CN208946182U - A kind of fire fighting robot in conjunction with ground in the air - Google Patents
A kind of fire fighting robot in conjunction with ground in the air Download PDFInfo
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- CN208946182U CN208946182U CN201821544136.9U CN201821544136U CN208946182U CN 208946182 U CN208946182 U CN 208946182U CN 201821544136 U CN201821544136 U CN 201821544136U CN 208946182 U CN208946182 U CN 208946182U
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- fire fighting
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- sole
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Abstract
The utility model provides a kind of fire fighting robot in conjunction with ground in the air, comprising: sole, traveling wheel, motor, motor driving plate, power supply module, steering engine, master control borad, single-chip microcontroller, signal receiver, fire fighting device.Fire fighting robot in conjunction with ground in the air described in the utility model, it is provided with signal receiver, the signal receiver can receive the image information of air-robot, when the signal receiver receives the image information with fire behavior, the master control borad controls the components such as the motor driving plate, steering engine, so that the fire fighting robot in conjunction with ground in the air is reached scene on fire, and carries out fire suppression measures in time.Manual inspection low efficiency is not only overcome as a result, cannot find problem on fire in time, fire behavior can be found in time, and the fire fighting robot in the air in conjunction with ground includes fire fighting device, convenient for taking fire fighting measure at the first time.
Description
Technical field
The utility model belongs to intelligent robot technology field, more particularly to a kind of fire fighting machine in conjunction with ground in the air
People.
Background technique
The places such as harbour, garden, warehouse, need to find in time on fire, and take fire protection in time, and manual inspection is imitated
Rate is low, cannot find in time on fire, is also required to convene manpower to take a long time to put out even if discovery is on fire, be not easy in morning on fire
Phase takes fire protection in time.Can only also be solved the problems, such as using unmanned plane come inspection it is on fire even if finding, still cannot first
Time scheduling fire extinguishing.
In consideration of it, urgently proposing at present a kind of suitable for the aerial in conjunction with ground of the specific environments such as harbour, garden, warehouse
Robot puts out a fire system, finds in time on fire, and takes fire protection in time.
Utility model content
For this purpose, technical problem to be solved in the utility model is specific for harbour, garden, warehouse etc. in the prior art
The fire behavior discovery of environment not in time, fire suppression measures the problem of can not carrying out in time, and then provide one kind can find in time it is on fire,
And the aerial robot in conjunction with ground of fire protection is taken in time.
The aerial fire fighting robot in conjunction with ground of the utility model, comprising:
Sole, the sole are plate-like；
Traveling wheel, the traveling wheel are located at the edge of the sole, and connect with the sole, are suitable for driving fire fighting
Robot is mobile；
Motor, the motor are installed on the sole, are suitable for driving the traveling wheel rotation；
Motor driving plate, the motor driving plate are electrically connected with the motor, suitable for controlling the stalling operation of the motor
And revolving speed；
Power supply module, the power supply module are installed on the sole, and are electrically connected with the motor, are suitable for described
Motor power supply；
Steering engine, the steering engine are electrically connected with the power supply module, suitable for controlling the steering of the traveling wheel；
Master control borad, the master control borad are electrically connected with the power supply module, the motor driving plate, the steering engine respectively, are fitted
In the starting and closing that control the motor driving plate, the steering engine；
Signal receiver, the signal receiver are electrically connected with the master control borad, suitable for receiving the image of air-robot
Information；
Fire fighting device, the fire fighting device are connect with the sole.
Preferably, the fire fighting device includes one of water tank, fire extinguisher or a variety of.
Preferably, the aerial fire fighting robot in conjunction with ground, further includes image collecting device, described image is adopted
Acquisition means are installed on the sole, suitable for acquiring the image information of ambient enviroment.
It is further preferred that described image acquisition device is installed on the sole by bracket, described image acquisition
Device is fish-eye camera.
Preferably, the aerial fire fighting robot in conjunction with ground, further includes single-chip microcontroller, the single-chip microcontroller is installed on
It on the master control borad, and is electrically connected with the master control borad, is adapted for carrying out the control function of the master control borad.
Preferably, the aerial fire fighting robot in conjunction with ground, further includes raspberry pie；The raspberry pie with it is described
Master control borad is connected by serial ports, is transmitted and is instructed to the single-chip microcontroller by the serial ports；The raspberry pie and Cloud Server are wireless
Connection, is transmitted to Cloud Server for the image that described image acquisition device is shot suitable for the raspberry pie, and receive Cloud Server pair
The result of image procossing.
