CN202982991U - Fire-fighting robot control system for high-rise buildings - Google Patents
Fire-fighting robot control system for high-rise buildings Download PDFInfo
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- CN202982991U CN202982991U CN 201320010894 CN201320010894U CN202982991U CN 202982991 U CN202982991 U CN 202982991U CN 201320010894 CN201320010894 CN 201320010894 CN 201320010894 U CN201320010894 U CN 201320010894U CN 202982991 U CN202982991 U CN 202982991U
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Abstract
The utility model discloses a fire-fighting robot control system for high-rise buildings. The fire-fighting robot control system comprises a fire-fighting cabin body (1), a high-pressure water pump (3), a water tank (4) and a single chip microcomputer (19), wherein the single chip microcomputer (19) is connected with a power supply module (20), a pose control module (21), a pose acquisition module (22), a balance module (23) and a fire-fighting gun module (24) respectively; the single chip microcomputer (19) is connected with an upper computer (27) by a communication module (25); and the upper computer (27) is connected with an image and sound acquisition module (26). The fire-fighting robot control system is simple in structure, novel in design, and capable of moving in the high-rise buildings to implement fire extinguishing work so as to reduce human loss and property loss caused by the fire hazard of the high-rise buildings.
Description
Technical field
The utility model belongs to the fire-fighting robot technical field, is specifically related to a kind of rise building fire fighting robot control system.
Background technology
Along with the development of society, nowadays complex structure, concentrated skyscraper and the high-rise building of the density of population increase rapidly, and fire of high-rise building also more and more takes place frequently.Existing fire-fighting equipment biggest advance height substantially below 100m, the highest 200m that is no more than.In case the skyscraper breaking out of fire can rapid spread, the personnel that cause are difficult to withdraw fully, fire fighter's rescue of can't getting on rapidly, and this will bring massive losses to the people's life security and property.
The utility model content
The technical problem that (one) will solve
The technical problems to be solved in the utility model is to provide a kind of rise building fire fighting robot control system, has solved the problem that skyscraper fire extinguishing and trapped personnel are difficult to escape.
(2) technical scheme
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
A kind of rise building fire fighting robot control system, comprise fire-fighting cabin body (1), high-pressure hydraulic pump (3), water tank (4), single-chip microcomputer (19), described single-chip microcomputer (19) connects respectively power module (20), Pose Control module (21), pose acquisition module (22), balance module (23), Fire branch module (24), described single-chip microcomputer (19) connects host computer (27), described host computer (27) connection layout picture and sound collection module (26) by communication module (25);
described Pose Control module (21) comprises frequency converter (7), blower fan (8), steering wheel (10), engine (11), screw (12) and coiling lifting device (6), described single-chip microcomputer (19) connects described blower fan (8) by described frequency converter (7), described single-chip microcomputer (19) connects described coiling lowering or hoisting gear (6), described single-chip microcomputer (19) connects described steering wheel (10), described steering wheel (10) connects described screw (12) by described engine (11).
Wherein, described balance module comprises motor driver, stepper motor and leading screw (16), described single-chip microcomputer (19) connects described motor driver, described motor driver connects described stepper motor, described stepper motor connects described leading screw (16), and described screw mandrel (16) connects movable slider (5).
Wherein, described pose acquisition module (22) comprises three axle electronic compass (15) and ultrasonic sensor (17), and described single-chip microcomputer (19) connects respectively described three axle electronic compass (15) and ultrasonic sensor (17).
Wherein, described Fire branch module (24) comprises the second motor driver, stepper motor, hydraulic giant (18) and water valve, described single-chip microcomputer (19) connects described the second motor driver, described the second motor driver is by the described hydraulic giant of described step motor control (18) direction, and described single-chip microcomputer (19) is controlled described hydraulic giant (18) by described water valve and supplied water.
Wherein, described coiling lifting device (6), frequency converter (7) and blower fan (8) are installed on described fire-fighting cabin body (1) top, and described engine (11) is installed on described fire-fighting cabin body (1) lateral wall.
(3) beneficial effect
The utility model is compared to prior art, and have following beneficial effect: the utility model is simple in structure, modern design, and the fire of high-rise building fire-fighting work of can advancing reduces personnel's property loss that high-rise fire brings.
