CN213964918U - Unmanned indoor intelligent fire-fighting robot - Google Patents
Unmanned indoor intelligent fire-fighting robot Download PDFInfo
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- CN213964918U CN213964918U CN202022420272.0U CN202022420272U CN213964918U CN 213964918 U CN213964918 U CN 213964918U CN 202022420272 U CN202022420272 U CN 202022420272U CN 213964918 U CN213964918 U CN 213964918U
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Abstract
The utility model discloses an unattended indoor intelligent fire-fighting robot, which comprises a control module, a driving module, a mobile chassis, a multi-degree-of-freedom mechanical arm, a fire extinguishing system, an infrared high-definition camera, an infrared thermal imager, a laser radar and an audible and visual alarm, wherein the control module comprises a main controller, a communication module and a navigation module, and communication connection is established among the modules; the multi-degree-of-freedom mechanical arm, the fire extinguishing system, the infrared high-definition camera, the infrared thermal imager and the audible and visual alarm are fixedly arranged at the top of the movable chassis, and the laser radar is arranged at the front end of the movable chassis. The utility model discloses to the prediction monitoring level that improves information computer lab electric fire hidden danger, strengthen having better effect to the on-the-spot real-time dynamic monitoring of conflagration ability of putting out.
Description
Technical Field
The utility model relates to a fire-fighting robot technical field specifically is an unmanned on duty's indoor intelligent fire-fighting robot.
Background
At present, along with the development of an electric power system, more devices are newly added in an information machine room of a power supply office, meanwhile, along with the increase of service life of the devices, a fire disaster is easily caused by device faults, insulation aging, overload overcurrent, spontaneous combustion or external factors, the devices are damaged at low cost, power supply interruption, personal casualty accidents and the like are caused at high cost, and negative effects are caused on production and life. At present, fire-fighting facilities of an information machine room mainly comprise an automatic fire alarm system, a hexafluoropropane fire extinguishing system, a fireproof plug, a small number of mobile fire extinguishing systems and the like, and meanwhile, daily routing inspection of the information machine room is carried out once a day, but the existing fire-fighting facilities are poor in bearing capacity, slow in reaction and moving speed, not in place in a self security system, and only when an open fire occurs, the device can give an alarm, cannot monitor the field fire condition and the early warning function, and cannot realize fixed-point timely fire extinguishing. In order to improve the prediction monitoring level of the electric fire hazard of the information machine room and enhance the real-time dynamic monitoring and extinguishing capability of the fire scene, the intelligent fire-fighting robot is especially important to use.
Disclosure of Invention
An object of the utility model is to provide an unmanned on duty's indoor intelligent fire-fighting robot to solve the problem that proposes in the above-mentioned background art.
The technical scheme of the utility model is that: an unattended indoor intelligent fire-fighting robot comprises a control module, a driving module, a mobile chassis, a multi-degree-of-freedom mechanical arm, a fire extinguishing system, an infrared high-definition camera, an infrared thermal imager, a laser radar and an audible and visual alarm, wherein the control module comprises a main controller, a communication module and a navigation module, and communication connection is established among the modules; the multi-degree-of-freedom mechanical arm, the fire extinguishing system, the infrared high-definition camera, the infrared thermal imager and the audible and visual alarm are fixedly arranged at the top of the movable chassis, and the laser radar is arranged at the front end of the movable chassis.
Furthermore, the movable chassis is a four-wheel-drive differential steering robot movable chassis and consists of four tires, a wheel edge fixing structure, a vehicle body, an installation platform and an anti-collision rod; the tire is a maintenance-free shock-absorbing explosion-proof tire, a sealing ring is arranged between the vehicle body and the mounting platform to seal the vehicle body, high IP grade is guaranteed, and a power driving module is arranged in the vehicle body. The tire is a maintenance-free shock-absorbing explosion-proof tire.
Further, the main controller takes an embedded processor as a core.