Preferably, the aerial fire fighting robot in conjunction with ground further includes adjusting ginseng display screen, the tune ginseng display
Screen is installed on the master control borad, and is electrically connected with the master control borad, suitable for adjusting the control of the motor driving plate, the steering engine
Parameter processed.
Preferably, the aerial fire fighting robot in conjunction with ground further includes Crashworthy plate, the Crashworthy plate with it is described
Sole connection, and it is located at the sole edge.
Preferably, the air-robot includes:
Holder, the holder are adapted to provide for support platform；
Linking arm, the linking arm are several, are symmetrical arranged at the edge of the holder；And the linking arm includes head
End and tail end, the head end are connect with the holder；
Driving motor, the motor are installed on the tail end；The driving motor be several, the number of the driving motor
It measures equal with the quantity of the linking arm；
Blade, the blade are several, are respectively arranged on the output shaft of the driving motor；
Controller, the controller are fixed on the holder, suitable for controlling the starting and closing of the driving motor；
Camera, the camera are fixed on the holder, suitable for acquiring the image information of ambient enviroment；
Camera controller, the camera controller are installed on the holder, suitable for acquire the camera
Image information is sent to the signal receiver；
Battery, the battery are controlled with the driving motor, the controller, the camera, the camera respectively
Device electrical connection.
It is further preferred that the air-robot further include:
Display screen is debugged, the debugging display screen is electrically connected with the controller, is suitable for travelling the air-robot
Speed, route set；And/or
Support foot rest, the support foot rest are fixed on the tail end of the linking arm.
The above-mentioned technical proposal of the utility model, has the advantage that compared with prior art
Fire fighting robot in conjunction with ground in the air described in the utility model, comprising: sole, traveling wheel, electricity are mechanical, electrical
Machine driving plate, power supply module, steering engine, master control borad, signal receiver, fire fighting device.The fire engine in conjunction with ground in the air
Device people is provided with signal receiver, and the signal receiver can receive the image information of air-robot, that is, uses aerial machine
People carries out the detection of fire behavior, and the image information that the air-robot acquires is transmitted to the signal receiver, when described
When signal receiver receives the image information with fire behavior, the master control borad controls the components such as the motor driving plate, steering engine
Starting makes the fire fighting robot in conjunction with ground in the air reach scene on fire, and carries out fire suppression measures in time.As a result, not
Manual inspection low efficiency is only overcome, cannot find problem on fire in time, may be implemented to find fire behavior in time, also, overcome
Discovery is on fire to need to convene manpower come the problem of putting out, take a long time, the fire fighting robot in the air in conjunction with ground can
Scene on fire is directly driven towards, and the fire fighting robot in the air in conjunction with ground includes fire fighting device, convenient at the first time
Take fire fighting measure.
Detailed description of the invention
Fig. 1 is that the overlook direction structure of the fire fighting robot in conjunction with ground in the air provided by the embodiment of the utility model is shown
It is intended to；
Fig. 2 is that the side-looking direction structure of the fire fighting robot in conjunction with ground in the air provided by the embodiment of the utility model is shown
It is intended to；
Fig. 3 is the knot of the air-robot of the fire fighting robot in conjunction with ground in the air provided by the embodiment of the utility model
Structure schematic diagram.
Wherein, 1- sole；2- traveling wheel；3- motor；4- motor driving plate；5- power supply module；6- steering engine；7- master control
Plate；8- single-chip microcontroller；9- signal receiver；10- fire fighting device；11- image collecting device；12- holder；13- linking arm；14- drives
Dynamic motor；15- blade；16- controller；17- camera；18- camera controller；20- debugs display screen；21- support foot rest；
22- bracket；23- Crashworthy plate；24- tune joins display screen；25- raspberry pie.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It should be noted that in the present embodiment using motor driving plate, steering engine, master control borad, signal receiver, only this
Other commercially available conventional products, different manufacturers, model also can be used in rule of origin used in the examples, those skilled in the art
Product have no effect on the implementation of technical solutions of the utility model and the realization of technical effect.
The aerial fire fighting robot in conjunction with ground of the present embodiment, as shown in Figs. 1-3, comprising: sole 1, traveling wheel
2, motor 3, motor driving plate 4, power supply module 5, steering engine 6, master control borad 7, signal receiver 9, fire fighting device 10.
1 frame of chassis is plate-like.
The traveling wheel 2 is located at the edge of the sole 1, and connect with the sole 1, is suitable for driving fire fighting machine
People is mobile.
The motor 3 is installed on the sole 1, is suitable for that the traveling wheel 2 is driven to rotate.
