CN201164675Y - Intelligent robot system for tunnel fire-fighting emergency - Google Patents
Intelligent robot system for tunnel fire-fighting emergency Download PDFInfo
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- CN201164675Y CN201164675Y CNU2008200172972U CN200820017297U CN201164675Y CN 201164675 Y CN201164675 Y CN 201164675Y CN U2008200172972 U CNU2008200172972 U CN U2008200172972U CN 200820017297 U CN200820017297 U CN 200820017297U CN 201164675 Y CN201164675 Y CN 201164675Y
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Abstract
The utility model discloses an intelligent tunnel fire emergency robot system which solves the difficult tunnel fire-fighting problems that the large fire-fighting difficulty and the easy casualties are often caused by the small internal space of the tunnel when a fire starts, and has the advantages that the structure is simple, the tunnel fires can be effectively put out in time, etc. The intelligent robot system comprises a firefighting water supply pipe, a firefighting water valve and at least a firefighting robot, wherein, the firefighting water supply pipe and the firefighting water valve are arranged in the tunnel, and the firefighting robot which is arranged on a track can automatically move to the nearest burning point along the track according to the fire situation; at least a step controller which can wirelessly communicate with the firefighting robot is also arranged in the tunnel, and the step controller is connected with a firefighting control host computer through a CAN bus; a fire detection device which is connected with the CAN bus is also arranged in the tunnel, and the fire detection device is connected with the step controller; a fire image monitoring apparatus which is connected with the firefighting control host computer through a video line is also arranged in the tunnel; the firefighting control host computer is arranged in a fire control chamber, and is connected with a firefighting linkwork and a centralized control panel through the CAN bus.
Description
Technical field
The utility model relates to a kind of fire-fighting system, relates in particular to a kind of tunnel fire-fighting emergent intelligent robot system.
Background technology
The tunnel comprises railway tunnel, vcehicular tunnel, subway tunnel, submerged tunnel etc.Because the tunnel internal space is little, approximately be in air-tight state, when fire took place, smog was big, temperature is high, spread fast, it is difficult to evacuate, the difficulty of putting out a fire to save life and property greatly, easily cause casualties; Equally, when the noxious material leakage or the attack of terrorism take place, also can cause very serious consequence.People have developed some and have been used for the equipment of tunnel fire for this reason, but these equipment all are independent operatings, and fail to constitute an effective fire extinguishing system, can not carry out early warning to the generation of tunnel fire hazard, can not according to circumstances put out in real time.
Summary of the invention
The purpose of this utility model is exactly can not be effectively fire such as to be prevented and treated, can not put out effectively and timely automatically at problem in order to solve present tunnel fire-fighting equipment, provide a kind of have simple in structure, easy to use, can put out the tunnel fire-fighting emergent intelligent robot system of advantages such as tunnel fire hazard safely and effectively.
For achieving the above object, the utility model adopts following technical scheme:
A kind of tunnel fire-fighting emergent intelligent robot system, it comprises fire fighting supply pipeline and the fire-fighting water valve that is installed in the tunnel, and install in orbit closely move to at least one fire-fighting robot along track automatically according to fire condition near ignition point; Also be provided with the sorter controller of at least one and fire-fighting robot radio communication in the tunnel, it is connected with the fire-fighting main control system by the CAN bus; Also be provided with the fire detecting arrangement that is connected on the CAN bus in the tunnel, fire detecting arrangement is connected with sorter controller; Also be provided with the fire image supervising device that links to each other with the fire-fighting main control system by video line in the tunnel; The fire-fighting main control system and is connected with fire-fighting link device and centralized control panel by the CAN bus in the fire control room.
Described fire image supervising device comprises on-site supervision video camera and fire-fighting robot delivery port place video camera, and they are connected with video distributor, matrix switcher successively, and matrix switcher is connected with the fire-fighting main control system by video line; Video distributor also is connected with DVR simultaneously, and DVR is connected with monitor; Matrix switcher then is connected with the Control Room large-size screen monitors.
Described fire detecting arrangement comprises infrared flame detector, smoke detector and the manual alarm controller that distributes and connect by the CAN bus.
Described fire-fighting link device comprises the fire linkage controller, the fire linkage controller respectively with Fire telephone, audible-visual annunciator and other interlocking equipment.
Described fire-fighting robot comprises the fire-fighting robot controller, its input is connected received signal with orbital position sensor, gun muzzle colour TV camera, infrared alignment sensor, framing sensor, environment temperature sensor, robot interior temperature sensor, gas concentration sensor, battery power backup detection module respectively; Its output then with audible-visual annunciator, water route butt joint motor, water smoke/water column motor, horizontal location servomotor, vertically locate servomotor, track servo motor, charge in batteries butt joint motor and be connected, export control signal; Battery is the fire-fighting robot power supply, and its input is connected with charge in batteries butt joint motor, and output then is connected with battery power backup detection module.
Described fire-fighting robot controller comprises that center processor DSP is the control core of whole tunnel fire-fighting robot; The wireless image transceiver module passes back to the fire control room to the image of colourful CCD video camera; Image capture module, the image of gathering the framing sensor are to tunnel fire-fighting robot controller, and controller is handled, analyzed and determine burning things which may cause a fire disaster through image; Light is gathered relevant various switching value information every input module; Horizontal direction scanning servo motor drive module, vertical direction scanning servo motor drive module, track servo motor drive module are realized tunnel fire-fighting robot horizontal direction scanning, vertical direction scanning and motion in orbit; The direct current generator driver module, the water-out manners of control tunnel fire-fighting robot is water smoke/water column; Charge in batteries butt joint driver module is that battery charges by battery charger; Butt joint motor drive module in water route drives fire-fighting robot butt joint water route, tunnel; Low power relay, power MOSFET drive status display apparatus, wireless communication modules such as sound and light alarm, LED, sorter controller communication, and then can realize and the communicating by letter of main control system; The A/D sampling module is gathered information such as environment temperature sensor, robot interior temperature sensor, gas concentration sensor.
