CN206463387U - A kind of crawler type uses fire-fighting robot - Google Patents
A kind of crawler type uses fire-fighting robot Download PDFInfo
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- CN206463387U CN206463387U CN201621473861.2U CN201621473861U CN206463387U CN 206463387 U CN206463387 U CN 206463387U CN 201621473861 U CN201621473861 U CN 201621473861U CN 206463387 U CN206463387 U CN 206463387U
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Abstract
The utility model is related to a kind of crawler type and uses fire-fighting robot, including robot shells and the robot body being arranged in robot shells, the robot body uses crawler type fire-fighting bassinet structure, characterized in that, the robot body includes chassis, driving walking mechanism, remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply；The remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply are arranged on chassis, and the chassis is arranged in the driving walking mechanism；The power supply provides vehicle power supply for the fire-fighting robot.Fire-fighting robot of the present utility model replaces fire-fighting and rescue personnel to enter the hazards scene of the accident and carries out data sampling and processing, feedback, the problems such as efficiently solving personal safety, the data information acquisition deficiency that fireman faces in above-mentioned place.
Description
Technical field
The utility model is related to a kind of fire-fighting facility, and in particular to a kind of crawler type uses fire-fighting robot.
Background technology
With the fast development of social economy, the particularity that building and enterprise produce causes hazardous chemical and radioactivity
Content leaks and burning, the accident exploded, caved in frequently increase.Once generation disaster accident, fireman is in face of high temperature, black
During the hazardous environments such as secretly, poisonous and dense smoke, if rushing in scene rashly without corresponding equipment, task can not be not only completed, can also
Increase casualties on foot.
This respect, public security fire-fighting army is after many lessons written in blood.In face of such large scale disasters, it is a can be former
Enter, retreat, reversing end for end, climbing, obstacle detouring, ejecting extinguishing, smoke evacuation and scene scout remote control firefighting fire extinguishing robot take advantage of a situation and
It is raw.
In recent years, fire incident takes place frequently, and fire fighter's injures and deaths message is continuous.Shown according to ASSOCIATE STATISTICS, 2007 to 2015
Year, 2,110,000 fire incidents, the people of a line injures and deaths fireman 776 occur altogether for the whole nation.It is continuous in automatic control technology and intellectual technology
Ripe to replace fireman by sophisticated equipments such as fire-fighting robot, scounting aeroplanes instantly, completing fire-fighting and rescue task has turned into
May.On August 14th, 2015, the safety in production committee of State Council issue emergency notice, emphasizes to widely popularize using advanced peace
Full technical equipment, future will realize progressively replacement of the Multifunctional firefighting robot to single fire fighting truck.Nowadays fire-fighting on the market
Robot is various and complicated, and various robot functions are not quite similar, but the function of most robots is relatively simple, it is impossible to meet hair
Open up increasingly faster social demand.
Utility model content
For deficiency of the prior art, the purpose of this utility model is to provide a kind of crawler type and uses fire-fighting robot,
Fire-fighting robot of the present utility model replace fire-fighting and rescue personnel enter the hazards scene of the accident carry out data sampling and processing,
Feedback, the problems such as efficiently solving personal safety, the data information acquisition deficiency that fireman faces in above-mentioned place.
The purpose of this utility model is realized using following technical proposals：
The utility model provides a kind of crawler type and uses fire-fighting robot, including robot shells and is arranged on robot
Robot body in shell, the robot body uses crawler type fire-fighting bassinet structure, and it is theed improvement is that, the machine
Human agent includes chassis, driving walking mechanism, remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply；It is described remote
Control fire-fighting bubble, exhaust blower, circuit control main frame and power supply are arranged on chassis, and the chassis is arranged on the driving
In walking mechanism；The power supply provides vehicle power supply for the fire-fighting robot.
