CN206777653U - Firefighting robot intelligent monitor system - Google Patents
Firefighting robot intelligent monitor system Download PDFInfo
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- CN206777653U CN206777653U CN201720552987.7U CN201720552987U CN206777653U CN 206777653 U CN206777653 U CN 206777653U CN 201720552987 U CN201720552987 U CN 201720552987U CN 206777653 U CN206777653 U CN 206777653U
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- firefighting robot
- robot
- firefighting
- fire extinguishing
- monitor system
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Abstract
A kind of monitoring system is the utility model is related to, especially a kind of firefighting robot intelligent monitor system, belongs to the technical field that firefighting robot monitors.According to technical scheme provided by the utility model, the firefighting robot intelligent monitor system, including firefighting robot；Also include being used for the supervisory control of robot end for being monitored firefighting robot, the supervisory control of robot end includes local monitor end and the WEB server for providing remote access capability, local monitor end is connected by communication network with firefighting robot, local monitor end is connected with WEB server, local monitor end receives the live perception data of firefighting robot transmission by communication network, and the live perception data is write in the WEB databases of WEB server.The utility model can realize local monitor and remote monitoring, can realize the diversity of monitoring information, securely and reliably.
Description
Technical field
A kind of monitoring system is the utility model is related to, especially a kind of firefighting robot intelligent monitor system, belongs to fire extinguishing
The technical field of supervisory control of robot.
Background technology
With China's industrial progress, the inflammable and explosive and hypertoxic chemicals being related in production, storage and transport process increases rapidly
Add.Due to equipment and management etc., Hazardous Chemical Substances, radioactive substance leakage, burning and the accident of blast are hidden
Suffer from and more and more cause people greatly to pay close attention to.Particularly Nanjing Nanjing petrochemical industry fire, Dongfang Chemical Plant, Beijing, The East Chemical Plant,Beijing's tank occur in recent years
A series of major accidents such as area's fire, Tianjin huge explosion are attracted attention soul-stirring, and huge loss of personal property is brought to the country and people.
How to prevent or find the condition of a fire early, and the implementation fire extinguishing that can adopt an effective measure in time, fire suppression in bud, very
Harm caused by reducing fire diffusion sprawling in big degree, firefighting robot are undoubtedly best selection.Therefore, firefighting robot
Technology turns into the focus studied instantly.
At present, for the monitoring of firefighting robot, single monitoring, short range monitoring or long-range are on the one hand simply realized mostly
Monitoring, does not realize the combination of short range and remote monitoring, it is difficult to adapts to the effective monitoring to firefighting robot.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of firefighting robot intelligent monitoring
System, it can realize local monitor and remote monitoring, can realize the diversity of monitoring information, securely and reliably.
According to technical scheme provided by the utility model, the firefighting robot intelligent monitor system, including fire extinguishing machine
People；Also include being used for the supervisory control of robot end for being monitored firefighting robot, the supervisory control of robot end includes local monitor
End and the WEB server for providing remote access capability, local monitor end are connected by communication network with firefighting robot,
Local monitor end is connected with WEB server, and the scene that local monitor end receives firefighting robot transmission by communication network perceives
Data, and the live perception data is write in the WEB databases of WEB server.
The firefighting robot includes using the fire extinguishing machine human body of wheel type mobile and for driving firefighting robot
The DC servo motor of body motion, the DC servo motor are connected with motion controller, and the motion controller passes through exhausted
To the movable information of value encoder collection fire extinguishing machine human body；Collection site environmental information is connected on motion controller
Site environment sensing module and the communications module for forming communication network.
The communications module includes wireless router and the communication module being connected with motion controller, the communication module
Including gsm module, 3G module, 4G modules and/or 5G modules.
The fire extinguisher of fire extinguishing is provided in the fire extinguishing machine human body, fire extinguisher controls the fire extinguisher work with being used for
Make the motion controller connection of state.
The motion controller is also connected with the alarm for exporting warning message.
The site environment sensing module include cradle head camera, flame sensor, Smoke Sensor, temperature sensor,
Humidity sensor, ultrasonic sensor and/or gas analyzer.
The motion controller uses the S3C64110 of embedded development platform.
The advantages of the utility model：It can be realized by local monitor end and local monitor is carried out to firefighting robot, pass through WEB
Server and the cooperation at local monitor end, can realize remote monitoring, and can obtain scene by site environment sensing module perceives number
According to so as to realize local monitor and remote monitoring, the diversity of monitoring information can be realized, securely and reliably.
Brief description of the drawings
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is the structured flowchart of the utility model firefighting robot.
Description of reference numerals：1- motion controllers, 2- local monitors device, 3- wireless routers, 4- communication modules, 5- direct currents
Servomotor, 6- fire extinguishing machines human body, 7- absolute value encoders, 8- fire extinguishers, 9- alarms, 10- cradle head cameras, 11-
Flame sensor, 12- Smoke Sensors, 13- temperature sensors, 14- humidity sensors, 15- ultrasonic sensors, 16- gases
Analyzer, 17- firefighting robots, 18- communication networks, 19- local monitors end, 20-WEB servers and 21-WEB browsers.