Described infrared alignment sensor comprises location infrared sensor and the vertical point location infrared sensor of going up on the horizontal direction.
Described framing sensor comprises coloured image video camera and infrared fileter composition.
Described battery power backup detection module comprises voltage, current detection sensor and amplifying circuit, A/D sampling module and single-chip microcomputer.
The utility model has provided the tunnel fire protection system total solution at the tunnel characteristics, comprises all parts such as detection, fire-fighting link, robot fire extinguishing, TV monitoring and controlling, and the utility model has been realized full-automatic tunnel fire process fully simultaneously.Tunnel fire-fighting emergent intelligent robot system can be sent alarm signal at the early stage fire of monitoring automatically of tunnel fire hazard generation, locatees burning things which may cause a fire disaster automatically, automatic butt water source, quick, accurate fire extinguishing; In addition, also can be by Long-distance Control its noxious material carried out big flow fixed point spray dilution, thereby replace the fireman to finish emergency rescues and disaster relief work, improve tunnel fire-fighting emergent ability, realize " tunnel automatic fire fighting ".This system can be widely used in the fire-fighting emergent in all kinds of tunnels, also can be widely used in volumed space building fire prevention such as factory building, warehouse, guild hall, sales field simultaneously.
The beneficial effects of the utility model are:
1, the emergent intelligent robot system that provides a kind of suitable tunnel fire-fighting to use
This project has taken into full account the particularity in tunnel, has designed a cover and has been applied to tunnel fire-fighting emergent intelligent robot system.Native system is compared spray and extinction using gas has very big advantage, can effectively improve the emergency capability of tunnel disaster, real realize " tunnel automatic fire fighting ".
2, the roughly location burning things which may cause a fire disaster point that multiband infrared optics flame location technology that the fire location technology of handling based on infrared optics and image of the emergent intelligence machine human in a kind of suitable tunnel adopts can be faster, the wrong report of effectively avoiding daylight, light, lightning, arc-welding light etc. to cause are provided; And adopt the framing technology, by its three-dimensional search in the space, the guide tunnel fire-fighting robot is accurately located the burning things which may cause a fire disaster point automatically.The binding energy of two technology is located the burning things which may cause a fire disaster point quickly and accurately, and then really standard is put out ignition point.
3, the emergent intelligent robot of tunnel fire-fighting and anti-terrorism is realized no cable, automatically taking water
The emergent intelligent robot in tunnel is by carrying storage battery power supply, and can realize automatic charging, do not need the external power supply power supply; Adopt short-distance wireless communication+length apart from wire communication, guarantee that communication reliably and not needs communication cable; Adopt the water route automatic butt, robot arrives automatic butt water source behind the alarm region along track, need not to carry water tank or drags water pipe.Like this, just guaranteed robot can underloading, fast, dexterous motion.
4, tunnel automatic fire fighting
The emergent intelligent robot system of tunnel fire-fighting and anti-terrorism realized tunnel fire hazard survey automatically, automatically location, automatic water-supply, put out automatically, fire-fighting link.Along the as far as possible close dangerous matter sources of track, and can the automatic butt water route.Under water column water spray mode, tunnel fire-fighting emergent Study of Intelligent Robot Control device is according to situations such as hydraulic pressure, wind-force, calculates the whereabouts curve of robotic gun saliva post according to hydromechanical principle, proofreaied and correct again, make water column can accurately get to the burning things which may cause a fire disaster point, and then quick, accurately fire extinguishing.
5, multi-robot coordination action
A system can install several even tens hundreds of tunnel fire-fighting emergent intelligent robots, and when any caught fire, several robots moved simultaneously, quick extinguishing.When several ignition point, near the corresponding burning things which may cause a fire disaster, several burning things which may cause a fire disaster successively are extinguished near the robot several ignition points according to the different orbital motions of alarm region.Do not have fire flexibly, accurately, fast.
6, self-protection
Tunnel fire-fighting emergent intelligent robot can the perception external environment condition temperature, avoid burning robot because of fire, protected equipment.
Description of drawings
Fig. 1 is a system of the present utility model pie graph;
Fig. 2 is a fire-fighting robot system pie graph.
Wherein, 1. fire detecting arrangement, 11. infrared flame detector, 12. smoke detectors, 13. manual alarm controllers, 2. fire image supervising device, 21. the on-site supervision video camera, 22. video distributors, 23. matrix switchers, 24. monitor, 25. DVR, 26. Control Room large-size screen monitors, 3. fire-fighting main control system, 4. sorter controller, 5. fire-fighting robot, 51. fire-fighting robot controllers, 52. orbital position sensors, 53. gun muzzle colour TV camera, 54. infrared alignment sensor, 55. framing sensors, 56. wireless communication modules, 57.LED display module, 58. environment temperature sensor, 59. gas concentration sensors, 510. battery power backup detection modules, 511. charge in batteries butt joint motor, 512. the track servo motor, 513. vertically locate servomotor, 514. horizontal location servomotors, 515. water smoke/water column motor, 516. water route butt joint motor, 517. audible-visual annunciators, 518. batteries, 6. fire-fighting link device, 61. the fire linkage controller, 62. Fire telephones, 63. audible-visual annunciators, 64. other interlocking equipment, 7. centralized control panel connects.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
As shown in fig. 1, the utility model be included in installation in orbit can closely move to at least one fire-fighting robot 5 along track automatically according to fire condition near ignition point, in the tunnel, also be provided with at least one can with the sorter controller 4 of fire-fighting robot 5 radio communications, sorter controller 4 is connected with fire-fighting main control system 3 by the CAN bus, sorter controller 4 also is connected with fire detecting arrangement 1 by the CAN bus, fire-fighting main control system 3 is connected with fire image supervising device 2 by video line, fire-fighting main control system 3 and is connected with fire-fighting link device 6 and centralized control panel 7 by the CAN bus in the fire control room.In the tunnel, also be provided with the fire protection pipeline and the fire-fighting water valve that match with fire-fighting robot 5.