Further, the driving walking mechanism includes drive mechanism and walking mechanism, and the drive mechanism includes starting
Machine/motor, gearbox, power transmission shaft or belt；The engine driving gearbox and power transmission shaft or belt movement；The walking
Mechanism includes rocking arm, damper, steering mechanism and crawler belt；The drive mechanism drives rocking arm, steering mechanism, the shoe of walking mechanism
Band and brake, pivot stud action.
Further, the remote control fire-fighting bubble is by the water supply module for providing water source；When occurring the condition of a fire, execution is gone out
The performing module of fiery and actuation of an alarm and the control module composition being controlled to water supply module and performing module；
The extinguishment fire suppression water cannon can realize 90~3800 liters/min of adjustment of flow.Inlet and outlet sets for quick connection
Meter, is easily installed maintenance.The effective range of wireless control device is 152m, can be worked continuously 8 hours using lithium battery equipment.Work as electricity
When cell voltage is low, power supply (POWER) indicator lamp can start flicker, can also now work continuously 3 hours.Remote control water cannon can be set
Determine automatic operation mode, realize from pendulum.
Further, the circuit control main frame include DSP and ARM dual core processors, it is at least one high-definition camera, preceding
Hold head and lens controller；DSP the and ARM dual core processors by RS485 buses respectively with front end platform and camera lens control
Device processed is communicated；The high-definition camera is connected with lens controller；Dsp chip in DSP the and ARM dual core processors
ARM chips carry out data exchange using HPI parallel interfaces.
Further, the dsp chip is used for image real time transfer, includes the compression and the identification of fire of video；It is described
(SuSE) Linux OS is run on ARM chips, the service application for fire-fighting robot.
Further, the circuit control main frame also include video encoder, Video Decoder, audio coder,
SDRAM, FLASH are cached and power subsystem；The video encoder, Video Decoder, audio coder, SDRAM, FLASH delay
Deposit and be connected with power subsystem with dsp chip；The Video Decoder is connected with high-definition camera.
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
Further, the circuit control main frame also include cloud mirror decoder, Zigbee module, wireless network adapter and
Mobile network's module；The cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module with ARM cores
Piece is connected；The cloud mirror decoder is connected with high-definition camera.
Further, the power supply is lithium battery module, can work 4 after the single lithium battery module is fully charged
Individual hour, the design of double cell case.
Further, the high-definition camera is used for real-time transmission of video data to lens controller, its angular field of view
70 °, its power 12W, unlimited image-forming range；Smoke exhaust fan can between 10 ° to 20 ° accurate adjustment smoke exhaust fan gradient,
85200 cubes ms/h of exhaust smoke level.
Compared with immediate prior art, the beneficial effect that the utility model reaches is：
1st, remote control, enters peril scene instead of fireman, effectively prevents unexpected injury：
Subsequent explosion may occur for disaster-stricken scene, and this can bring very big mortal injury to fireman.Robot can generation
Go deep into the dangerous disaster field of inflammable and explosive, poisonous and harmful, dense smoke etc. for fireman, a line firefighterses are ensured to greatest extent
Personal safety, prevents electric shock accidents, subsequent explosion harm and poison gas harm.Fire-fighting robot replaces fire-fighting and rescue personnel to enter danger
Dangerous disaster accident scene carries out data sampling and processing, feedback, efficiently solves the person peace that fireman faces in above-mentioned place
Entirely, the problems such as data information acquisition is not enough.
2nd, modularized design, with fire extinguishing and smoke evacuation, three functions of transport：The fire-fighting robot that the utility model is provided is equipped with
Smoke exhaust fan and structure transport case, fire-fighting bubble, user only need light several steps, you can transported in smoke exhaust fan and water cannon mechanism
Switched between case three zones, can arrangement such as：Thermal imaging system camera, gas detector, hygrosensor, anticollision dress
Put, vehicle body cooling system audio-visual system, Overthrow preventing device, multipurpose working plate, capstan winch.Therefore robot makes reserve battery
With more flexible, feature is higher, is adapted to different types of fire-fighting task.
3rd, unrivaled obstacle climbing ability：Using abundant chassis so that robot can pass through various disorders thing.Obstacle detouring
Highly 40 centimetres, and 45 degree of barrier can be crossed --- it is especially suitable for severe, the precipitous scene of the accident.
