CN210170720U - Fire-fighting robot based on binocular field depth and secondary image algorithm - Google Patents
Fire-fighting robot based on binocular field depth and secondary image algorithm Download PDFInfo
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- CN210170720U CN210170720U CN201920488431.5U CN201920488431U CN210170720U CN 210170720 U CN210170720 U CN 210170720U CN 201920488431 U CN201920488431 U CN 201920488431U CN 210170720 U CN210170720 U CN 210170720U
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Abstract
The utility model discloses a fire-fighting robot based on binocular field depth and secondary image algorithm, which comprises a caterpillar driving wheel and a metal machine body, wherein the caterpillar driving wheel is fixedly arranged on two sides of the metal machine body, the water belt fixer consisting of a rotary semicircular block, anti-skid rubber, a fixed shaft column, a fixing screw, a fixed semicircular block and a connecting supporting block plays a good supporting role, when in use, the rotary semicircular block is rotated on the fixed semicircular block through the fixed shaft column by loosening the fixing screw, so that an external fire hose metal pipe can be well fixed at the inner side, then the rotary semicircular block and the fixed semicircular block are closed again and fixed through the fixing screw, thereby playing a good supporting force when in use, leading the use to be more convenient when in moving, and when in fixation, because the inner side circumference of the rotary semicircular block and the fixed semicircular block is provided with the anti-skid rubber, making it more compact when secured.
Description
Technical Field
The utility model belongs to the technical field of relevant fire-fighting robot, concretely relates to fire-fighting robot based on two mesh depth of field and secondary image algorithm.
Background
At present, the fire-fighting robot technology of our country is vigorously developed, the national development committee, the department of industry and finance are clearly pointed out in "robot industry development planning (2016) 2020"), by 2020, the density (the number of robots used by every ten thousand workers) of the robot in our country reaches more than 150, as early as in the "863 plan" project, the country expresses the attention and support on the development of strategic high and new technologies such as robots, and in 2017, the state institute particularly sends out a notice, emphasizes the vigorous popularization and application of advanced safety technical equipment, strives for realizing the gradual replacement of a multifunctional fire-fighting robot on a single fire truck in the future, from the development conditions of other countries in the world, the fire-fighting robot gradually enters the development acceleration stage of updating and updating, the existing human-controlled mode of our country is about to be eliminated, and the future intellectualization and autonomy are about to be an important development direction, under the circumstances, the fire-fighting robot visual fire source positioning technology is used as the core of the fire-fighting machine technology, and has more and more applications in the aspects of domestic and foreign fire-fighting equipment in recent years.
The patent document with the publication number of 208641611U discloses a fire-fighting robot, the utility model provides a fire-fighting robot, the robot receives effort and the influence that moves backward when can eliminate the water spray effectively, makes the robot more accurately fix a position and stops at the target location to accomplish work such as data acquisition and water spray fire extinguishing better, but current fire-fighting robot based on two mesh depth of field and secondary image algorithm is when being connected the use with outside fire hose, because of constantly moving the use as required, does not have fine hosepipe strutting arrangement, it is not very convenient when removing the use like this.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a fire-fighting robot based on two mesh degree of depth and secondary image algorithm to the current fire-fighting robot based on two mesh degree of depth and secondary image algorithm who proposes in solving above-mentioned background is being connected the use with outside fire hose, and because of constantly removing the use as required, does not have fine hosepipe strutting arrangement, is not very convenient problem when removing the use like this.
In order to achieve the above object, the utility model provides a following technical scheme:
the fire-fighting robot based on the binocular field depth and the secondary image algorithm comprises a crawler driving wheel and a metal machine body, wherein the crawler driving wheel is fixedly installed on two sides of the metal machine body, a crawler wheel group is arranged in front of the inside of the crawler driving wheel, a crawler protection shell is arranged on the outer side of the crawler driving wheel, an electric box machine body is arranged on the rear side of the upper end of the metal machine body, a state prompt lamp is arranged on the right side of the electric box machine body, a thermal imaging detector is arranged on the left side of the electric box machine body, a camera is arranged at the upper end of the electric box machine body, a receiving antenna is arranged on the left side of the camera on the metal machine body, a conveying antenna is arranged on the right side of the camera on the metal machine body, a transmission pipeline mechanism is arranged on the metal machine body in front of the electric box machine body, a driving motor is arranged, the rear end of the transmission pipeline mechanism is provided with a water inlet pipeline, and a water belt fixer is arranged below the water inlet pipeline and on the metal machine body.