The motor driving plate 4 is electrically connected with the motor 3, suitable for controlling stalling operation and the revolving speed of the motor 3；It needs
It is noted that the motor driving plate 4 is conventional motor driving plate in the prior art, as long as can be realized control motor
Stalling operation and revolving speed.For example, Xin Yuan Electronic Science and Technology Co., Ltd., Shenzhen can be used, the 4.5A step of model TB6600
Into motor driver.
The power supply module 5 is installed on the sole 1, and is electrically connected with the motor 3, and the motor 3 is suitable for
Power supply.In the present embodiment, the power supply module 5 is set as two, and the power supply module 5 is battery, and the battery is also possible to electricity
Pond group.
The steering engine 6 is electrically connected with the power supply module 5, suitable for controlling the steering of the traveling wheel 2.Institute in the present embodiment
Stating steering engine 6 is conventional steering engine in the prior art.For example, Shenzhen Yongxing Electric Machine Co., Ltd, model YX- can be used
412027 steering engine.
The master control borad 7 is electrically connected with the power supply module 5, the motor driving plate 4, the steering engine 6 respectively, is suitable for control
Make the starting and closing of the motor driving plate 4, the steering engine 6.Master control borad 7 described in the present embodiment is in the prior art normal
Advise master control borad.For example, ABB AB (Chinese mugwort Bobbi group company), the robot master control borad of model DSQC5403HAC can be used.
In order to more fully utilize space, the master control borad 7 is folded with the motor driving plate 4 and is set, and is fixed by binding post.
The signal receiver 9 is electrically connected with the master control borad 7, suitable for receiving the image information of air-robot；This reality
Applying master control borad 7 described in example is conventional master control borad in the prior art.For example, it is limited that Shenzhen's biography a thousand li electronics technology can be used
Company, the signal receiver of model CQL-1.5WTX-RXC.
The fire fighting device 10 is connect with the sole 1.In the present embodiment, the fire fighting device 10 is placed in from motor-car
On, it is described to be connect from motor-car by connector with the sole 1.As the specific implementation of the present embodiment, the fire fighting
Device 10 is fire extinguisher.It alternative implementation as the present embodiment, the safety apparatus 10 can also be water tank.
For realizing the purpose of this utility model, the design method of the air-robot is not unique, can be
Load in the prior art has the unmanned plane of image collecting device, in the present embodiment, provides a kind of preferred implementation, the sky
Middle robot includes: holder 12, linking arm 13, driving motor 14, blade 15, controller 16, camera 17, camera controller
18, battery (not shown).The holder 12 is adapted to provide for support platform；The linking arm 13 is several, in the cloud
The edge of platform 12 is symmetrical arranged；And the linking arm 13 includes head end and tail end, the head end is connect with the holder 12；It is described
Driving motor 14 is installed on the tail end；The driving motor 14 is several, the quantity of the driving motor 14 and the company
The quantity for connecing arm 13 is equal；The blade 15 is several, is respectively arranged on the output shaft of the driving motor 14；The control
Device 16 processed is fixed on the holder 12, suitable for controlling the starting and closing of the driving motor 14；The camera 17 is fixed
In the image information on the holder 12, suitable for acquisition ambient enviroment；The camera controller 18 is installed on the holder 12
On, the image information suitable for acquiring the camera 17 is sent to the signal receiver 9；The battery respectively with the drive
Dynamic motor 14, the controller 16, the camera 17, the camera controller 18 are electrically connected.As the present embodiment into
One step preferred implementation, the air-robot further include debugging display screen 20, the debugging display screen 20 and the control
Device 16 is electrically connected, and is set suitable for the speed that travels to the air-robot, route.In the present embodiment, the aerial machine
Device people further includes support foot rest 21, and the support foot rest 21 is fixed on the tail end of the linking arm 13.
As the preferred implementation of the present embodiment, the aerial fire fighting robot in conjunction with ground further includes image
Acquisition device 11, described image acquisition device 11 are installed on the sole 1, suitable for acquiring the image information of ambient enviroment.
To enable described image acquisition device 11 to be collected into the wider array of image information of territorial scope, described image acquisition device 11 passes through
Bracket 22 is installed on the sole 1, and described image acquisition device 11 is fish-eye camera.
The aerial fire fighting robot in conjunction with ground, further includes single-chip microcontroller 8, and the single-chip microcontroller 8 is installed on described
It on master control borad 7, and is electrically connected with the master control borad 7, is adapted for carrying out the control function of the master control borad 7.Described in the present embodiment
Single-chip microcontroller is Conventional monolithic machine in the prior art.For example, Freescale company can be used, the single-chip microcontroller of model K60.
