CN205272046U - Indoor conflagration supervisory -controlled robot based on video acquisition - Google Patents
Indoor conflagration supervisory -controlled robot based on video acquisition Download PDFInfo
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- CN205272046U CN205272046U CN201620000084.3U CN201620000084U CN205272046U CN 205272046 U CN205272046 U CN 205272046U CN 201620000084 U CN201620000084 U CN 201620000084U CN 205272046 U CN205272046 U CN 205272046U
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- video acquisition
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The utility model discloses an indoor conflagration supervisory -controlled robot based on video acquisition, including video capture device, extinguishing device, drive arrangement and control system, video capture device and extinguishing device fix on the robot box, are provided with the gyro wheel at the robot bottom half, and control system passes through the motion of drive control gyro wheel. Drive arrangement includes a drive arrangement and the 2nd drive arrangement, and a drive arrangement controls the motion of casing bottom gyro wheel, second telecontrol equipment control video capture device's rotation. Use video automatic identification technique, realize automatic fire extinguishing, the guarantee laboratory security of the lives and property.
Description
Technical field
The utility model belongs to robot technology field, it relates to home security, is specifically related to a kind of indoor fire hazard monitoring robot based on video acquisition.
Background technology
Modern society is that one densely populated, the society of high complexity, and the scope of activity of the mankind is increasing, and the accident faced and abnormal event are more and more complicated, and difficulty and the importance of security work are also more and more outstanding. Safety protection robot is for safeguarding the robot of social security, defendance national wealth and people life property safety. At present to the research major part of safety protection robot all for public arena, the security personnel next to the skin of people are studied fewer, and less be multi-robot system.
Along with the development of economy, the raising of living standards of the people, safety precaution more becomes the important content building Crime prevention and control system, maintaining social stability, build a well-off society in an all-round way, and is paid close attention to widely. Security protection industry is rapidly developed, security product also progressively develops into numerous social economies fields such as finance, Wen Bo, traffic, customs, office, postal service, education, medical treatment, industrial and mining enterprises, public place from emphasis unit, and has entered the laboratory such as school, research institute.
Chemical laboratory often uses some dangerous article in experimentation, such as sulfuric acid, nitric acid, hydrochloric acid etc., easy combustion that these article have, have explosive, if it is careless slightly, the gas of those bottled, canned easy combustions, liquid will topple over, leak, very easily leading to accidents such as letting out poison, fire, blast, consequence is hardly imaginable. Therefore, the defence work in laboratory is more and more important, and therefore, the research and development of use for laboratory security robot are extremely urgent. The monitoring having security robot, if there occurs fire, robot just can put out a fire, and ensures the security of the lives and property.
Summary of the invention
According to above the deficiencies in the prior art, technical problem to be solved in the utility model proposes a kind of indoor fire hazard monitoring robot, together with being combined in intelligent robot by video acquisition, it is achieved the automatic identification of fire the condition of a disaster, and fire extinguishing.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of indoor fire hazard monitoring robot based on video acquisition, comprise video acquisition device, fire-extinguishing plant, drive unit and Controlling System, described video acquisition device and fire-extinguishing plant are fixed on robot casing, being provided with roller bottom robot casing, Controlling System controls the motion of roller by drive unit. Described drive unit comprises the first drive unit and the 2nd drive unit, the motion of the first drive unit control housing bottom roller, the rotation of the 2nd running gear control video acquisition device. Described first drive unit comprises the first motor, the first speed reduction unit, pinion(gear) and master wheel, and the first motor connects output shaft by the first speed reduction unit, and output shaft and pinion(gear) are fixed, and pinion(gear) drives master wheel to rotate, and master wheel drives roller to rotate. Described 2nd drive unit comprises the 2nd motor, the 2nd speed reduction unit and first is turned, video acquisition device be fixed on first turn on, the 2nd motor connect the 2nd speed reduction unit, the output shaft of the 2nd speed reduction unit and first is turned fixing. Described fire-extinguishing plant comprises the steel cylinder and shower nozzle that hold extinguish material, and it is outside that shower nozzle is fixed on robot casing, and steel cylinder is fixed on the inside of robot casing. Described 2nd drive unit also comprises the 2nd and turns, and the shower nozzle of fire-extinguishing plant and the 2nd is turned fixing, and the output shaft of the 2nd motor and the 2nd is turned fixing. The rear box part section of described robot casing is obtuse triangle shape, and rear box around its pivot, can be fixed on first location and the second position, and rear box is in the relative ground of second position Shi Shi robot and stablizes.