Furthermore, the multi-degree-of-freedom mechanical arm adopts a serial joint structure mode and comprises a waist joint, a shoulder joint, a large arm, an elbow joint, a small arm, a wrist joint, an electromagnetic chuck and a fire extinguisher nozzle, wherein the waist joint is connected with the robot body through a first rotating shaft, the shoulder joint is connected with the waist joint through a second rotating shaft, the large arm is connected with the shoulder joint through a third rotating shaft, the elbow joint is connected with the large arm through a fourth rotating shaft, the small arm is connected with the elbow joint through a fifth rotating shaft, and the wrist joint is connected with the small arm through a sixth rotating shaft; the waist joint drives the whole mechanical arm to freely rotate at 270 degrees in the horizontal direction; the shoulder joint drives the part above the large arm to perform pitching motion of the mechanical arm, and the degree of freedom of the joint is 90 degrees; the elbow joint drives the forearm and the paw to move, and the degree of freedom is 180 degrees; the wrist joint has two degrees of freedom and can extend and rotate by 360 degrees;
furthermore, the fire extinguishing system is a hexafluoropropane fire extinguishing system, and a nozzle of a nozzle fire extinguisher is clamped by a mechanical arm to operate; the fire extinguishing system consists of a fire extinguishing agent bottle group, a container valve, a one-way valve, a driving device, a collecting pipe, a connecting pipe, a fire extinguisher nozzle, a signal feedback device, a safety relief device, a control panel, a leakage detecting device, a pipeline pipe fitting and a hook support. The fire extinguishing agent bottle group is arranged in the vehicle body, the container valve is installed on the fire extinguishing agent bottle, the container valve is connected with the collecting pipe through a connecting pipe, the collecting pipe collects fire extinguishing agents of a plurality of fire extinguishing agent bottles together, the one-way valve is installed between the connecting pipe and the collecting pipe and prevents the fire extinguishing agents from flowing backwards from the collecting pipe to the fire extinguishing agent bottle group, the signal feedback device is installed on a fire extinguishing agent releasing pipeline and converts pressure or flow signals released by the fire extinguishing agents into electric signals and feeds the electric signals back to the control center safety relief device to be installed on the container valve so as to prevent the bottle group and the fire extinguishing agent pipeline from exploding when being abnormally pressed, the leak detection device and the fire extinguishing agent bottle body are used for monitoring pressure or quality loss of media in the bottle group, and the hook support is installed at the tail end of the mechanical arm and used for fixing a fire extinguishing agent nozzle.
Further, the laser radar is composed of a shell, a laser transmitting and receiving device, an optical component and a photosensitive component, wherein a transmission area is arranged on the shell, the laser transmitting and receiving device is arranged in the transmission area and used for transmitting laser and receiving reflected laser reflected by an object in a scanned area, the optical component comprises a plurality of reflectors with different included angles with a horizontal plane, the reflectors deflect the laser transmitted by the transmitting device and emit the laser to the scanning area at different angles, the reflected laser reflected by the object in the scanning area is deflected to the receiving device, and the photosensitive component is connected with the laser transmitting and receiving device, converts the received optical signals into digital signals and transmits the digital signals to a controller for navigation and obstacle avoidance.
The utility model provides a robot uses embedded treater as control core, mainly accomplishes vehicle route planning, navigation and anticollision control, and the arm position is calculated and control, image processing, infrared detection and position calculation, is accomplished and is interacted with the interior smog detection system data of rack, with data analysis system interaction etc.. The robot has two basic working modes, wherein one mode is that the robot waits at a charging position and arrives at a designated position to confirm and open fire after receiving a fire; one is to perform patrol once every a period of time according to the set patrol, and the patrol can continuously work for 4-6 hours. The device is suitable for the early warning and extinguishing of the indoor fire condition without the help of people. The method has good effects of improving the prediction monitoring level of the electric fire hazard of the information machine room and strengthening the real-time dynamic monitoring and extinguishing capability of a fire scene.
Drawings
FIG. 1 is an overall structure diagram of the present invention;
the reference numbers in the figures are: 1-moving chassis, 1-1-tire, 1-2-wheel edge fixing structure, 1-3-vehicle body, 1-4-mounting platform, 1-5-bumper bar, 2-multi-degree-of-freedom mechanical arm, 2-1-waist joint, 2-2-shoulder joint, 2-3-big arm, 2-4-elbow joint, 2-5-small arm, 2-6-wrist joint, 2-7-electromagnetic chuck, 2-8-fire extinguisher nozzle, 3-fire extinguishing system, 4-infrared high-definition camera, 5-infrared thermal imager, 6-laser radar and 7-audible and visual alarm.
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.
Example 1:
as shown in fig. 1, an unattended indoor intelligent fire-fighting robot comprises a control module, a driving module, a mobile chassis 1, a multi-degree-of-freedom mechanical ARM 2, a fire extinguishing system 3, an infrared high-definition camera 4, an infrared thermal imager 5, a laser radar 6 and an audible and visual alarm 7, wherein the control module comprises a main controller, a communication module and a navigation module, communication connection is established among the modules, the main controller is based on an OMAP-L138 processor of a TI company and adopts a dual-core embedded processor mode of a DSP + ARM framework, so that the embedded sensing system has the advantages of high digital signal processing performance of a DSP and reduced instruction computer (RISC) technology, the communication module adopts a serial port communication transmission mode of an RS485 mode, and the navigation module adopts a laser navigation mode; the multi-degree-of-freedom mechanical arm 2, the fire extinguishing system 3, the infrared high-definition camera 4, the infrared thermal imager 5 and the audible and visual alarm 7 are fixedly arranged at the top of the movable chassis 1, wherein the laser radar 6 is arranged at the front end of the movable chassis 1.