4th, field data is gathered：Front end is provided with high-definition camera, and real-time transmission of video data are to controller, help to operate
Personnel collect, analysis front scene.
5th, high temperature resistant, corrosion-resistant：
The utility model is researched and developed by the way of external parts and the combination of domestic parts.Domestic parts are mainly solved
High temperature resistant and corrosion resistant characteristic, it is ensured that robot normal work under severe conditions, the domestic parts of its core are using autonomous
The mode of research and development.
6th, intelligent data operating platform simple to operate：More detailed data, including robot can be provided the user
Travel speed, GPS signal strength, video, detection of gas and temperature sensing etc..Its core is manipulated and hop independent research.
7th, the powerful moment of torsion more than 3000Nm can easily pull 400 kilograms of object
8th, power section has two startup/emergency stop buttons above 24V lithium battery power supplies, battery case.
9th, fire-fighting robot is entirely remote control.The controller of robot uses extremely durable and accurate material system
Into.Controller can remotely receive the movement of the high-precision control rocking bar control machine people on camera real-time video, controller.Far
Range controller main body Integration Design, built-in anti-interference wireless transmitting and receiving module.The lithium battery that carried charge is shown
10.8V5.6Ah；The battery of controller can be pulled down；Fully charged battery can be provided for robot up to 20 hours
Work.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is one of structural representation of fire-fighting robot that the utility model is provided；
Fig. 2 is the two of the structural representation for the fire-fighting robot that the utility model is provided；
Fig. 3 is data exchange between dsp chip and ARM chips in DSP the and ARM dual core processors that the utility model is provided
Schematic diagram；
Fig. 4 is that the dsp chip that the utility model is provided carries out showing for data exchange with ARM chips using HPI parallel interfaces
It is intended to；
Fig. 5 is the flow chart for the fire-fighting robot work that the utility model is provided.
In figure：1- far controls fire-fighting bubble；11- water supply modules；12- performing modules；13- control modules；2- smoke exhaust fans；3-
Circuit control main frame；31- high-definition cameras；32- front end platforms；33- lens controllers；4- batteries；5- gearboxes；6- walks
Mechanism；7- chassis；8- power transmission shafts；9- engines.
Embodiment
, below will be to technology of the present utility model to make the purpose of this utility model, technical scheme and advantage clearer
Scheme is described in detail.Obviously, described embodiment is only a part of embodiment of the utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not before creative work is made
Resulting all other embodiment is put, the scope that the utility model is protected is belonged to.
First optimal technical scheme
The utility model provides a kind of crawler type and uses fire-fighting robot, its structure chart as illustrated in fig. 1 and 2, including machine
People's shell and the robot body being arranged in robot shells, the robot body use crawler type fire-fighting bassinet structure,
The robot body includes chassis 7, driving walking mechanism 6, remote control fire-fighting bubble 1, exhaust blower 2, circuit control main frame 3 and supplied
Power supply；The remote control fire-fighting bubble 1, exhaust blower 2, circuit control main frame 3 and power supply are arranged on chassis 7, described
Chassis 7 is arranged in the driving walking mechanism 6；The power supply provides vehicle power supply for the fire-fighting robot, by storing
Battery 4 is constituted.
Specifically, the driving walking mechanism 6 includes drive mechanism and walking mechanism 6, the drive mechanism includes starting
Machine/motor 9, gearbox 5, power transmission shaft 8 or belt；The driving gearbox 5 of engine 9 and power transmission shaft 8 or belt movement；Institute
Stating walking mechanism 6 includes rocking arm, damper, steering mechanism and crawler belt；The drive mechanism drives the rocking arm of walking mechanism 6, subtracted
Shake device, steering mechanism, crawler belt and brake, pivot stud action.