Described robot rear box is entity or is filled with weight material. The rear surface of described robot casing is fixed with the coarse material increasing robot and ground friction. Described Controlling System comprises image capture unit, identifying processing unit and path planning unit, the image uploading of image capture unit is to identifying processing unit, identifying processing unit identifies whether have fire to occur according to image processing techniques, path planning unit is according to the 2D image coordinate of the calamity point position in image and camera calibration parameter, and the 2nd motor output torque judges the 3D position of calamity point.
The useful effect of the utility model is: use video automatic identification technology, it is achieved self-extinguishing, ensures family's property safety.
Accompanying drawing explanation
Below the content expressed by this Figure of description and the mark in figure are briefly described:
Fig. 1 is the structure iron of the robot of embodiment of the present utility model.
Fig. 2 is the driving device structure figure of embodiment of the present utility model.
Fig. 3 is the schematic diagram that the rear box of embodiment of the present utility model is in first location.
Fig. 4 is the schematic diagram that the rear box of embodiment of the present utility model is in the second position.
Fig. 5 is the fire-extinguishing plant shower nozzle sectional view of embodiment of the present utility model.
Wherein, 1 camera, 2 first turntables, 3 nozzle of fire extinguishers, 4 the 2nd turntables, 5 universal take turns, 6 first speed reduction units, 7 master wheels, 8 first motors, 9 pinion(gear)s, 10 bearings, 11 rear box.
Embodiment
Compare accompanying drawing below, by the description to embodiment, embodiment of the present utility model is such as the effect of the mutual position between the shape of involved each component, structure, each several part and the relation of connection, each several part and principle of work, manufacturing process and operation using method etc., being described in further detail, to help, invention of the present utility model is conceived by those skilled in the art, technical scheme has more complete, accurate and deep understanding.
A kind of indoor fire hazard monitoring robot based on video acquisition, comprise video acquisition device, fire-extinguishing plant, drive unit and Controlling System, described video acquisition device and fire-extinguishing plant are fixed on robot casing, being provided with roller bottom robot casing, Controlling System controls the motion of roller by drive unit. Described drive unit comprises the first drive unit and the 2nd drive unit, the motion of the first drive unit control housing bottom roller, the rotation of the 2nd running gear control video acquisition device. Described first drive unit comprises the first motor, the first speed reduction unit, pinion(gear) and master wheel, and the first motor connects output shaft by the first speed reduction unit, and output shaft and pinion(gear) are fixed, and pinion(gear) drives master wheel to rotate, and master wheel drives roller to rotate. Described 2nd drive unit comprises the 2nd motor, the 2nd speed reduction unit and first is turned, video acquisition device be fixed on first turn on, the 2nd motor connect the 2nd speed reduction unit, the output shaft of the 2nd speed reduction unit and first is turned fixing. Described fire-extinguishing plant comprises the steel cylinder and shower nozzle that hold extinguish material, and it is outside that shower nozzle is fixed on robot casing, and steel cylinder is fixed on the inside of robot casing. Described 2nd drive unit also comprises the 2nd and turns, and the shower nozzle of fire-extinguishing plant and the 2nd is turned fixing, and the output shaft of the 2nd motor and the 2nd is turned fixing. The rear box part section of described robot casing is obtuse triangle shape, and rear box around its pivot, can be fixed on first location and the second position, and rear box is in the relative ground of second position Shi Shi robot and stablizes.
Described robot rear box is entity or is filled with weight material. The rear surface of described robot casing is fixed with the coarse material increasing robot and ground friction. Described Controlling System comprises image capture unit, identifying processing unit and path planning unit, the image uploading of image capture unit is to identifying processing unit, identifying processing unit identifies whether have fire to occur according to image processing techniques, path planning unit is according to the 2D image coordinate of the calamity point position in image and camera calibration parameter, and the 2nd motor output torque judges the 3D position of calamity point.
Indoor fire hazard monitoring robot of the present utility model is mounted with video acquisition device, fire-extinguishing plant, drive unit, casing and Controlling System thereof, as shown in Figure 1, it is provided with one wheel pairs in the casing left and right sides, it is provided with one near front end position bottom casing universal to take turns, the universal effect taken turns is when robot turns, and ensures the stability of robot. When robot turns right time, universal take turns the rotation by needle roller, it is ensured that robot turns right stably. Universal wheel is fixed on below casing by a nut, and four screws play the effect of location. Two wheels provide power by two the first motors respectively, need by retarding mechanism from the first motor to the Movement transmit of wheel, and retarding mechanism is gear reducing. Pinion(gear) is motion-work wheel, and master wheel is follow-up pulley, drives master wheel to rotate by pinion(gear), carrying out regulation and control of slowing down, protect the first speed reduction unit and be connected with axle, axle is connected with pinion(gear) by key, pinion(gear) drives master wheel to rotate, and master wheel drives wheel turns, it is achieved power is from motor to the conversion of wheel.