The moving chassis 1 is a four-wheel-drive differential steering robot moving chassis and consists of four tires 1-1, wheel edge fixing structures 1-2, a vehicle body 1-3, an installation platform 1-4 and an anti-collision rod 1-5; the tire 1-1 is a maintenance-free shock-absorbing explosion-proof tire. And a sealing ring is arranged between the vehicle body and the mounting platform to seal the vehicle body and the mounting platform, so that the high IP grade is ensured. A power driving module is arranged in the vehicle body.
The multi-degree-of-freedom mechanical arm 2 adopts a serial joint structure mode and consists of a waist joint 2-1, a shoulder joint 2-2, a big arm 2-3, an elbow joint 2-4, a small arm 2-5, a wrist joint 2-6, an electromagnetic chuck 2-7 and a fire extinguisher nozzle 2-8, the waist joint 2-1 is connected with the robot vehicle body through a first rotating shaft, the shoulder joint 2-2 is connected with the waist joint 2-1 through a second rotating shaft, the big arm 2-3 is connected with the shoulder joint 2-2 through a third rotating shaft, the elbow joint 2-4 is connected with the big arm 2-3 through a fourth rotating shaft, the small arms 2-5 are connected with the elbow joints 2-4 through a fifth rotating shaft, and the wrist joints 2-6 are connected with the small arms 2-5 through a sixth rotating shaft. The waist joint 2-1 drives the whole mechanical arm to freely rotate at 270 degrees in the horizontal direction; the shoulder joint 2-2 drives the part above the large arm 2-3 to perform pitching motion of the mechanical arm, and the degree of freedom of the joint is 90 degrees; the elbow joint 2-4 drives the forearm to move, and the degree of freedom is 180 degrees; the wrist joints 2-6 have two degrees of freedom, both telescopic and 360 ° rotational. When the electrostatic floor is on fire, the electromagnetic chucks 2-7 detect the fire point through a sensor arranged under the electrostatic floor, and the robot moves the floor to extinguish the fire through the chuck manipulator after reaching the fire point.
And the infrared high-definition camera 4, the infrared thermal imager 5 and the audible and visual alarm 7 are used for detecting and alarming dangerous points. The infrared high-definition camera 4 adopts a night vision technology and is not influenced by illumination, weather and other illumination.
The laser radar 6 comprises a shell, a laser transmitting and receiving device, an optical component and a photosensitive component, wherein a transmission area is arranged on the shell, the laser transmitting and receiving device is arranged in the transmission area and used for transmitting laser and receiving reflected laser reflected by an object in a scanned area, the optical component comprises a plurality of reflectors with different included angles with a horizontal plane, the reflectors deflect the laser transmitted by the transmitting device and then emit the laser to the scanned area at different angles, the reflected laser reflected by the object in the scanned area is deflected to the receiving device, and the photosensitive component is connected with the laser transmitting and receiving device and converts a received optical signal into a digital signal and transmits the digital signal to a controller. The method is used for navigation and obstacle avoidance.
The fire extinguishing system 3 is a hexafluoropropane fire extinguishing system, and the mechanical arm clamps the nozzle of the nozzle fire extinguisher 2-8 for operation; the fire extinguishing system consists of a fire extinguishing agent bottle group, a container valve, a one-way valve, a driving device, a collecting pipe, a connecting pipe, a nozzle, a signal feedback device, a safety relief device, a control panel, a leakage detecting device, a pipeline pipe fitting and a lifting hook support. The fire extinguishing agent bottle group is arranged in the vehicle body 1-3, the container valve is installed on the fire extinguishing agent bottles, the container valve is connected with the collecting pipe through a connecting pipe, the collecting pipe collects fire extinguishing agents of a plurality of fire extinguishing agent bottles together, the one-way valve is installed between the connecting pipe and the collecting pipe and prevents the fire extinguishing agents from flowing backwards from the collecting pipe to the fire extinguishing agent bottle group, the signal feedback device is installed on a fire extinguishing agent releasing pipeline and converts pressure or flow signals released by the fire extinguishing agents into electric signals and feeds the electric signals back to the control center safety relief device to be installed on the container valve so as to prevent the bottle group and the fire extinguishing agent pipeline from exploding when the bottles and the fire extinguishing agent pipeline are abnormally pressed, the leak detection device and the fire extinguishing agent bottles are used for monitoring pressure or mass loss of media in the bottle group, and the hook support is installed at the tail end of the mechanical arm and used for fixing a fire extinguishing agent nozzle.