Description of drawings
Fig. 1 is the frame for movement schematic diagram of a kind of rise building fire fighting robot control system of the utility model;
Fig. 2 is the control system structure chart of a kind of rise building fire fighting robot control system of the utility model;
Fig. 3 is the workflow diagram of a kind of rise building fire fighting robot control system of the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
As depicted in figs. 1 and 2, a kind of rise building fire fighting robot control system, comprise fire-fighting cabin body 1, high-pressure hydraulic pump 3, water tank 4, single-chip microcomputer 19, high-pressure hydraulic pump 3 is arranged on fire-fighting cabin body 1 bottom outside face, water tank 4 supplies water for hydraulic giant 18 by high-pressure hydraulic pump 3, single-chip microcomputer 19 connects respectively power module 20, Pose Control module 21, pose acquisition module 22, balance module 23, Fire branch module 24, single-chip microcomputer 19 connects host computer 27, host computer 27 connection layout pictures and sound collection module 26 by communication module 25; Single-chip microcomputer 19 adopts the AVR processor of high-performance, low-power consumption, and host computer 27 is write on the VS2010 platform.
Pose Control module 21 comprises frequency converter 7, blower fan 8, steering wheel 10, engine 11, screw 12 and coiling lifting device 6, single-chip microcomputer 19 is by frequency converter 7 connecting fans 8, single-chip microcomputer 19 connects coiling lowering or hoisting gear 6, single-chip microcomputer 19 connects steering wheel 10, and steering wheel 10 connects screw 12 by engine 11.Coiling lifting device 6, frequency converter 7 and blower fan 8 are installed on body 1 top, fire-fighting cabin, and engine 11 is installed on body 1 lateral wall of fire-fighting cabin.But also be provided with a CDI power switch control engine 11.
Balance module comprises motor driver, stepper motor and leading screw 16, and single-chip microcomputer 19 connects motor driver, and motor driver connects stepper motor, and stepper motor connects leading screw 16, and screw mandrel 16 connects movable slider 5.
Pose acquisition module 22 comprises three axle electronic compass 15 and ultrasonic sensor 17, and single-chip microcomputer 19 connects respectively three axle electronic compass 15 and ultrasonic sensor 17.
Fire branch module 24 comprises the second motor driver, stepper motor, hydraulic giant 18 and water valve, single-chip microcomputer 19 connects the second motor driver, the second motor driver is by step motor control hydraulic giant 18 directions, and single-chip microcomputer 19 is controlled hydraulic giant 18 by water valve and supplied water.
Communication module 25 is comprised of two wireless communication modules; Image and sound collection module 26 comprise wireless camera 9; Power module 20 is comprised of battery 13, inverter circuit and 5V mu balanced circuit.
Single-chip microcomputer 19 cooperatively interacts with host computer 27, is controlling the operation of whole system.
at first, host computer 27 collects image and acoustic information according to wireless camera 9, communicates to control fire-fighting cabin body arrival fire location with single-chip microcomputer 19, then, the angle signal that the distance signal that single-chip microcomputer 19 collects according to ultrasonic sensor 17 and three axle electronic compass 15 collect is controlled blower fan 8 makes body 1 dead ahead, fire-fighting cabin aim at skyscraper, subsequently by controlling rotating speed that steering wheel 10 regulates engines 11 to promote fire-fighting cabin body 1 near skyscraper, when fire-fighting cabin body 1 and skyscraper reach assigned address, open the water valve operation of putting out a fire, in this process, need to make dead ahead, fire-fighting cabin aim at the mansion always and keep balance by the movable slider 5 that control algolithm is regulated on blower fan 8 and leading screw 16, after intensity of a fire decay, make fire-fighting cabin body 1 press close to high building to realize the task of rescue by control engine 11.
At first the mode that complete machine connects by screw is arranged on four frequency converters 7, four Fans 8, coiling lifting device 6 and wireless camera 9 above fire-fighting cabin body 1; Four ultrasonic sensors 17 are arranged on crossbeam below fire-fighting cabin body 1, wherein the dead ahead is installed two, and the side is respectively installed one, and engine 11 is arranged on body 1 back, fire-fighting cabin, screw 12 is by being that screw is coupled, and steering wheel 10 is arranged on the dividing plate of body 1 the inside, fire-fighting cabin; Hydraulic giant 18 is connected with stepper motor by shaft coupling, and it is arranged on below fire-fighting cabin body 1; Water valve, switch board 14, leading screw 16, three axle electronic compass 15 are fixed in fire-fighting cabin body 1; Inverter circuit, mu balanced circuit, single-chip microcomputer 19, motor-driven, CDI power switch, wireless communication module all are arranged in switch board 14, and three axle electronic compass 15 are arranged on above switch board 14.