Specifically, the circuit control main frame 3 include DSP and ARM dual core processors, at least one high-definition camera 31,
Front end platform 32 and lens controller 33；DSP the and ARM dual core processors by RS485 buses respectively with front end platform and
Lens controller is communicated；The high-definition camera is connected with lens controller；In DSP the and ARM dual core processors
Dsp chip ARM chips carry out data exchange using HPI parallel interfaces.
Specifically, the dsp chip is used for image real time transfer, include the compression and the identification of fire of video；The ARM
(SuSE) Linux OS is run on chip, the service application for fire-fighting robot.
Specifically, the circuit control main frame 3 also include video encoder, Video Decoder, audio coder, SDRAM,
FLASH is cached and power subsystem；The video encoder, Video Decoder, audio coder, SDRAM, FLASH caching and electricity
Source unit is connected with dsp chip；The Video Decoder is connected with high-definition camera.
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
Specifically, the circuit control main frame 3 also include cloud mirror decoder, Zigbee module, wireless network adapter and
Mobile network's module；The cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module with ARM cores
Piece is connected；The cloud mirror decoder is connected with high-definition camera.As shown in Figures 3 and 4.
Second optimal technical scheme
Remote control fire-fighting bubble 1 is arranged on chassis and higher than all devices.The fire-fighting machine that the utility model is provided
One of structural representation of people as shown in figure 1, the remote control fire-fighting bubble 1 by water supply module 11, occur the condition of a fire when, perform fire extinguishing
And the performing module 12 and the control module 13 that is controlled to water supply module 11 and performing module 12 of actuation of an alarm are constituted；Far
It is the fire-extinguishing apparatus stamped out a fire at a distance with water as medium to control fire water monitor.Wherein water supply module 11 is main by water source, fire-fighting
Water pump, elevated tank or air pressure stable-pressure device, siamese fire department connection and pipeline composition, its object is to can provide quick to device
, sufficient water source.
Shown performing module 12 is performed in the middle of extinguishing device 121, supply unit 122, fire automatic alarm device 123 etc.
Device is constituted, i.e., when occurring the condition of a fire, perform the associated component of fire extinguishing and actuation of an alarm.
Control module 13 is supervised by coordinated signals cabinet and Region control case, system power control, computer fire (video)
Control system is constituted.Its object is to be controlled to water supply module and performing module, can flexibly it realize manual, automatic and existing
Field, the various operations at fire-fighting center.Efficiently accomplish from finding fire up to a series of actions such as stamp out a fire.And can make it is automatic with
Track positioning jet fire extinguishing system is directly connected by input module and input/output module with automatic fire alarm center, it is ensured that fire
The globality of calamity warning system.
The two of the structural representation for the fire-fighting robot that the utility model is provided are as shown in Fig. 2 smoke exhaust fan 2 is shaped as
The shape of general fan is the same, but it can between 10 ° to 20 ° accurate adjustment smoke exhaust fan gradient, exhaust smoke level 85200
Cube m/h.
3rd optimal technical scheme
(1) robot body：One piece of battery working time 4 hours, the design of double cell case, 8 hours of two pieces of batteries；Obstacle detouring
Highly 40 centimetres；45 degree of angle of inclination；
400 kilograms of dragging ability.
(2) high-definition camera：70 ° of angular field of view；Power 12W；Unlimited image-forming range.
(3) fire water monitor：90 to 3800 liter/min of -16 bar；Classification of waterproof IP65；The bar@3800 of 62~84 meters of@of range 7
Liter/min.
The workflow of fire-fighting robot as shown in figure 5, including：
It is main to complete following functions：Remote monitoring video；The image recognition and communication of fire disaster flame are completed by master-slave cpu
Function；Communicated by RS485 buses with front end platform and lens controller, control the anglec of rotation of head and camera lens or patrol
Speed of a ship or plane degree.System software includes robot local server software and client software.Long-distance video can be set up using dsp system
Server, can remote monitoring machine people video, can set up Web server with ARM system, distal end complete to robot
Various inquiries and control function.DSP and ARM can be used respectively as independent system.Using HPI parallel interfaces, DSP and main frame
ARM communications carry out data exchange.