Embodiment
With reference to specific drawings and examples, the utility model is described in further detail.
As shown in Figure 2：In order to realize local monitor and remote monitoring, the utility model includes firefighting robot 17；
Also include being used for the supervisory control of robot end for being monitored firefighting robot 17, the supervisory control of robot end includes local monitor end
19 and for providing the WEB server 20 of remote access capability, local monitor end 19 passes through communication network 18 and fire extinguishing machine
People 17 is connected, and local monitor end 19 is connected with WEB server 20, and local monitor end 19 receives fire extinguishing machine by communication network 18
The live perception data that people 17 is transmitted, and the live perception data is write in the WEB databases of WEB server 20.
Specifically, local monitor end 19 includes local monitor device 2, and local monitor device 2 can use PC, hand-held flat board etc.
Smart machine, the local monitor to firefighting robot 17 can be realized by local monitor device 2, WEB server 19 can allow WEB clear
Look at the access of device 21, Terminal Server Client is realized to firefighting robot 17 by access of the web browser 21 to WEB server 19
Working condition and live perception data etc. carry out the operation such as inquiring about, it is achieved thereby that local monitor and remote monitoring.It is local
Mode, specially those skilled in the art can be adapted between monitoring client 19 and WEB server 20 using what the art was commonly used
Known, here is omitted.
As shown in figure 1, the firefighting robot 17 includes using the fire extinguishing machine human body 6 of wheel type mobile and for driving
The DC servo motor 5 of the dynamic motion of fire extinguishing machine human body 6, the DC servo motor 5 is connected with motion controller 1, described
Motion controller 1 gathers the movable information of fire extinguishing machine human body 6 by absolute value encoder 7；Connect and use on motion controller 1
In the site environment sensing module of collection site environmental information and communications module for forming communication network 18.
In the utility model embodiment, the motion controller 1 is using the S3C64110 of embedded development platform, motion control
The base ARM1176JZF-S cores of device 1 design processed, itself is integrated with the various functions needed for motor control, such as PWM controls, encoder letter
Breath collection etc., meanwhile, also it is integrated with SCI, SPI, CAN communication, CPU maximum operating frequency 667Mhz, using three-level flowing water
Line, the requirement of firefighting robot motion control real-time is disclosure satisfy that, meanwhile, high-precision timing cycle also meets ultrasonic wave
The requirement to the higher peripheral hardware of requirement of real-time such as sensor；Independent kinetic control system, a variety of bus communications, has more system
Modularization, is easy to be safeguarded and secondary development.
Driven using the fire extinguishing machine human body 6 of wheel type mobile by DC servo electrode 5, motion controller 1 is by exhausted
The movable information of fire extinguishing machine human body 6 is gathered to value encoder 7, so as to movement locus to fire extinguishing machine human body 6 etc.
It control effectively, fire extinguishing machine human body 6 can specifically use the structure type that the art is commonly used, specially this technology
Known to the personnel of field, here is omitted.
In the utility model embodiment, the communications module include the wireless router 3 that is connected with motion controller 1 and
Communication module 4, the communication module 4 include gsm module, 3G module, 4G modules and/or 5G modules.Wireless router 3 can be adopted
With LB-LINK wireless network cards, the communication protocol of use is 802.11g, and 802.11g agreements are operated in 2.4GHz frequency ranges, and highest passes
Defeated speed sends fire location information up to 54Mbit/s, while with the use of communication module 4 in time.Local control terminal
19 with being communicated by communication network 18 with firefighting robot 17 when, can also according to site environment control firefighting robot 17
The direction of motion etc., make firefighting robot 17 more flexible in scene of fire activity.
The fire extinguisher 8 of fire extinguishing is provided in the fire extinguishing machine human body 6, fire extinguisher 8 controls the fire extinguishing with being used for
The motion controller 1 of the working condition of device 8 connects.In the utility model embodiment, fire extinguisher 8 is automatically controlled using the art
Form, so that motion controller 1 can control the working condition of fire extinguisher 8, i.e., move to fire location in firefighting robot 17
When, live fire extinguishing can be carried out by fire extinguisher 8, the specific engagement process between motion controller 1 and fire extinguisher 8 is the art
Known to personnel, here is omitted.The motion controller 1 is also connected with the alarm 9 for exporting warning message.Alarm
Device 9 can use the forms such as audible-visual annunciator, can provide warning using the one side of alarm 9, on the other hand can also facilitate
Field Force determines the position where firefighting robot 17.
The site environment sensing module includes cradle head camera 10, flame sensor 11, Smoke Sensor 12, temperature and passed
Sensor 13, humidity sensor 14, ultrasonic sensor 15 and/or gas analyzer 16.