Preferably, the water belt fixer comprises a rotating semicircular block, anti-skid rubber, a fixed shaft post, a fixing screw, a fixed semicircular block and a connecting and supporting block, wherein the lower end of the fixed semicircular block is provided with the connecting and supporting block, the left side of the fixed semicircular block is provided with the rotating semicircular block, the connecting part of the rotating semicircular block and the fixed semicircular block is provided with the fixed shaft post, the rotating semicircular block and the fixed semicircular block are fixedly connected through the fixing screw, the anti-skid rubber is arranged on one circle of the inner sides of the rotating semicircular block and the fixed semicircular block, and the connecting and supporting block is connected to the metal machine body.
Preferably, the pulley set comprises side rollers, fixed rings and a connecting shaft rod, the two ends of the connecting shaft rod are provided with the fixed rings, the side rollers are arranged on the outer periphery of the fixed rings, and the side rollers are connected to the crawler driving wheels.
Preferably, the crawler driving wheel comprises a transmission conveying mechanism, a sealing bearing seat, a supporting wheel suspension mechanism, a guide wheel mechanism, a transmission shaft, a driving wheel, namely a belt wheel, a rear wheel, a crawler and the like except for the crawler wheel group.
Preferably, the crawler belt protective housings are arranged in two numbers, and the crawler belt protective housings are symmetrically arranged on the outer side of the crawler belt driving wheel.
Preferably, the transmission pipeline mechanism is fixedly connected with the metal machine body through screws, and the driving motor on the outer side of the transmission pipeline mechanism is electrically connected with the electric box machine body through a connecting wire.
Preferably, the metal machine body and the electric box machine body are fixedly connected through welding, and the outer side connecting positions of the metal machine body and the electric box machine body are located on the same straight line.
Compared with the prior art, the utility model provides a fire-fighting robot based on two mesh depth of field and secondary image algorithm possesses following beneficial effect:
the utility model discloses a fire-fighting robot based on two mesh depth of field and secondary image algorithm plays fine support effect through the water tape fixer that rotates semicircle piece, anti-skidding rubber, fixed jack-post, set screw, fixed semicircle piece and connection supporting shoe constitute, the connection supporting shoe of water tape fixer passes through screwed connection on the metal organism, thus be more convenient when installation and dismantlement, and when using, through loosening set screw, thereby make the rotation semicircle piece rotate on fixed semicircle piece through fixed jack-post, thus make outside fire hose tubular metal resonator can be well fixed inboard, later on reclosing rotation semicircle piece and fixed semicircle piece, and fix through set screw, thus play fine support dynamics when using, make more convenient when removing the use, and when fixing, because of the inboard a week of rotation semicircle piece and fixed semicircle piece is provided with anti-skidding rubber, therefore, the friction coefficient of the anti-slip rubber is higher, so that the anti-slip rubber is more compact in fixing.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:
fig. 1 is a schematic structural view of the fire-fighting robot based on the binocular depth of field and the secondary image algorithm provided by the utility model;
fig. 2 is a schematic structural view of a water belt fixer according to the present invention;
fig. 3 is a schematic structural view of the pulley set provided by the present invention;
fig. 4 is a schematic diagram of a control module according to the present invention;
fig. 5 is a schematic view of the processing module according to the present invention;
in the figure: 1. a receiving antenna; 2. a thermal imaging detector; 3. a drive pipe mechanism; 4. a drive motor; 5. a water spray outlet; 6. a track drive wheel; 7. a pulley block; 71. side rollers; 72. fixing the circular ring; 73. connecting the shaft lever; 8. a metal body; 9. a camera; 10. a transmission antenna; 11. a water inlet pipe; 12. a water belt fixer; 121. rotating the semicircular block; 122. anti-skid rubber; 123. fixing the shaft column; 124. a set screw; 125. fixing the semicircular block; 126. connecting a supporting block; 13. a status indicator light; 14. an electronic box body; 15. track protective housing.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution:
the fire-fighting robot based on the binocular depth of field and the secondary image algorithm comprises a crawler driving wheel 6 and a metal machine body 8, wherein the crawler driving wheel 6 is fixedly arranged on two sides of the metal machine body 8, a crawler wheel group 7 is arranged in front of the inside of the crawler driving wheel 6, a crawler protection shell 15 is arranged on the outer side of the crawler driving wheel 6, an electric box machine body 14 is arranged on the rear side of the upper end of the metal machine body 8, a state prompt lamp 13 is arranged on the right side of the electric box machine body 14, a thermal imaging detector 2 is arranged on the left side of the electric box machine body 14, a camera 9 is arranged on the upper end of the electric box machine body 14, a receiving antenna 1 is arranged on the metal machine body 8 on the left side of the camera 9, a conveying antenna 10 is arranged on the metal machine body 8 on the right side of the camera 9, a transmission pipeline mechanism 3, a water spray outlet 5 is arranged in the middle of the front end of the transmission pipeline mechanism 3, a water inlet pipeline 11 is arranged at the rear end of the transmission pipeline mechanism 3, and a water belt fixer 12 is arranged below the water inlet pipeline 11 and on the metal machine body 8.