Accurate, the material and production link of high standard
Fuselage uses space aluminum alloy materials, by anti-corrosion treatment, can enter severe chemical leakage accident and show
；Outstanding design and manufacturing process so that each robot meets strict quality standard, and maintenance cost is low, service life
It is longer, and application maintenance maintenance rate is low.
Digitization operating platform simple to operate
There are two kinds of control models to be available for customer selecting：The first is rocking bar control model：Lighter, operating handle is strong,
Material is firm and weather proof, equipped with 12 cun of clear LCD display.Pass through the action of rocking bar control machine people；It is for second
Computer control model：Can provide the user more detailed data, including robot ride speed, GPS signal strength, video,
Detection of gas and temperature sensing etc..
The production domesticization of the technologies such as carriage chassis, monitoring
The technologies such as load chassis of the present utility model, monitoring use independent research, can ensure that fire-fighting robot is used reliable
Property and practicality.
As the status that fire-fighting robot is shown in fire protection sector is more and more important, occur in that on the market increasing
Fire-fighting robot, the function of each robot is not quite similar, compared with other fire-fighting robots on the market, and the utility model is provided
The crawler type fire-fighting robot of multi-functional Remote have the advantage that：
(1) modules of robot pass through anti-corrosion treatment, can adapt to various adverse circumstances；
(2) riding stability is high, with climbing and obstacle climbing ability, easily into a variety of severe site environments；
(3) maintenance rate is low, and maintenance cost is low；
(4) high-voltage resistance capability, explosion-proof capabilities and heat-resisting ability are strong；
(5) endurance is strong, and the working time is 4 to 8 hours, and supports to be continued a journey from reserve battery, is adapted to hold
The task that works long hours of row large-sized fire；
(6) lithium battery power supply is utilized, any fuel oil is not consumed, is not required to change machine oil, the pollution without waste gas and gasoline, ten
Divide environmental protection.
The remote controlled crawler type fire-fighting robot that the utility model is provided is practical, supports cutting for difference in functionality
Change, will be widely applied for a long time in fire protection sector.Fire-fighting robot of the present utility model mainly has following influence：
(1) to the influence of fire fighter
The remote controlled crawler type fire-fighting robot of the utility model research and development can enter danger instead of fire fighter
The disaster-stricken scene of danger, fire fighter understands field condition by high-definition camera, and carries out remote control, makes robot disaster-stricken
Operations are carried out in scene, the personal safety of a line fire fighter can be ensured to greatest extent.
(2) to the influence of disaster affected people
The fire-fighting robot that the utility model is researched and developed is equipped with smoke exhaust fan and fire water monitor, can be according to different calamities
Field situation is independently changed, therefore effectively disaster-stricken scene can be discharged fume, put out a fire, and calamity situation is controlled in a short time,
Ensure the life security of disaster affected people.
(3) to the influence of environment
The fire-fighting robot that the utility model is researched and developed utilizes lithium battery power supply, and any fuel oil is not consumed, changing machine is not required to
Oil, the pollution without waste gas and gasoline is very environmentally friendly.
It is described above, embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, any one skilled in the art can readily occur in change in the technical scope that the utility model is disclosed
Or replace, it should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with the power
The protection domain that profit is required is defined.
Claims (10)
1. a kind of crawler type uses fire-fighting robot, including robot shells and the robot master that is arranged in robot shells
Body, the robot body uses crawler type fire-fighting bassinet structure, it is characterised in that the robot body includes chassis, driving
Walking mechanism, remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply；The remote control fire-fighting bubble, exhaust blower,
Circuit control main frame and power supply are arranged on chassis, and the chassis is arranged in the driving walking mechanism；The institute
State power supply and provide vehicle power supply for the fire-fighting robot.
2. crawler type as claimed in claim 1 uses fire-fighting robot, it is characterised in that the driving walking mechanism includes driving
Motivation structure and walking mechanism, the drive mechanism include engine/motor, gearbox, power transmission shaft or belt；The engine
Drive gearbox and power transmission shaft or belt movement；The walking mechanism includes rocking arm, damper, steering mechanism, crawler belt；It is described to drive
Rocking arm, steering mechanism, crawler belt and brake, the pivot stud action of motivation structure driving walking mechanism.