Owing to only gear is carried out regulation and control of slowing down by one, therefore the position of gear being placed on the center of pair of bearings, increase the bending and reversing strength of axle, ensure that the axle life-span in use, the first motor is arranged on bottom casing by screw.
Camera and fire-extinguishing plant are fixed on the top of casing, the rotation of camera is realized by the 2nd motor, first turns is the integral part of connection reducer and camera, 2nd motor connects the 2nd speed reduction unit, the output shaft of the 2nd speed reduction unit with turning between be connected by key, ensure that first turns and rotate together with the 2nd motor output shaft. Camera is bolted with turning, and the 2nd motor output shaft is by key and turns connections, it is achieved the rotation of the 2nd driven by motor camera and can not because of rotate too fast cause not fogging clear.
First turns needs to be arranged on casing, so needing a bearing to ensure the rotation turned. Turning first and install bearing on minimum cylinder, the 2nd cylinder plays solid bearing inner ring and excessive effect, and maximum cylinder is used to install camera, it is ensured that camera can rotate together with turning. Also ensure that the monitoring of family be there will be no dead angle by camera.
Fire-extinguishing plant is the steel cylinder filling extinguish material, is provided with the groove placing steel cylinder, and makes steel cylinder be fixed on box house by stationary installation, avoid acutely rocking at the bottom of robot case. The shearing pin removing steel cylinder is put into wherein, and there is pressure plate the top of robot interior steel cylinder, puts out a fire when discovery condition of a fire control Systematical control pressure plate moves pressure lower handle to steel cylinder.
Fire-extinguishing plant stretches out the shower nozzle that robot box portion is fire-extinguishing plant, in order to realize the fire location ejecting extinguishing material that fire-extinguishing plant shower nozzle can arrive to camera collection, therefore, devises the structure that nozzle of fire extinguisher is linked with camera. Output shaft at the 2nd motor is connected with the 2nd and turns, and the 2nd performance turned and size are turned with first, and the output shaft of the 2nd speed reduction unit is connected by key between turning with the 2nd, and guarantee the 2nd is turned and rotated together with the 2nd motor output shaft. Nozzle of fire extinguisher and the 2nd is turned and is bolted.
At robot casing posterior portion of the present utility model structural representation as shown in Figure 3, casing posterior angle section is obtuse triangle shape, and when robot is in detected state, rear box is in the position shown in Fig. 3; When robot is in fire extinguishing state, due to the reactive force of ejecting extinguishing material, to causing robot state labile, Controlling System is only relied on to make two wheels also not enough from being in locking state, the posterior portion of robot casing is in position as shown in Figure 4, to increase the stability of whole robot. Bigger surging force can be produced during fire-extinguishing plant ejecting extinguishing material, therefore, casing posterior portion is designed to entity or fills weight material. One layer of rubber is pasted in the rear surface of robot casing, to increase the frictional force with ground.
As shown in Figure 5, being the sectional view of the shower nozzle of fire-extinguishing plant of the present utility model, the inside of shower nozzle is provided with multiple passage, has assembly to separate between passage, and whole shower nozzle is hydraucone, excessively smooth between the branched bottom of shower nozzle end and main passage. Nozzle structure of the present utility model is conducive to extinguish material dispersion sprinkling to come, and has good extinguishing effect.
Controlling System comprises image capture unit, identifying processing unit and path planning unit, image recognizing and processing unit is the utility model fire identification judging unit, the image uploading of image capture unit is to identifying processing unit, identifying processing unit identifies whether have fire to occur according to image processing techniques, by image processing techniques identification fire region; The position of fire when path planning unit determines reference point artificial with machine in the utility model, comprises two reference frames, and first, according to the fire 2D image coordinate in picture and camera calibration parameter, calculates the 3D coordinate of fire location; 2nd determines, according to the output angle of the 2nd motor, the image position angle that camera catches; In conjunction with the position of fire in the output angle of motor and image, determine the actual orientation of the condition of a disaster position relative to robot.
In actual use, the indoor image of camera real-time capture, identifies whether have fire to occur by image processing techniques, by the calamity point position in the Driving Torque of motor that links with camera and the image of acquisition, the driving path of planning robot, and start fire-extinguishing plant.