Further, the water belt fixer 12 includes a rotating semicircular block 121, anti-slip rubber 122, a fixed stud 123, a fixing screw 124, a fixed semicircular block 125 and a connection support block 126, the lower end of the fixed semicircular block 125 is provided with the connection support block 126, the left side of the fixed semicircular block 125 is provided with the rotating semicircular block 121, the joint of the rotating semicircular block 121 and the fixed semicircular block 125 is provided with the fixed stud 123, the rotating semicircular block 121 and the fixed semicircular block 125 are fixedly connected through the fixing screw 124, the inner side circumference of the rotating semicircular block 121 and the fixed semicircular block 125 is provided with the anti-slip rubber 122, and the connection support block 126 is connected to the metal machine body 8. Connection supporting shoe 126 of water band fixer 12 passes through screwed connection on metal organism 8, it is more convenient when installation and dismantlement like this, and when using, through loosening set screw 124, thereby make to rotate semicircle piece 121 and rotate on fixed semicircle piece 125 through fixed jack-post 123, make outside fire hose metal pipe can be fine fixed in the inboard like this, later at closed rotation semicircle piece 121 and fixed semicircle piece 125 again, and fix through set screw 124, play fine support dynamics when using like this, it is more convenient when removing the use, and when fixed, be provided with anti-skidding rubber 122 because of the inboard a week of rotating semicircle piece 121 and fixed semicircle piece 125, thereby pass through the coefficient of friction of anti-skidding rubber 122, make inseparabler when fixed.
Further, pulley set 7 includes side gyro wheel 71, fixed ring 72 and connecting shaft rod 73, and the both ends of connecting shaft rod 73 are provided with fixed ring 72, and outside a week of fixed ring 72 is provided with side gyro wheel 71, and side gyro wheel 71 is connected on crawler drive wheel 6. The side roller 71 of the belt wheel set 7 is connected to the crawler driving wheel 6, so that the belt wheel can be well driven to use when in use, and the side roller 71 is fixed on the outer circumference of the fixed rings 72 at the two ends of the connecting shaft rod 73, so that the belt wheel set is more stable when in use.
Furthermore, the crawler driving wheel 6 includes, in addition to the pulley group 7, a transmission conveying mechanism, a seal bearing seat, a supporting wheel suspension mechanism, a guide wheel mechanism, a transmission shaft, a driving wheel, i.e., a pulley, a rear wheel, a crawler, and the like. Therefore, the mobile phone is more stable in moving use and more convenient in use.
Further, the crawler belt protecting cases 15 are provided in total two, and the crawler belt protecting cases 15 are all symmetrically provided on the outer side of the crawler belt driving wheel 6. When the crawler belt protective shell is used, the inside of the crawler belt protective shell 15 is not easy to damage by external objects, and the service life of the whole crawler belt protective shell is prolonged.
Further, the transmission pipeline mechanism 3 and the metal machine body 8 are fixedly connected through screws, and the driving motor 4 on the outer side of the transmission pipeline mechanism 3 is electrically connected with the electric box machine body 14 through a connecting wire. Like this it is more convenient when the installation is fixed, and when using, through the driving motor 4 in the 3 outsides of transmission pipe mechanism for 3 inside pipes of messenger's transmission pipe mechanism that can be fine deflect, make more convenient when carrying out the fire control and use.