As shown in Figure 3, the workflow of rise building fire fighting robot control system is summarized as follows:
At first to system initialization, then the image information that obtains by camera is regulated the coiling lifting device makes the fire-fighting cabin reach the position of burning things which may cause a fire disaster, select at last automatic mode or manual mode, when selecting manual mode, each blower fan, engine, electric block, automatic track and localization jet extinguishing device all are subjected to PC control, when selecting automatic mode, workflow is as follows:
1. control blower fan by the pose acquisition module, make dead ahead, fire-fighting cabin aim at the mansion;
2. regulate engine and make the fire-fighting cabin reach the position of fire extinguishing, this this process need by algorithm control on blower fan and screw mandrel movable slider so that dead ahead, fire-fighting cabin aim at skyscraper always and keep balance;
3. opening water valve puts out a fire;
4. after intensity of a fire decay, close water valve, regulate engine and make the fire-fighting cabin press close to skyscraper, then carry out rescue task;
5. after rescuing successfully, enter manual mode.
The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (5)
1. rise building fire fighting robot control system, comprise fire-fighting cabin body (1), high-pressure hydraulic pump (3), water tank (4), single-chip microcomputer (19), it is characterized in that: described single-chip microcomputer (19) connects respectively power module (20), Pose Control module (21), pose acquisition module (22), balance module (23), Fire branch module (24), described single-chip microcomputer (19) connects host computer (27) by communication module (25), described host computer (27) connection layout picture and sound collection module (26),
described Pose Control module (21) comprises frequency converter (7), blower fan (8), steering wheel (10), engine (11), screw (12) and coiling lifting device (6), described single-chip microcomputer (19) connects described blower fan (8) by described frequency converter (7), described single-chip microcomputer (19) connects described coiling lowering or hoisting gear (6), described single-chip microcomputer (19) connects described steering wheel (10), described steering wheel (10) connects described screw (12) by described engine (11).
2. rise building fire fighting robot control system according to claim 1, it is characterized in that: described balance module comprises motor driver, stepper motor and leading screw (16), described single-chip microcomputer (19) connects described motor driver, described motor driver connects described stepper motor, described stepper motor connects described leading screw (16), and described screw mandrel (16) connects movable slider (5).
3. rise building fire fighting robot control system according to claim 1, it is characterized in that: described pose acquisition module (22) comprises three axle electronic compass (15) and ultrasonic sensor (17), and described single-chip microcomputer (19) connects respectively described three axle electronic compass (15) and ultrasonic sensor (17).
4. rise building fire fighting robot control system according to claim 1, it is characterized in that: described Fire branch module (24) comprises the second motor driver, stepper motor, hydraulic giant (18) and water valve, described single-chip microcomputer (19) connects described the second motor driver, described the second motor driver is by the described hydraulic giant of described step motor control (18) direction, and described single-chip microcomputer (19) is controlled described hydraulic giant (18) by described water valve and supplied water.
5. rise building fire fighting robot control system according to claim 1, it is characterized in that: described coiling lifting device (6), frequency converter (7) and blower fan (8) are installed on described fire-fighting cabin body (1) top, and described engine (11) is installed on described fire-fighting cabin body (1) lateral wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320010894 CN202982991U (en) | 2013-01-08 | 2013-01-08 | Fire-fighting robot control system for high-rise buildings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320010894 CN202982991U (en) | 2013-01-08 | 2013-01-08 | Fire-fighting robot control system for high-rise buildings |
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| Publication Number | Publication Date |
|---|---|
| CN202982991U true CN202982991U (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320010894 Expired - Lifetime CN202982991U (en) | 2013-01-08 | 2013-01-08 | Fire-fighting robot control system for high-rise buildings |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104288953A (en) * | 2014-10-15 | 2015-01-21 | 深圳供电局有限公司 | Remotely-controlled fire extinguishing device and operation method thereof |
-
2013
- 2013-01-08 CN CN 201320010894 patent/CN202982991U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104288953A (en) * | 2014-10-15 | 2015-01-21 | 深圳供电局有限公司 | Remotely-controlled fire extinguishing device and operation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Luo Minzhou Inventor after: Jiang Hua Inventor after: Dai Hualiang Inventor before: Luo Minhua Inventor before: Jiang Hua Inventor before: Dai Hualiang |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130612 |