Above in conjunction with accompanying drawing, the utility model is exemplarily described; obvious the utility model specific implementation is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present utility model design carries out with technical scheme; or without improving, design of the present utility model and technical scheme directly applied to other occasion, all within protection domain of the present utility model. Protection domain of the present utility model should be as the criterion with the protection domain that claim book limits.
Claims (10)
1. the indoor fire hazard monitoring robot based on video acquisition, it is characterized in that, comprise video acquisition device, fire-extinguishing plant, drive unit and Controlling System, described video acquisition device and fire-extinguishing plant are fixed on robot casing, being provided with roller bottom robot casing, Controlling System controls the motion of roller by drive unit.
2. the indoor fire hazard monitoring robot based on video acquisition according to claim 1, it is characterized in that, described drive unit comprises the first drive unit and the 2nd drive unit, the motion of the first drive unit control housing bottom roller, the rotation of the 2nd running gear control video acquisition device.
3. the indoor fire hazard monitoring robot based on video acquisition according to claim 2, it is characterized in that, described first drive unit comprises the first motor, the first speed reduction unit, pinion(gear) and master wheel, first motor connects output shaft by the first speed reduction unit, output shaft and pinion(gear) are fixed, pinion(gear) drives master wheel to rotate, and master wheel drives roller to rotate.
4. the indoor fire hazard monitoring robot based on video acquisition according to claim 2, it is characterized in that, described 2nd drive unit comprises the 2nd motor, the 2nd speed reduction unit and first is turned, video acquisition device be fixed on first turn on, 2nd motor connects the 2nd speed reduction unit, and the output shaft of the 2nd speed reduction unit and first is turned fixing.
5. the indoor fire hazard monitoring robot based on video acquisition according to claim 4, it is characterised in that, described fire-extinguishing plant comprises the steel cylinder and shower nozzle that hold extinguish material, and it is outside that shower nozzle is fixed on robot casing, and steel cylinder is fixed on the inside of robot casing.
6. the indoor fire hazard monitoring robot based on video acquisition according to claim 5, it is characterised in that, described 2nd drive unit also comprises the 2nd and turns, and the shower nozzle of fire-extinguishing plant and the 2nd is turned fixing, and the output shaft of the 2nd motor and the 2nd is turned fixing.
7. the indoor fire hazard monitoring robot based on video acquisition according to claim 1, it is characterized in that, the rear box part section of described robot casing is obtuse triangle shape, rear box can around its pivot, can being fixed on first location and the second position, rear box is in the relative ground of second position Shi Shi robot and stablizes.
8. the indoor fire hazard monitoring robot based on video acquisition according to claim 7, it is characterised in that, described robot rear box is entity or is filled with weight material.
9. the indoor fire hazard monitoring robot based on video acquisition according to claim 7, it is characterised in that, the rear surface of described robot casing is fixed with the coarse material increasing robot and ground friction.
10. the indoor fire hazard monitoring robot based on video acquisition according to claim 4, it is characterized in that, described Controlling System comprises image capture unit, identifying processing unit and path planning unit, the image uploading of image capture unit is to identifying processing unit, identifying processing unit identifies whether have fire to occur according to image processing techniques, path planning unit is according to the 2D image coordinate of the calamity point position in image and camera calibration parameter, and the 2nd motor output torque judges the 3D position of calamity point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620000084.3U CN205272046U (en) | 2016-01-01 | 2016-01-01 | Indoor conflagration supervisory -controlled robot based on video acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620000084.3U CN205272046U (en) | 2016-01-01 | 2016-01-01 | Indoor conflagration supervisory -controlled robot based on video acquisition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205272046U true CN205272046U (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620000084.3U Expired - Fee Related CN205272046U (en) | 2016-01-01 | 2016-01-01 | Indoor conflagration supervisory -controlled robot based on video acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205272046U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818568A (en) * | 2018-07-27 | 2018-11-16 | 安徽赛福贝特信息技术有限公司 | A kind of domestic security robot |
| CN110802609A (en) * | 2019-11-02 | 2020-02-18 | 陈小青 | Security protection intelligent robot |
-
2016
- 2016-01-01 CN CN201620000084.3U patent/CN205272046U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818568A (en) * | 2018-07-27 | 2018-11-16 | 安徽赛福贝特信息技术有限公司 | A kind of domestic security robot |
| CN110802609A (en) * | 2019-11-02 | 2020-02-18 | 陈小青 | Security protection intelligent robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160601 Termination date: 20170101 |