In the utility model embodiment, by the video image of the energy collection site of cradle head camera 10, sensed by flame
Device 11 can judge whether flame, the smokescope at scene can be determined by Smoke Sensor 12, passed by temperature
Sensor 13 can determine that the temperature of the position of firefighting robot 17, can determine that humidity by humidity sensor 14, passes through ultrasonic wave
Sensor 15 can detect to the direction of motion of firefighting robot 17 with the presence or absence of situations such as blocking, and utilize the energy of gas analyzer 16
Effectively the gas type of site environment is analyzed.
The utility model can be realized by local monitor end 19 carries out local monitor to firefighting robot 17, is taken by WEB
Business device 20 and the cooperation at local monitor end 19, can realize remote monitoring, live perception can be obtained by site environment sensing module
Data, so as to realize local monitor and remote monitoring, the diversity of monitoring information can be realized, securely and reliably.
Claims (7)
1. a kind of firefighting robot intelligent monitor system, including firefighting robot (17)；It is characterized in that：Also include being used for fire extinguishing
The supervisory control of robot end that robot (17) is monitored, the supervisory control of robot end include local monitor end (19) and for carrying
For the WEB server (20) of remote access capability, local monitor end (19) pass through communication network (18) and firefighting robot (17)
Connection, local monitor end (19) are connected with WEB server (20), and local monitor end (19) are received by communication network (18) and put out a fire
The live perception data of robot (17) transmission, and the live perception data is write to the WEB databases of WEB server (20)
It is interior.
2. firefighting robot intelligent monitor system according to claim 1, it is characterized in that：Firefighting robot (17) bag
Include the fire extinguishing machine human body (6) using wheel type mobile and the DC servo for driving fire extinguishing machine human body (6) to move
Motor (5), the DC servo motor (5) are connected with motion controller (1), and the motion controller (1) is compiled by absolute value
The movable information of code device (7) collection fire extinguishing machine human body (6)；Collection site environment letter is connected on motion controller (1)
The site environment sensing module of breath and the communications module for forming communication network (18).
3. firefighting robot intelligent monitor system according to claim 2, it is characterized in that：The communications module includes and fortune
The wireless router (3) and communication module (4) of movement controller (1) connection, the communication module (4) include gsm module, 3G moulds
Block, 4G modules and/or 5G modules.
4. firefighting robot intelligent monitor system according to claim 2, it is characterized in that：The fire extinguishing machine human body
(6) fire extinguisher (8) of fire extinguishing, fire extinguisher (8) and the motion control for controlling the fire extinguisher (8) working condition are provided in
Device (1) connection processed.
5. firefighting robot intelligent monitor system according to claim 2, it is characterized in that：The motion controller (1) is also
It is connected with the alarm (9) for exporting warning message.
6. firefighting robot intelligent monitor system according to claim 2, it is characterized in that：The site environment sensing module
Including cradle head camera (10), flame sensor (11), Smoke Sensor (12), temperature sensor (13), humidity sensor
(14), ultrasonic sensor (15) and/or gas analyzer (16).
7. the firefighting robot intelligent monitor system according to one of claim 2~6, it is characterized in that：The motion control
Device (1) uses the S3C64110 of embedded development platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720552987.7U CN206777653U (en) | 2017-05-18 | 2017-05-18 | Firefighting robot intelligent monitor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720552987.7U CN206777653U (en) | 2017-05-18 | 2017-05-18 | Firefighting robot intelligent monitor system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206777653U true CN206777653U (en) | 2017-12-22 |
Family
ID=60712717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720552987.7U Active CN206777653U (en) | 2017-05-18 | 2017-05-18 | Firefighting robot intelligent monitor system |
Country Status (1)
| Country | Link |
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| CN (1) | CN206777653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011307A (en) * | 2018-05-28 | 2018-12-18 | 吉林化工学院 | Intelligent fire-fighting robot based on zigbee network |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
-
2017
- 2017-05-18 CN CN201720552987.7U patent/CN206777653U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011307A (en) * | 2018-05-28 | 2018-12-18 | 吉林化工学院 | Intelligent fire-fighting robot based on zigbee network |
| CN109276833A (en) * | 2018-08-01 | 2019-01-29 | 吉林大学珠海学院 | A kind of robot patrol fire-fighting system and its control method based on ROS |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221229 Address after: 213100 East side of Nanbei Street and north side of Shichang Road, Zou District, Zhonglou District, Changzhou City, Jiangsu Province (1-201-1) Patentee after: Changzhou Xunzi Medical Technology Co.,Ltd. Address before: 213161 7th Floor, Block 1 #B, Chuangyan Port, Science and Education City, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU INSTITUTE OF TECHNOLOGY RESEARCH FOR SOLID STATE LIGHTING |