Fire image supervising device 2 comprises on-site supervision video camera 21, and it is connected with video distributor 22, matrix switcher 23 successively, and matrix switcher 23 is connected with fire-fighting main control system 3 by video bus; Video distributor 22 also is connected with DVR 25 simultaneously, and DVR 25 is connected with monitor 24; 23 of matrix switchers are connected with Control Room large-size screen monitors 26.The picture control part can be finished the monitoring function to the scene, makes things convenient for the operator on duty of fire protection control room to see on-the-spot image in real time, and records a video when fire takes place.The fire image monitoring comprises: (1) is installed in the various monitoring cameras in the tunnel, and (2) are installed in gun muzzle video camera at fire-fighting robot delivery port place, tunnel.When fire took place, the fire-fighting main control system was automatically the rig camera of image switching to conflagration area.When opening corresponding tunnel fire-fighting robot monitored picture, the fire-fighting main control system automatically switches to gun muzzle image, to watch the fire extinguishing situation of tunnel fire-fighting robot.
Fire detecting arrangement 1 comprises infrared flame detector 11, smoke detector 12 and the manual alarm controller 13 that distributes and connect by the CAN bus.Fire detecting arrangement is the front end sensors of system, can monitor fire real-time and accurately, in the very first time of breaking out of fire, fire signal is sent to fire-fighting main control system and corresponding tunnel fire-fighting robot, and then very first time fire extinguishing, and in time notify the operator on duty, its concrete structure is shown in fire probe portion among Fig. 1.Detection partly comprises infrared flame detector, infrared beam smoke detector, manual alarm controller three classes, and this three classes detector is articulated on the CAN bus connecting system by input module.Wherein, infrared flame detector can detect the flame of certain scale reliably at the utmost point in certain distance in the short time; A large amount of smog that infrared beam smoke detector gives out when can detection of fires taking place, manually report to the police manually in the alarm controller scene of can realizing.In addition, by the bus input module, other have the conventional fire detector of switching value output can to insert point heat detector, smoke point detector etc.
Fire-fighting link device 6 comprises fire linkage controller 61, and fire linkage controller 61 is connected with Fire telephone 62, audible-visual annunciator 63 and other interlocking equipment 64 respectively.The interlock control section links to each other with main control system by the CAN bus, accepts the control signal from main control system, fire-fighting equipments such as interlock sound and light alarm, smoke evacuation, fire resistance rolling shutter door, video recording in real time, alarm call.
Sorter controller is fixedly mounted on the fixed position of tunnel fire-fighting emergent intelligent robot when static in orbit, sorter controller can receive the alarm signal from flame detector, these signals are converted to alarm signal on the bus, send on the CAN bus; Integrated video wireless receiving module can receive gun muzzle color image information from the tunnel fire-fighting robot in the sorter controller, and these confidence are converted into vision signal send to industrial control host.Industrial control host is installed in fire protection control room, is the control centre and the Surveillance center of whole system.Reception gives the alarm to whole system from the alarm signal of the fire detector on the CAN bus, and then the whole alarm mechanism that links, and simultaneously monitored picture is switched to the fire alarm zone.According to alarm signal from different alarm regions, coordinate a plurality of tunnels fire-fighting emergent intelligent robot or drive certain tunnel fire-fighting robot accurately, quick extinguishing.Simultaneously the whole system operation state is shown and record that the operator on duty can watch contents such as the duty of system and fire alarm information by checking historical record.
As shown in Figure 2, fire-fighting robot 5 comprises fire-fighting robot controller 51, its input is connected received signal with orbital position sensor 52, gun muzzle colour TV camera 53, infrared alignment sensor 54, framing sensor 55, environment temperature sensor 58, gas concentration sensor 59, battery power backup detection module 510 respectively; Its output then with audible-visual annunciator 517, water route butt joint motor 516, water smoke/water column motor 515, horizontal location servomotor 514, vertically locate servomotor 513, track servo motor 512, charge in batteries butt joint motor 511 and be connected, export control signal; Fire-fighting robot controller 51 also with wireless communication module 56,57 two-way communications of LED display module; Battery 518 is fire-fighting robot 5 power supplies, and its input is connected with charge in batteries butt joint motor 511, and output then is connected with battery power backup detection module 510.
The tunnel fire-fighting robot is the executing agency of whole system.The tunnel fire-fighting robot adopts radio communication by storage battery power supply, need not external cable.The tunnel fire-fighting robot is installed on the fire-fighting dedicated track, is still in the fixed position when not having fire.When fire takes place, all kinds of fire detectors send alarm to the tunnel fire-fighting robot by sorter controller, the tunnel fire-fighting robot drives lower edge fire-fighting track at controller and moves to corresponding alert locations, after the water intaking of butt joint fire protection pipeline, beginning is the location burning things which may cause a fire disaster accurately, and then opens the water valve sprinkling fire.
Tunnel fire-fighting robot system comprises battery, battery power backup monitoring modular, infrared alignment sensor, the framing sensor, the horizontal location servomotor, vertically locate servomotor, the orbital motion servomotor, water route butt joint servomotor, charging butt joint motor, water column water smoke switch motor, sound and light alarm, the led state display part, wireless communication module, the track position signal feedback, the monitoring colour TV camera, self and environment temperature detection module, tunnel fire-fighting robot controller, multiple gases concentration sensor (CO, CO2, NH4, SO2, O2 etc.) and corresponding frame for movement.