As the preferred implementation of the present embodiment, the aerial fire fighting robot in conjunction with ground further includes tree
The certain kind of berries sends 25, and the raspberry pie 25 is connect with the master control borad 7 by serial ports, is referred to by the serial ports to the single-chip microcontroller 8 transmission
It enables；The raspberry pie 25 and Cloud Server are wirelessly connected, and described image is acquired the shooting of 11 devices suitable for the raspberry pie 25
Image is transmitted to Cloud Server, and receives Cloud Server to the result of image procossing.Raspberry pie described in the present embodiment is existing skill
Conventional raspberry pie in art, for example, this mostly micro- Science and Technology Ltd., Shenzhen, model Raspberry Pi can be used
The raspberry pie of 3Model B.Serial ports described in the present embodiment is that the serial ports of imperial Qiu turns TTL, does not influence this reality using other serial ports
With the realization of novel purpose.
Described image acquisition device 11, the raspberry pie 25, the course of work of the single-chip microcontroller 8 are specific as follows: the figure
As acquisition device 11 shoots image, and Cloud Server is transferred to by the raspberry pie 25, Cloud Server to the image received into
Row processing, and processing result image is returned into the raspberry pie 25, the raspberry pie 25 passes through string according to processing result image
Mouth is transmitted to the single-chip microcontroller 8 and is instructed.After the single-chip microcontroller 8 receives instruction, the master control borad 7 is completed according to instruction to institute
State the control of the work such as motor driving plate 4, the starting of the steering engine 6, closing.
As the preferred implementation of the present embodiment, the aerial fire fighting robot in conjunction with ground further includes adjusting ginseng
Display screen 24, the tune ginseng display screen 24 is installed on the master control borad 7, and is electrically connected with the master control borad 7, is suitable for adjustment institute
State the control parameter of motor driving plate 4, the steering engine 6.
To enable the aerial fire fighting robot in conjunction with ground to drive safely, it is able to maintain when encountering roadblock flat
Surely, the aerial fire fighting robot in conjunction with ground further includes Crashworthy plate 23, and the Crashworthy plate 23 connects with the sole 1
It connects, and is located at 1 edge of sole.
The aerial fire fighting robot in conjunction with ground, the course of work described in the present embodiment are as follows: being led to by operator
It crosses the tune ginseng display screen 24 to set the parameter that the fire fighting robot in conjunction with ground advances described in the air, the ginseng of setting
Number includes described 3 running speed of motor etc..Inspection is carried out to the specific place such as harbour, garden, warehouse by the air-robot,
And image is acquired by the camera 17 in the sky, acquired image information is transmitted to the signal receiver 9, by described
The line transmission that signal receiver 9 connects the information received by serial ports is to the master control borad 7, when there is fire behavior, institute
It states master control borad 7 and controls the motor driving plate 4 and control the motor 3 and operate, and 2 turns of the traveling wheel is driven by the motor 3
It is dynamic, and the steering engine 6 is controlled by the master control borad 7, and then the direction of travel of the traveling wheel 2 is controlled by the steering engine 6；It is described
In 2 traveling process of traveling wheel, the fire fighting robot in conjunction with ground in the air is acquired by described image acquisition device 11 and is advanced
Barrier in route, the image information that described image acquisition device 11 acquires are transmitted to the master control borad 7, then by the master control
Plate 7 further controls the steering engine 6 and adjusts direction of travel, so with dynamic load stated fire fighting device 10 it is described in the air with ground
The fire fighting robot that face combines goes to scene on fire, takes fire fighting measure in time.
Wherein, the course of work of the air-robot is as follows: being set by operator by the debugging display screen 20
The parameter of the running speed etc. of the driving motor 14 of the air-robot, setting is controlled accordingly by the controller 16
Component.After starting the air-robot, the driving motor 14 drives the paddle 15 to rotate, and then drives the aerial machine
Device people takes off, and in flight course, the camera 17 acquires the image information of target area, and passes through the camera controller
18 transmit to the signal receiving device, so as to find fire behavior in time.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (10)
1. a kind of fire fighting robot in conjunction with ground in the air characterized by comprising
Sole, the sole are plate-like；
Traveling wheel, the traveling wheel are located at the edge of the sole, and connect with the sole, are suitable for driving fire fighting machine
People is mobile；
Motor, the motor are installed on the sole, are suitable for driving the traveling wheel rotation；
Motor driving plate, the motor driving plate are electrically connected with the motor, suitable for controlling the stalling operation of the motor and turning
Speed；
Power supply module, the power supply module are installed on the sole, and are electrically connected with the motor, and the motor is suitable for
Power supply；
Steering engine, the steering engine are electrically connected with the power supply module, suitable for controlling the steering of the traveling wheel；
Master control borad, the master control borad are electrically connected with the power supply module, the motor driving plate, the steering engine respectively, are suitable for control
Make the starting and closing of the motor driving plate, the steering engine；
Signal receiver, the signal receiver are electrically connected with the master control borad, suitable for receiving the image information of air-robot；
Fire fighting device, the fire fighting device are connect with the sole.