3. crawler type as claimed in claim 1 uses fire-fighting robot, it is characterised in that the remote control fire-fighting bubble by for
The water supply module at water source is provided；When occurring the condition of a fire, the performing module of fire extinguishing and actuation of an alarm is performed and to water supply module and holding
The control module composition that row module is controlled；
The remote control fire-fighting bubble can reach 90 to 3800 liter/min of -16 bar, classification of waterproof IP65.
4. crawler type as claimed in claim 1 uses fire-fighting robot, it is characterised in that the circuit control main frame includes
DSP and ARM dual core processors, at least one high-definition camera, front end platform and lens controller；At DSP the and ARM double-cores
Reason device is communicated with front end platform and lens controller respectively by RS485 buses；The high-definition camera and lens control
Device is connected；Dsp chip ARM chips in DSP the and ARM dual core processors carry out data exchange using HPI parallel interfaces.
5. crawler type as claimed in claim 4 uses fire-fighting robot, it is characterised in that the dsp chip is used for picture number
According to the compression and the identification of fire of processing, including video；(SuSE) Linux OS is run on the ARM chips, for fire-fighting machine
The service application of people.
6. crawler type as claimed in claim 5 uses fire-fighting robot, it is characterised in that the circuit control main frame also includes
Video encoder, Video Decoder, audio coder, SDRAM, FLASH caching and power subsystem；The video encoder, regard
Frequency decoder, audio coder, SDRAM, FLASH caching and power subsystem are connected with dsp chip；The Video Decoder with
High-definition camera is connected,
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
7. crawler type as claimed in claim 6 uses fire-fighting robot, it is characterised in that the circuit control main frame also includes
Cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module；The cloud mirror decoder, Zigbee module,
Wireless network adapter and mobile network's module are connected with ARM chips；The cloud mirror decoder is connected with high-definition camera.
8. crawler type as claimed in claim 7 uses fire-fighting robot, it is characterised in that the power supply is lithium battery mould
Block, can work 4 hours after the lithium battery module is fully charged.
9. crawler type as claimed in claim 8 uses fire-fighting robot, it is characterised in that the high-definition camera is used for real-time
Transmitting video data is to lens controller, 70 ° of its angular field of view, its power 12W, unlimited image-forming range.
10. crawler type as claimed in claim 9 uses fire-fighting robot, it is characterised in that smoke exhaust fan can be arrived at 10 °
Accurate adjustment smoke exhaust fan gradient between 20 °, 85200 cubes ms/h of exhaust smoke level.
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| CN201621473861.2U CN206463387U (en) | 2016-12-29 | 2016-12-29 | A kind of crawler type uses fire-fighting robot |
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| CN201621473861.2U CN206463387U (en) | 2016-12-29 | 2016-12-29 | A kind of crawler type uses fire-fighting robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050695A (en) * | 2018-09-28 | 2018-12-21 | 山东阿图机器人科技有限公司 | A kind of full landform fire-fighting robot and working method |
| CN110787398A (en) * | 2019-11-13 | 2020-02-14 | 苏州大成有方数据科技有限公司 | Control system of fire-fighting robot with reconnaissance and fire-extinguishing functions |
-
2016
- 2016-12-29 CN CN201621473861.2U patent/CN206463387U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050695A (en) * | 2018-09-28 | 2018-12-21 | 山东阿图机器人科技有限公司 | A kind of full landform fire-fighting robot and working method |
| CN109050695B (en) * | 2018-09-28 | 2021-12-28 | 山东国兴智能科技股份有限公司 | All-terrain fire-fighting robot and working method |
| CN110787398A (en) * | 2019-11-13 | 2020-02-14 | 苏州大成有方数据科技有限公司 | Control system of fire-fighting robot with reconnaissance and fire-extinguishing functions |
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