1., the power supply of tunnel fire-fighting robot
The battery that the tunnel fire-fighting robot carries provides power supply for whole tunnel fire-fighting robot.Fire-fighting robot is still in the fixed position when the tunnel, when battery power backup monitoring module monitors arrives the electric weight deficiency of battery, connects power source charges, cuts off the power supply automatically when power supply is full of.Take place as fire, battery provides power supply for the tunnel fire-fighting robot.If battery damages then changes battery.Battery employing capacity is the common lead-acid battery of 12V20A/h.Common lead-acid battery service life is 3 years, and external high-quality lead-acid battery can use 10 years.
Battery power backup monitoring modular can guarantee that by the voltage of precision, the power supply that the current acquisition sensor is monitored battery battery continues, stablizes, is the power supply of tunnel fire-fighting robot safely.When battery tension and temperature anomaly, will send warning, tunnel fire-fighting robot controller is sent to the fire control room to warning information by wireless network; Automatically calculate residual capacity, notification controller when reaching off-capacity, controller is connected power supply, is charge in batteries, is full of electricity back notification controller when monitoring battery, and controller cuts off the power supply; During the record floating charge and the information such as battery tension, electric current during discharging and recharging, report to the police to controller when finding voltage, current anomaly, controller is sent to the fire control room to warning information by wireless network; Detect discharge current, the voltage of battery, descend for abnormal work situation and performance, in time report to the police and give controller, controller is sent to the fire control room to warning information by wireless network.
Charge in batteries is finished by battery charger.Battery charger is installed in fire-fighting robot stationary fixing position, tunnel.When battery power backup monitoring module monitors when the dump energy of battery can not meet the demands, fire-fighting robot controller control tunnel, tunnel fire-fighting robot is got back to the fixed position, connect power supply by charge in batteries butt joint motor, charge by battery charger.
2., drive motors
Orbital motion driven by servomotor tunnel fire-fighting robot moves back and forth in orbit.Horizontal location driven by servomotor tunnel fire-fighting robot turns round in the horizontal direction, vertically locatees the fire-fighting robot in the vertical direction revolution of driven by servomotor tunnel.Fire-fighting robot butt joint water route, butt joint motor-driven tunnel, water route.Water column water smoke switch motor control tunnel fire-fighting robot spray regime switches.Charge in batteries butt joint motor is connected power supply, is that battery charges by battery charger.
3., burning things which may cause a fire disaster location
Infrared alignment sensor and framing sensor are the fire detent mechanisms of tunnel fire-fighting robot.The high sensor that infrared alignment sensor adopts the lithium tantalate thermoelectric pickup to make as the flame detector sensing element, the framing sensor is special ccd video camera.When fire took place, the mode of two kinds of sensor combinations was adopted in the location of ignition point, utilizes infrared alignment sensor roughly to locate ignition point fast earlier, utilizes imageing sensor accurately to locate ignition point again, and two kinds of sensors combine, and locate accurately rapidly the location.
Install the infra red flame navigation system on the tunnel fire-fighting robot additional, this system is made of two-stage infrared flame detector, horizontal rotation and vertical luffing mechanism, driven by servomotor mechanism three parts.When flame detector detected the fire generation, the tunnel fire-fighting robot was at first done horizontal plane circular scanning campaign after arriving alert locations under the guiding of one-level infrared flame detector, stop to horizontally rotate when gun muzzle is aimed at flame in the horizontal direction; This moment, the tunnel fire-fighting robot was done vertical elevating movement under the guiding of secondary infrared flame detector, stopped vertical rotation when gun muzzle is also aimed at flame in vertical direction, had so just realized the automatic infra red flame of tunnel fire-fighting robot location.Install image flame navigation system on the tunnel fire-fighting robot additional, this system is made of image flame locator, horizontal rotation and vertical luffing mechanism, driven by servomotor mechanism three parts, after tunnel fire-fighting robot infra red flame position fixing process is finished, can utilize image flame locator near anchor point, to finely tune aiming, to improve accuracy and to avoid the flame infrared energy excessive and cause the tunnel fire-fighting robot to take aim at the generation of inaccurate phenomenon.Behind the fine setting aiming flame, sprinkling fire.
4., communication
Need to transmit control information and status information between tunnel fire-fighting robot controller and the main control system, realize by wireless communication module.Tunnel fire-fighting robot controller sends to sorter controller to information by wireless communication module, and sorter controller sends to main control system by the CAN bus again; Vice versa.Its communication process as shown in Figure 5.Tunnel fire-fighting robot controller and sorter controller all are installed in tunnel or the subway, and the ratio of installation is higher, therefore just do not exist the occlusion issue that radio communication should be noted that and avoids.
A colourful CCD video camera has been installed on the delivery port of tunnel fire-fighting robot, need have been passed back to the fire control room to the image of colourful CCD video camera, its process as shown in Figure 6.This part function realizes by the wireless image transceiver.The wireless image sending module is installed on the tunnel fire-fighting robot, the image of infrared CCD video camera is sent by the electromagnetic wave that wireless visual sending module is converted to certain wave band; Wireless visual receiver module has been installed in sorter controller, wireless visual receiver module receives the electromagnetic wave of fixed band, these electromagnetic waves are converted to picture signal, and picture signal passes back to central control room by vision cable, and central control room shows by the video frequency divider.
Onsite alarming
When fire takes place, drive audible-visual annunciator and LED lamp and give the alarm at the scene.
The various duties of tunnel fire-fighting robot are represented in the led state display part by LED light.