2. the fire fighting robot in conjunction with ground in the air according to claim 1, which is characterized in that the fire fighting device packet
Include one of water tank, fire extinguisher or a variety of.
3. the fire fighting robot in conjunction with ground in the air according to claim 1, which is characterized in that further include Image Acquisition
Device, described image acquisition device are installed on the sole, suitable for acquiring the image information of ambient enviroment.
4. the fire fighting robot in conjunction with ground in the air according to claim 3, which is characterized in that described image acquisition dress
It sets and is installed on the sole by bracket, described image acquisition device is fish-eye camera.
5. the fire fighting robot in conjunction with ground in the air according to claim 4, which is characterized in that it further include single-chip microcontroller,
The single-chip microcontroller is installed on the master control borad, and is electrically connected with the master control borad, and the control function of the master control borad is adapted for carrying out
Energy.
6. the fire fighting robot in conjunction with ground in the air according to claim 5, which is characterized in that further include raspberry pie；
The raspberry pie is connect with the master control borad by serial ports, is transmitted and is instructed to the single-chip microcontroller by the serial ports；The raspberry
Group and Cloud Server are wirelessly connected, and the image that described image acquisition device is shot is transmitted to Cloud Server suitable for the raspberry pie,
And Cloud Server is received to the result of image procossing.
7. the fire fighting robot in conjunction with ground in the air according to claim 6, which is characterized in that further include adjusting ginseng display
Screen, the tune ginseng display screen is installed on the master control borad, and is electrically connected with the master control borad, is suitable for adjusting the motor driven
The control parameter of plate, the steering engine.
8. the fire fighting robot in conjunction with ground in the air according to claim 1, which is characterized in that it further include Crashworthy plate,
The Crashworthy plate is connect with the sole, and is located at the sole edge.
9. the aerial fire fighting robot in conjunction with ground described in any one of -8 according to claim 1, which is characterized in that institute
Stating air-robot includes:
Holder, the holder are adapted to provide for support platform；
Linking arm, the linking arm are several, are symmetrical arranged at the edge of the holder；And the linking arm include head end with
Tail end, the head end are connect with the holder；
Driving motor, the driving motor are installed on the tail end；The driving motor be several, the number of the driving motor
It measures equal with the quantity of the linking arm；
Blade, the blade are several, are respectively arranged on the output shaft of the driving motor；
Controller, the controller are fixed on the holder, suitable for controlling the starting and closing of the driving motor；
Camera, the camera are fixed on the holder, suitable for acquiring the image information of ambient enviroment；
Camera controller, the camera controller are installed on the holder, suitable for the image for acquiring the camera
Information is sent to the signal receiver；
Battery, the battery are electric with the driving motor, the controller, the camera, the camera controller respectively
Connection.
10. the fire fighting robot in conjunction with ground in the air according to claim 9, which is characterized in that the aerial machine
People further include:
Display screen is debugged, the debugging display screen is electrically connected with the controller, suitable for the speed travelled to the air-robot
Degree, route are set；And/or
Support foot rest, the support foot rest are fixed on the tail end of the linking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821544136.9U CN208946182U (en) | 2018-09-20 | 2018-09-20 | A kind of fire fighting robot in conjunction with ground in the air |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821544136.9U CN208946182U (en) | 2018-09-20 | 2018-09-20 | A kind of fire fighting robot in conjunction with ground in the air |
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| Publication Number | Publication Date |
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| CN208946182U true CN208946182U (en) | 2019-06-07 |
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| CN201821544136.9U Expired - Fee Related CN208946182U (en) | 2018-09-20 | 2018-09-20 | A kind of fire fighting robot in conjunction with ground in the air |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114949688A (en) * | 2022-05-19 | 2022-08-30 | 淮南师范学院 | Air-ground cooperative intelligent inspection disaster relief robot |
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2018
- 2018-09-20 CN CN201821544136.9U patent/CN208946182U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114949688A (en) * | 2022-05-19 | 2022-08-30 | 淮南师范学院 | Air-ground cooperative intelligent inspection disaster relief robot |
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