Further, the metal machine body 8 and the electronic box machine body 14 are fixedly connected by welding, and the outer side connecting position of the metal machine body 8 and the electronic box machine body 14 is on the same straight line. Through welded fixed connection like this for fixed connection is more firm, and when using, because of metal organism 8 and electronic box organism 14 outside junction is on same straight line, can not take place to obstruct when using like this for it is more convenient when using.
The utility model discloses a theory of operation and use flow: the utility model discloses install the back, just can use on taking the assigned position with the fire-fighting robot based on two mesh depth of field and secondary image algorithm. When the robot is used, the fire-fighting robot based on the binocular field depth and the secondary image algorithm is charged, so that the robot has good cruising ability.
When in use, a person fixes an external fire hose on the water inlet pipeline 11, then the external fire hose is reinforced and fixed through the hose fixer 12, the water belt fixer 12 is composed of a rotary semicircular block 121, an anti-slip rubber 122, a fixing shaft column 123, a fixing screw 124, a fixing semicircular block 125 and a connecting support block 126, so that when in use, by loosening the fixing screw 124, thereby causing the rotating half block 121 to rotate on the fixed half block 125 through the fixed shaft post 123, so that the metal pipe of the external fire hose can be well fixed at the inner side, and then the rotating semicircular block 121 and the fixed semicircular block 125 are closed again, and is fixed by a fixing screw 124, and at the time of fixing, because the inner circumference of the rotating semicircular block 121 and the fixed semicircular block 125 is provided with the anti-slip rubber 122, so that it is more compact when fixed by the friction coefficient of the anti-slip rubber 122. Like this when 8 inside motors of metal engine body drive track drive wheel 6 when removing more stable to can be fine reach the fire control effect. When carrying out the fire control, personnel pass through external control device to take place information, make information received by receiving antenna 1, the chip of 8 inside metal engine bodies will be handled like this, make fire-fighting robot correspond corresponding action. And form images according to the heat source point when thermal imaging detector 2, detect the fire source point after, later carry out secondary environment through camera 9 and confirm, later inside chip obtains accurate information according to the secondary image algorithm, thereby carry data through carrying antenna 10, make outside personnel distinguish the cubic like this, after confirming information like this, driving motor 4 drives transmission pipeline mechanism 3 and rotates, and 8 inside chips of metal organism make transmission pipeline mechanism 3 open solenoid valve, thereby make the water source spray 5 through the water pipe of transmission pipeline mechanism 3 and jet and put out a fire. Thermal imaging detector 2 images according to the heat source point after, and camera 9 carries out the secondary environment and confirms to whether reach the completion of putting out a fire, if accomplish, then the chip makes the closed solenoid valve of transmission pipeline mechanism 3, makes like this when using, reaches the effect of water economy resource.
And when the fire-fighting robot breaks down, the state indicator lamp 13 on the outer side of the electric box machine body 14 can flash, so that the personnel is prompted to maintain.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Fire-fighting robot based on binocular depth of field and secondary image algorithm, including crawler drive wheel (6) and metal organism (8), its characterized in that: the crawler belt driving wheel (6) is fixedly arranged on two sides of a metal machine body (8), a belt wheel set (7) is arranged in front of the inside of the crawler belt driving wheel (6), a crawler belt protective shell (15) is arranged on the outer side of the crawler belt driving wheel (6), an electric box machine body (14) is arranged on the rear side of the upper end of the metal machine body (8), a state prompt lamp (13) is arranged on the right side of the electric box machine body (14), a thermal imaging detector (2) is arranged on the left side of the electric box machine body (14), a camera (9) is arranged on the upper end of the electric box machine body (14), a receiving antenna (1) is arranged on the metal machine body (8) on the left side of the camera (9), a conveying antenna (10) is arranged on the metal machine body (8) on the right side of the camera (9), and a transmission pipeline mechanism (3) is arranged on the metal machine body (, the water spraying device is characterized in that a driving motor (4) is arranged on the outer side of the transmission pipeline mechanism (3), a water spraying outlet (5) is arranged in the middle of the front end of the transmission pipeline mechanism (3), a water inlet pipeline (11) is arranged at the rear end of the transmission pipeline mechanism (3), and a water belt fixer (12) is arranged below the water inlet pipeline (11) and on the metal machine body (8).
2. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the water belt fixer (12) comprises a rotating semicircular block (121), anti-skid rubber (122), a fixed shaft column (123), a fixing screw (124), a fixed semicircular block (125) and a connecting supporting block (126), wherein the lower end of the fixed semicircular block (125) is provided with the connecting supporting block (126), the left side of the fixed semicircular block (125) is provided with the rotating semicircular block (121), the joint of the rotating semicircular block (121) and the fixed semicircular block (125) is provided with the fixed shaft column (123), the rotating semicircular block (121) and the fixed semicircular block (125) are fixedly connected through the fixing screw (124), the anti-skid rubber (122) is arranged on one circle of the inner sides of the rotating semicircular block (121) and the fixed semicircular block (125), and the connecting supporting block (126) is connected to the metal machine body (8).
3. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the belt wheel set (7) comprises side rollers (71), fixed rings (72) and a connecting shaft rod (73), the fixed rings (72) are arranged at two ends of the connecting shaft rod (73), the side rollers (71) are arranged on the outer periphery of the fixed rings (72), and the side rollers (71) are connected to the crawler driving wheel (6).
4. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the crawler driving wheel (6) comprises a transmission conveying mechanism, a sealing bearing seat, a supporting wheel suspension mechanism, a guide wheel mechanism, a transmission shaft, a driving wheel, namely a belt wheel, a rear wheel and a crawler except for the belt wheel set (7).
5. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the crawler belt protective housing (15) is provided with two, and the crawler belt protective housing (15) is symmetrically arranged on the outer side of the crawler belt driving wheel (6).
6. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the transmission pipeline mechanism (3) is fixedly connected with the metal machine body (8) through screws, and the driving motor (4) on the outer side of the transmission pipeline mechanism (3) is electrically connected with the electric box machine body (14) through a connecting wire.
7. A fire fighting robot based on binocular depth of field and secondary image algorithm as recited in claim 1, wherein: the metal machine body (8) and the electric box machine body (14) are fixedly connected through welding, and the outer side connecting positions of the metal machine body (8) and the electric box machine body (14) are located on the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920488431.5U CN210170720U (en) | 2019-04-12 | 2019-04-12 | Fire-fighting robot based on binocular field depth and secondary image algorithm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920488431.5U CN210170720U (en) | 2019-04-12 | 2019-04-12 | Fire-fighting robot based on binocular field depth and secondary image algorithm |
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| CN210170720U true CN210170720U (en) | 2020-03-24 |
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| CN201920488431.5U Expired - Fee Related CN210170720U (en) | 2019-04-12 | 2019-04-12 | Fire-fighting robot based on binocular field depth and secondary image algorithm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112870601A (en) * | 2021-01-13 | 2021-06-01 | 中冶长天国际工程有限责任公司 | Method and system for secondary fire extinguishing and cooling treatment of high-temperature activated carbon |
| CN112870913A (en) * | 2021-01-13 | 2021-06-01 | 中冶长天国际工程有限责任公司 | Method and system for extinguishing fire and reducing temperature of active carbon of front discharge hopper of adsorption tower |
-
2019
- 2019-04-12 CN CN201920488431.5U patent/CN210170720U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112870601A (en) * | 2021-01-13 | 2021-06-01 | 中冶长天国际工程有限责任公司 | Method and system for secondary fire extinguishing and cooling treatment of high-temperature activated carbon |
| CN112870913A (en) * | 2021-01-13 | 2021-06-01 | 中冶长天国际工程有限责任公司 | Method and system for extinguishing fire and reducing temperature of active carbon of front discharge hopper of adsorption tower |
| CN112870601B (en) * | 2021-01-13 | 2022-08-16 | 中冶长天国际工程有限责任公司 | Method and system for secondary fire extinguishing and cooling treatment of high-temperature activated carbon |
| CN112870913B (en) * | 2021-01-13 | 2023-02-10 | 中冶长天国际工程有限责任公司 | Method and system for extinguishing fire and reducing temperature of active carbon of front discharge hopper of adsorption tower |
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| CF01 | Termination of patent right due to non-payment of annual fee |