6., fire extinguishing
Track position signal provides information for the tunnel fire-fighting robot moves to the precalculated position in orbit.After breaking out of fire, fire detector is reported to the police, and main control system is handed down to the tunnel fire-fighting robot to alarm signal, and tunnel fire-fighting robot orbital motion arrives corresponding fire area behind the nearest reservation position of burning things which may cause a fire disaster, begin to locate burning things which may cause a fire disaster afterwards by water route butt joint motor butt joint delivery port.Location burning things which may cause a fire disaster success is opened by linkage controller and control module under the situation of water pump, water valve at main frame, and it still be the water smoke mode of spraying water that the distance of the ignition point that tunnel fire-fighting robot controller writes down when seeking burning things which may cause a fire disaster is selected water column.Water smoke water spray mode can cover an angle of 90 degrees, wide coverage.Under water column water spray mode, tunnel fire-fighting robot controller is according to situations such as hydraulic pressure, wind-force, calculates the whereabouts curve of tunnel fire-fighting robot delivery port water column according to hydromechanical principle, proofreaied and correct again, make water column can accurately get to the burning things which may cause a fire disaster point, and then quick, accurately fire extinguishing.
7., monitoring of self and environment temperature and operation caution
The tunnel fire-fighting robot, is reported to the police and self-insurance as far as possible to fire protection control room when temperature exceeding standard by real-time Monitoring and Controlling actuator temperature of temperature sensor and ambient temperature.Because the tunnel fire-fighting robot injection water yield is bigger, before starting acousto-optic warning should be arranged, the prompting pedestrian hides.
8., harmful gas concentration monitoring
The tunnel fire-fighting robot is monitored airborne gas concentration by all gases concentration sensor, and then judge whether to take place the attacks of terrorism such as poison gas, biochemical generator, when the attack of terrorism takes place, can send warning to the control room, simultaneously image scene is passed back fire protection control room in real time, the manual Long-distance Control of fireman tunnel fire-fighting robot arrives the corresponding location and pollution sources is carried out big flow fixed point injection dilution, effectively controls the pollution sources diffusion.
9., controller
Tunnel fire-fighting robot controller is the control core of whole tunnel fire-fighting robot.Controller is communicated by letter with sorter controller by wireless communication module, transmits various control informations and status information, and it is as follows to finish various controls.
A, by motor servo driver control horizontal servo motor, vertically servomotor, track servo motor, thereby realize tunnel fire-fighting robot horizontal direction scanning, vertical direction scanning and motion in orbit.
B, by having the I/O amount input module that photoelectricity is isolated, can gather relevant various switching value information.
C, gather the framing sensor by image capture module image to tunnel fire-fighting robot controller, controller through image handle, analysis can determine burning things which may cause a fire disaster.
D, communicate by letter with sorter controller, and then can realize and the communicating by letter of main control system by wireless communication module.
E, drive status display apparatus such as sound and light alarm, LED by low power relay, power MOSFET etc.
F, the water-out manners by DC motor driver control tunnel fire-fighting robot are water smoke/water columns.
G, by driving fire-fighting robot butt joint water route, butt joint motor-driven tunnel, water route.
H, connecting power supply by driving charge in batteries butt joint motor, is that battery charges by battery charger.
I, behind the burning things which may cause a fire disaster of accurate location, realize the self-extinguishing process.
When the utility model system for field was laid, fire detector was made of multiband infrared optics flame detector, infrared beam smoke detector and manual alarm controller.According to fire compartment, flame detector, smoke detector are installed on tunnel-side, and manually alarm controller is installed on apart from 1.3 ~ 1.5m place, ground according to fire codes.Tunnel fire-fighting emergent intelligent robot carries controller and infrared, image guiding detent mechanism (being used to guide it to aim at flame), and (100 ~ 200m) are lifted on the default dedicated track (including fire protection pipeline) in tunnel according to fire compartment.The corresponding tunnel-side that is installed on of sorter controller with the tunnel fire-fighting robot.Fire hazard monitoring main frame, concentrated manual control panel, fire alarm linkage controller are positioned at fire protection control room.Waterworks for firefighting, video monitoring system dispose according to on-the-spot needs.
The utility model system works flow process:
When fire is just sent out, fire detector is reported to the police to tunnel fire-fighting emergent intelligent robot to the fire monitoring host computer with by sorter controller simultaneously, system switches to the fire protection control room large-size screen monitors with the scene of fire image, the sound and light alarm that links simultaneously, smoke evacuation, video recording in real time, 119 alarm calls etc.System starts fire pump, fire-fighting robot tunnel, tunnel, scene of fire fire-fighting robot orbital motion arrives corresponding fire area behind the nearest reservation position of burning things which may cause a fire disaster, the automatic butt water source, automatically locate and the aiming burning things which may cause a fire disaster, opening valve water spray (or miscellaneous agent) adjustment fire extinguishing curve accurately puts out a fire, after treating that flame extinguishes fully, but automatic-closing valve, and the tunnel fire-fighting robot automatically resets.Said process is automatic fully, also can concentrate manually control fire extinguishing by fire protection control room.
When chemistry or noxious material leakage, or when the attack of terrorism such as poison gas, biochemical generator took place, image scene was passed fire protection control room in real time back, the manual remote control robot of fireman, arrive the corresponding location and pollution sources are carried out big flow fixed point injection dilution, effectively control the pollution sources diffusion.
Claims (9)
1, a kind of tunnel fire-fighting emergent intelligent robot system, it is characterized in that: it comprises fire fighting supply pipeline and the fire-fighting water valve that is installed in the tunnel, and install in orbit closely move to at least one fire-fighting robot along track automatically according to fire condition near ignition point; Also be provided with the sorter controller of at least one and fire-fighting robot radio communication in the tunnel, it is connected with the fire-fighting main control system by the CAN bus; Also be provided with the fire detecting arrangement that is connected on the CAN bus in the tunnel, fire detecting arrangement is connected with sorter controller; Also be provided with the fire image supervising device that links to each other with the fire-fighting main control system by video line in the tunnel; The fire-fighting main control system and is connected with fire-fighting link device and centralized control panel by the CAN bus in the fire control room.
