (8), be equipped with air exhauster (10) and smog gas sensor (11) in sample box (8), be equipped with audible and visual alarm device (9) outside casing (2), battery (3) are charged it by wireless charger, smog gas sensor (11) connection director (7) input, air exhauster (10), driving motor and audible and visual alarm device (9) connection director (7) output.
2. The indoor track type power inspection robot according to claim 1, wherein: casing (2) are connected with connecting plate (14) through connecting the pole, fixed mounting has the axle sleeve and turns to motor (15) on connecting plate (14), be equipped with the pivot in the axle sleeve, the pivot lower extreme is connected with carousel (16), turn to motor (15) and be connected with the pivot transmission through synchronous belt drive mechanism, install infrared camera (13) on carousel (16), be equipped with wireless communication module (21) in casing (2), data that infrared camera (13) will be shot take place for the user through wireless communication module (21).
3. The indoor track type power inspection robot according to claim 2, wherein: install steering wheel (18) on carousel (16), install a plurality of pot-type fire extinguishers (12) on casing (2), install fire extinguishing pipe (17) on steering wheel (18) steering wheel, fire extinguishing pipe (17) are passed through hose (20) and are linked together with pot-type fire extinguisher (12), install solenoid valve (19) on hose (20), solenoid valve (19) connection director (7) output.
4. The rail-mounted power inspection robot for the indoor according to any one of claims 1 to 3, wherein: the laser ranging device is characterized in that a laser ranging sensor (5) is arranged on the machine shell (2), a plurality of bumps (6) are arranged on the guide rail, and the laser ranging sensor (5) is connected with the input end of the controller (7).
5. The track type power inspection robot for indoor use according to any one of claims 1 to 3, wherein: the air inlet of the sampling channel is provided with a filter screen.
6. A fire extinguishing method using the rail type power inspection robot for the indoor according to claim 3, characterized in that: including controller (7) regularly start the robot, let the robot remove along track (22), the in-process of removal, air exhauster (10) extract indoor air as for smog gas sensor (11), when smog gas sensor (11) monitor indoor burning smog or combustible gas, then start audible-visual annunciator earlier and report to the police, then at the notice user, the user observes the site conditions through infrared camera (13), if indoor article have burnt, then remote control robot is close to burning article, and remote control steering wheel (18) and steering motor (15), in order to adjust the jet direction orientation of extinguishing fire pipe (17) to the combustion department, later open solenoid valve (19), let the fire extinguishing agent in pot-type fire extinguisher (12) spout to article department of catching fire, put out a fire to it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210311693.0A CN114536300A (en) | 2022-03-28 | 2022-03-28 | Indoor rail type electric power inspection robot and fire extinguishing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210311693.0A CN114536300A (en) | 2022-03-28 | 2022-03-28 | Indoor rail type electric power inspection robot and fire extinguishing method |
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| Publication Number | Publication Date |
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| CN114536300A true CN114536300A (en) | 2022-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210311693.0A Pending CN114536300A (en) | 2022-03-28 | 2022-03-28 | Indoor rail type electric power inspection robot and fire extinguishing method |
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| CN (1) | CN114536300A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115100589A (en) * | 2022-06-07 | 2022-09-23 | 慧之安信息技术股份有限公司 | Campus alarm system based on deep learning |
| CN115716260A (en) * | 2023-01-10 | 2023-02-28 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type inspection industrial robot |
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| KR20110096191A (en) * | 2010-02-22 | 2011-08-30 | 한전케이피에스 주식회사 | Inspecting robot for power transmission line |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN111973911A (en) * | 2020-09-14 | 2020-11-24 | 浙江浙能技术研究院有限公司 | Emergency spraying fire extinguishing device and method for hanger rail AI inspection robot |
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| CN113031587A (en) * | 2020-12-28 | 2021-06-25 | 西咸新区鸿通管廊投资有限公司 | Positioning device and coding positioning method for rail type inspection robot |
| CN213999458U (en) * | 2020-07-30 | 2021-08-20 | 广东三向智能科技股份有限公司 | Intelligent mobile robot based on teaching training |
| CN113977600A (en) * | 2021-10-27 | 2022-01-28 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency disposal function |
-
2022
- 2022-03-28 CN CN202210311693.0A patent/CN114536300A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110096191A (en) * | 2010-02-22 | 2011-08-30 | 한전케이피에스 주식회사 | Inspecting robot for power transmission line |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN212825368U (en) * | 2020-07-17 | 2021-03-30 | 北京潞电电气设备有限公司 | Partial discharge detection pipe rack hanger rail inspection robot |
| CN213999458U (en) * | 2020-07-30 | 2021-08-20 | 广东三向智能科技股份有限公司 | Intelligent mobile robot based on teaching training |
| CN111973911A (en) * | 2020-09-14 | 2020-11-24 | 浙江浙能技术研究院有限公司 | Emergency spraying fire extinguishing device and method for hanger rail AI inspection robot |
| CN113031587A (en) * | 2020-12-28 | 2021-06-25 | 西咸新区鸿通管廊投资有限公司 | Positioning device and coding positioning method for rail type inspection robot |
| CN113977600A (en) * | 2021-10-27 | 2022-01-28 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency disposal function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115100589A (en) * | 2022-06-07 | 2022-09-23 | 慧之安信息技术股份有限公司 | Campus alarm system based on deep learning |
| CN115716260A (en) * | 2023-01-10 | 2023-02-28 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type inspection industrial robot |
| CN115716260B (en) * | 2023-01-10 | 2023-04-14 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type inspection industrial robot |
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