2, tunnel according to claim 1 fire-fighting emergent intelligent robot system, it is characterized in that: described fire image supervising device comprises on-site supervision video camera and fire-fighting robot delivery port place video camera, they are connected with video distributor, matrix switcher successively, and matrix switcher is connected with the fire-fighting main control system by video line; Video distributor also is connected with DVR simultaneously, and DVR is connected with monitor; Matrix switcher then is connected with the Control Room large-size screen monitors.
3, tunnel according to claim 1 fire-fighting emergent intelligent robot system is characterized in that: described fire detecting arrangement comprises by CAN bus the distribute infrared flame detector that connects, smoke detector and manual alarm controller.
4, tunnel according to claim 1 fire-fighting emergent intelligent robot system, it is characterized in that: described fire-fighting link device comprises the fire linkage controller, the fire linkage controller respectively with Fire telephone, audible-visual annunciator and other interlocking equipment.
5, tunnel according to claim 1 fire-fighting emergent intelligent robot system, it is characterized in that: described fire-fighting robot comprises the fire-fighting robot controller, its input is connected received signal with orbital position sensor, gun muzzle colour TV camera, infrared alignment sensor, framing sensor, environment temperature sensor, robot interior temperature sensor, gas concentration sensor, battery power backup detection module respectively; Its output then with audible-visual annunciator, water route butt joint motor, water smoke/water column motor, horizontal location servomotor, vertically locate servomotor, track servo motor, charge in batteries butt joint motor and be connected, export control signal; Battery is the fire-fighting robot power supply, and its input is connected with charge in batteries butt joint motor, and output then is connected with battery power backup detection module.
6, tunnel according to claim 5 fire-fighting emergent intelligent robot system, it is characterized in that: described fire-fighting robot controller comprises that center processor DSP is the control core of whole tunnel fire-fighting robot; The wireless image transceiver module passes back to the fire control room to the image of colourful CCD video camera; Image capture module, the image of gathering the framing sensor are to tunnel fire-fighting robot controller, and controller is handled, analyzed and determine burning things which may cause a fire disaster through image; Light is gathered relevant various switching value information every input module; Horizontal direction scanning servo motor drive module, vertical direction scanning servo motor drive module, track servo motor drive module are realized tunnel fire-fighting robot horizontal direction scanning, vertical direction scanning and motion in orbit; The direct current generator driver module, the water-out manners of control tunnel fire-fighting robot is water smoke/water column; Charge in batteries butt joint driver module is that battery charges by battery charger; Butt joint motor drive module in water route drives fire-fighting robot butt joint water route, tunnel; Low power relay, power MOSFET drive status display apparatus, wireless communication modules such as sound and light alarm, LED, sorter controller communication, and then can realize and the communicating by letter of main control system; The A/D sampling module is gathered information such as environment temperature sensor, robot interior temperature sensor, gas concentration sensor.
7, tunnel according to claim 5 fire-fighting emergent intelligent robot system is characterized in that: described infrared alignment sensor comprises on the horizontal direction location infrared sensor and vertically goes up the point location infrared sensor.
8, tunnel according to claim 5 fire-fighting emergent intelligent robot system is characterized in that: described framing sensor comprises that coloured image video camera and infrared fileter form.
9, tunnel according to claim 5 fire-fighting emergent intelligent robot system, it is characterized in that: described battery power backup detection module comprises voltage, current detection sensor and amplifying circuit, A/D sampling module and single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNU2008200172972U CN201164675Y (en) | 2008-02-01 | 2008-02-01 | Intelligent robot system for tunnel fire-fighting emergency |
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| CN104881943A (en) * | 2015-05-27 | 2015-09-02 | 中广核工程有限公司 | Nuclear power station visualization image fire-fighting alarm system and method |
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| CN105056457A (en) * | 2015-08-05 | 2015-11-18 | 山东康威通信技术股份有限公司 | Movable type fire protection extinguishment method used for electrical power tunnel |
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| CN105561512A (en) * | 2015-12-03 | 2016-05-11 | 九江消防装备有限公司 | Fire-fighting rescue assist system |
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| CN106524070A (en) * | 2016-12-01 | 2017-03-22 | 大连保税区兴业达科技有限公司 | Detection and communication system for real-time emergency power generation during fire-fighting operation |
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| CN107009366A (en) * | 2016-11-28 | 2017-08-04 | 国网山东省电力公司日照供电公司 | A kind of firefighting of warehouse safety automation inspecting robot |
| CN107126656A (en) * | 2017-07-02 | 2017-09-05 | 四川藏区高速公路有限责任公司 | A kind of portable subregion wisdom fire-fighting device and method in the tunnel based on BIM technology |
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN108245806A (en) * | 2018-03-23 | 2018-07-06 | 沈阳理工大学 | A kind of vcehicular tunnel integrates fire-fighting system |
| CN108261706A (en) * | 2018-03-23 | 2018-07-10 | 沈阳理工大学 | A kind of vcehicular tunnel intelligent fire extinguishing system |
| CN108261711A (en) * | 2018-03-23 | 2018-07-10 | 沈阳理工大学 | A kind of vcehicular tunnel self-extinguishing machine people |
| CN108543261A (en) * | 2018-04-20 | 2018-09-18 | 郑鸿 | A kind of main cabin automatic fire extinguisher |
| CN108653953A (en) * | 2017-04-01 | 2018-10-16 | 王小易 | A kind of intelligent mobile on tunnel wall track inflates fire plant |
| CN108853838A (en) * | 2018-04-27 | 2018-11-23 | 安徽世纪凯旋消防科技有限公司 | A kind of tunnel intelligent fire gun system and its control method |
| CN109377709A (en) * | 2018-12-05 | 2019-02-22 | 厦门泰消防科技开发有限公司 | Intelligent domestic Yan Gan robot |
| CN109416864A (en) * | 2016-07-12 | 2019-03-01 | 德国美力有限两合公司 | For determining the system and method for fire condition verifiedly and for this traveling tool and central location |
| CN109603054A (en) * | 2018-11-15 | 2019-04-12 | 威特龙消防安全集团股份公司 | A kind of mobile fire extinguishing system of the aerial orbit determination formula in tunnel |
| CN109993941A (en) * | 2019-03-20 | 2019-07-09 | 合肥名德光电科技股份有限公司 | Thermal imaging fire alarm system and its image processing method based on artificial intelligence |
| CN110496347A (en) * | 2019-09-29 | 2019-11-26 | 河南省交通规划设计研究院股份有限公司 | Robot fire extinguishing system for vcehicular tunnel and city tunnel |
| CN110559574A (en) * | 2019-09-29 | 2019-12-13 | 河南省交通规划设计研究院股份有限公司 | Fire-fighting robot fire extinguishing system for expressway tunnel |
| CN110585626A (en) * | 2019-09-10 | 2019-12-20 | 国网河北省电力有限公司经济技术研究院 | Fire-retardant transformer fire extinguishing system |
| CN110755785A (en) * | 2019-11-06 | 2020-02-07 | 青岛滨海学院 | Indoor fire-extinguishing robot and working method |
| CN110812761A (en) * | 2019-11-27 | 2020-02-21 | 长沙紫宸科技开发有限公司 | Fire extinguishing system capable of achieving quick response of pre-positioning robot by utilizing fire alarm network |
| CN111167055A (en) * | 2020-01-14 | 2020-05-19 | 浙江安防职业技术学院 | Indoor fire control method and system, intelligent terminal and storage medium thereof |
| CN113018728A (en) * | 2021-03-17 | 2021-06-25 | 国网湖南省电力有限公司 | Cable tunnel fire hazard classification studying and judging fire-fighting system |
| CN114442606A (en) * | 2021-12-17 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Warning situation early warning robot and control method thereof |
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| CN101461986B (en) * | 2008-12-29 | 2013-06-12 | 丁国锋 | Robot, fire-extinguishing system and extinguishment method |
| CN101884830A (en) * | 2010-05-28 | 2010-11-17 | 中国科学技术大学 | Firefighting robot system |
| CN102467804A (en) * | 2010-11-19 | 2012-05-23 | 鸿富锦精密工业（深圳）有限公司 | Security sensing system for fire disaster and method thereof |
| CN102044124A (en) * | 2010-12-17 | 2011-05-04 | 李小兵 | Intelligent fire fighting control system and method based on Internet of things (IOT) |
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| CN103002574B (en) * | 2012-09-28 | 2017-02-22 | 华北电力大学 | System and method for positioning inspection robot in cable tunnel on basis of wireless network |
| CN103075175A (en) * | 2012-12-31 | 2013-05-01 | 无锡佑仁科技有限公司 | Trail-constrained suspension type tunnel fire-fighting robot |
| CN103071257A (en) * | 2012-12-31 | 2013-05-01 | 无锡佑仁科技有限公司 | Side-hung tunnel fire-extinguishing robot mechanical system |
| CN103285540A (en) * | 2013-06-06 | 2013-09-11 | 成都慧拓自动控制技术有限公司 | Suspended type intelligent fire-fighting robot |
| CN103286785A (en) * | 2013-06-26 | 2013-09-11 | 苏州工业园区职业技术学院 | Wireless cable inspection robot and control system thereof |
| CN103341858A (en) * | 2013-06-26 | 2013-10-09 | 苏州工业园区职业技术学院 | Cable inspection robot and control system thereof |
| CN103286785B (en) * | 2013-06-26 | 2015-10-28 | 苏州工业园区职业技术学院 | Wireless cable crusing robot and control system thereof |
| CN103341858B (en) * | 2013-06-26 | 2015-10-28 | 苏州工业园区职业技术学院 | cable inspection robot and control system thereof |
| CN103691087A (en) * | 2013-11-21 | 2014-04-02 | 朱建军 | Visual remote-control fire-fighting system |
| CN104043223A (en) * | 2014-06-23 | 2014-09-17 | 无锡市崇安区科技创业服务中心 | Method for automatically judging and monitoring fire disaster |
| CN104238422A (en) * | 2014-09-16 | 2014-12-24 | 西安诺瓦电子科技有限公司 | Tunnel monitoring system and embedded asynchronous control device |
| CN104548415B (en) * | 2015-01-15 | 2017-10-10 | 山东科一力电气有限公司 | A kind of suspension type intelligent mobile fire extinguishing system |
| CN104548415A (en) * | 2015-01-15 | 2015-04-29 | 山东科一力电气有限公司 | Suspended intelligent mobile fire extinguishing system |
| CN104881943A (en) * | 2015-05-27 | 2015-09-02 | 中广核工程有限公司 | Nuclear power station visualization image fire-fighting alarm system and method |
| CN105056457A (en) * | 2015-08-05 | 2015-11-18 | 山东康威通信技术股份有限公司 | Movable type fire protection extinguishment method used for electrical power tunnel |
| CN105056457B (en) * | 2015-08-05 | 2018-09-25 | 山东康威通信技术股份有限公司 | A kind of mobile fire-fighting fire extinguishing method for electric power tunnel |
| CN105056431B (en) * | 2015-08-10 | 2018-07-27 | 国网浙江省电力公司湖州供电公司 | Electric substation's fire prevention system |
| CN105056431A (en) * | 2015-08-10 | 2015-11-18 | 国网浙江省电力公司湖州供电公司 | Fire protection system for substation |
| CN105056430A (en) * | 2015-08-10 | 2015-11-18 | 国网浙江省电力公司湖州供电公司 | Visual fire prevention monitoring system for substation |
| CN105056430B (en) * | 2015-08-10 | 2018-07-27 | 国网浙江省电力公司湖州供电公司 | Electric substation visualizes fireproof monitoring system |
| CN105288920A (en) * | 2015-11-26 | 2016-02-03 | 南京工程学院 | Full-automatic fire-extinguishing and rescue robot system based on internal communication |
| WO2017088555A1 (en) * | 2015-11-26 | 2017-06-01 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system based on orbital robot |
| CN105561512A (en) * | 2015-12-03 | 2016-05-11 | 九江消防装备有限公司 | Fire-fighting rescue assist system |
| CN105617579A (en) * | 2016-03-22 | 2016-06-01 | 陕西思尔生物科技有限公司 | Fire-extinguishing robot |
| CN105854210B (en) * | 2016-04-25 | 2020-06-02 | 武汉理工大学 | Intelligent fire extinguishing system and method based on distributed pyroelectric sensing network |
| CN105854210A (en) * | 2016-04-25 | 2016-08-17 | 武汉理工大学 | Intelligent fire extinguishing system and method based on distributed pyroelectric sensing network |
| CN109416864A (en) * | 2016-07-12 | 2019-03-01 | 德国美力有限两合公司 | For determining the system and method for fire condition verifiedly and for this traveling tool and central location |
| CN109416864B (en) * | 2016-07-12 | 2020-12-22 | 德国美力有限两合公司 | System and method for the validated determination of the fire state, and means of travel and central unit therefor |
| CN106334283A (en) * | 2016-10-10 | 2017-01-18 | 南京工程学院 | Fire-fighting and rescue robot system and control method |
| CN107009366A (en) * | 2016-11-28 | 2017-08-04 | 国网山东省电力公司日照供电公司 | A kind of firefighting of warehouse safety automation inspecting robot |
| CN106524070A (en) * | 2016-12-01 | 2017-03-22 | 大连保税区兴业达科技有限公司 | Detection and communication system for real-time emergency power generation during fire-fighting operation |
| CN108653953A (en) * | 2017-04-01 | 2018-10-16 | 王小易 | A kind of intelligent mobile on tunnel wall track inflates fire plant |
| CN107126656A (en) * | 2017-07-02 | 2017-09-05 | 四川藏区高速公路有限责任公司 | A kind of portable subregion wisdom fire-fighting device and method in the tunnel based on BIM technology |
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN108245806A (en) * | 2018-03-23 | 2018-07-06 | 沈阳理工大学 | A kind of vcehicular tunnel integrates fire-fighting system |
| CN108261711A (en) * | 2018-03-23 | 2018-07-10 | 沈阳理工大学 | A kind of vcehicular tunnel self-extinguishing machine people |
| CN108261706A (en) * | 2018-03-23 | 2018-07-10 | 沈阳理工大学 | A kind of vcehicular tunnel intelligent fire extinguishing system |
| CN108543261A (en) * | 2018-04-20 | 2018-09-18 | 郑鸿 | A kind of main cabin automatic fire extinguisher |
| CN108853838A (en) * | 2018-04-27 | 2018-11-23 | 安徽世纪凯旋消防科技有限公司 | A kind of tunnel intelligent fire gun system and its control method |
| CN109603054A (en) * | 2018-11-15 | 2019-04-12 | 威特龙消防安全集团股份公司 | A kind of mobile fire extinguishing system of the aerial orbit determination formula in tunnel |
| CN109377709A (en) * | 2018-12-05 | 2019-02-22 | 厦门泰消防科技开发有限公司 | Intelligent domestic Yan Gan robot |
| CN109993941A (en) * | 2019-03-20 | 2019-07-09 | 合肥名德光电科技股份有限公司 | Thermal imaging fire alarm system and its image processing method based on artificial intelligence |
| CN110585626B (en) * | 2019-09-10 | 2021-10-08 | 国网河北省电力有限公司经济技术研究院 | Fire-retardant transformer fire extinguishing system |
| CN110585626A (en) * | 2019-09-10 | 2019-12-20 | 国网河北省电力有限公司经济技术研究院 | Fire-retardant transformer fire extinguishing system |
| CN110496347A (en) * | 2019-09-29 | 2019-11-26 | 河南省交通规划设计研究院股份有限公司 | Robot fire extinguishing system for vcehicular tunnel and city tunnel |
| CN110559574A (en) * | 2019-09-29 | 2019-12-13 | 河南省交通规划设计研究院股份有限公司 | Fire-fighting robot fire extinguishing system for expressway tunnel |
| CN110755785A (en) * | 2019-11-06 | 2020-02-07 | 青岛滨海学院 | Indoor fire-extinguishing robot and working method |
| CN110812761A (en) * | 2019-11-27 | 2020-02-21 | 长沙紫宸科技开发有限公司 | Fire extinguishing system capable of achieving quick response of pre-positioning robot by utilizing fire alarm network |
| CN111167055A (en) * | 2020-01-14 | 2020-05-19 | 浙江安防职业技术学院 | Indoor fire control method and system, intelligent terminal and storage medium thereof |
| CN113018728A (en) * | 2021-03-17 | 2021-06-25 | 国网湖南省电力有限公司 | Cable tunnel fire hazard classification studying and judging fire-fighting system |
| CN115430091A (en) * | 2021-06-02 | 2022-12-06 | 南瑞集团有限公司 | Fire-fighting robot ground monitoring system capable of autonomous communication |
| CN114442606A (en) * | 2021-12-17 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Warning situation early warning robot and control method thereof |
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