The utility model discloses a working process is: the robot has two basic working modes, one mode is waiting at a charging position, when a detector in a cabinet body sends out fire early warning, the robot is started to go to an alarm point, the infrared high-definition camera 4 and the infrared thermal imager 5 are used for positioning a fire source point, image recognition is carried out on flame, a real fire occurrence point is judged, a container valve on a driving gas bottle group is started to release driving gas, then (or simultaneously) the container valve of a jacking pressing unit gas bottle group is opened, the pressurized gas enters a fire extinguishing agent bottle group through pressure reduction, the pressurized fire extinguishing agent is collected to a collecting pipe through a connecting pipe, reaches a fire extinguishing agent nozzle through the connecting pipe, and is matched with a control mechanical arm to spray and extinguish the fire source position; one is that the robot is patrolled at intervals according to the set patrol, the battery-powered once-charging endurance capacity is 4-6 h, and the robot is required to stably and reliably work within the endurance time. The battery is charged for one time within 4 h.
The present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (6)
1. The utility model provides an indoor intelligent fire-fighting robot of unmanned on duty which characterized in that: the fire extinguishing system comprises a control module, a driving module, a mobile chassis (1), a multi-degree-of-freedom mechanical arm (2), a fire extinguishing system (3), an infrared high-definition camera (4), an infrared thermal imager (5), a laser radar (6) and an acousto-optic alarm (7), wherein the control module comprises a main controller, a communication module and a navigation module, and communication connection is established among the modules; the multi-degree-of-freedom mechanical arm (2), the fire extinguishing system (3), the infrared high-definition camera (4), the infrared thermal imager (5) and the audible and visual alarm (7) are fixedly arranged at the top of the movable chassis (1), and the laser radar (6) is arranged at the front end of the movable chassis (1).
2. The intelligent unattended indoor fire-fighting robot according to claim 1, wherein: the moving chassis (1) is a four-wheel-drive differential steering robot moving chassis and consists of four tires (1-1), wheel edge fixing structures (1-2), a vehicle body (1-3), an installation platform (1-4) and an anti-collision rod (1-5); the tyre (1-1) is a maintenance-free shock-absorbing explosion-proof tyre, a sealing ring is arranged between the vehicle body (1-3) and the mounting platform (1-4) to seal the tyre, so that the high IP grade is ensured, and a power driving module is arranged in the vehicle body.
3. The intelligent unattended indoor fire-fighting robot according to claim 1, wherein: the control module takes an embedded processor as a core.
4. The intelligent unattended indoor fire-fighting robot according to claim 1 or 2, wherein: the multi-degree-of-freedom mechanical arm (2) adopts a serial joint structure mode, each joint adopts a rotating shaft transmission structure and consists of a waist joint (2-1), a shoulder joint (2-2), a large arm (2-3), an elbow joint (2-4), a small arm (2-5), a wrist joint (2-6), an electromagnetic chuck (2-7) and a fire extinguisher nozzle (2-8); the waist joint (2-1) is connected with a robot vehicle body through a first rotating shaft, the shoulder joint (2-2) is connected with the waist joint (2-1) through a second rotating shaft, the large arm (2-3) is connected with the shoulder joint (2-2) through a third rotating shaft, the elbow joint (2-4) is connected with the large arm (2-3) through a fourth rotating shaft, the small arm (2-5) is connected with the elbow joint (2-4) through a fifth rotating shaft, and the wrist joint (2-6) is connected with the small arm (2-5) through a sixth rotating shaft; the waist joint (2-1) drives the whole mechanical arm to freely rotate at 270 degrees in the horizontal direction; the shoulder joint (2-2) drives the part above the large arm (2-3) to perform pitching motion of the mechanical arm, and the degree of freedom of the joint is 90 degrees; the elbow joint (2-4) drives the forearm to move, and has 180-degree freedom; the wrist joints (2-6) have two degrees of freedom and can be extended and rotated by 360 degrees.
5. The intelligent unattended indoor fire-fighting robot according to claim 1, wherein: the fire extinguishing system (3) is a hexafluoropropane fire extinguishing system, and the mechanical arm clamps the nozzle of the nozzle fire extinguisher (2-8) for operation; the fire extinguishing system consists of a fire extinguishing agent bottle group, a container valve, a one-way valve, a driving device, a collecting pipe, a connecting pipe, a nozzle, a signal feedback device, a safety relief device, a leakage detecting device, a pipeline pipe fitting and a hook bracket; the fire extinguishing agent bottle group is arranged in the vehicle body (1-3), the container valve is installed on the fire extinguishing agent bottle, the container valve is connected with the collecting pipe through a connecting pipe, the collecting pipe collects fire extinguishing agents of a plurality of fire extinguishing agent bottles together, the one-way valve is installed between the connecting pipe and the collecting pipe and prevents the fire extinguishing agents from flowing backwards from the collecting pipe to the fire extinguishing agent bottle group, the signal feedback device is installed on a fire extinguishing agent releasing pipeline and converts pressure or flow signals released by the fire extinguishing agents into electric signals and feeds the electric signals back to the control center safety relief device to be installed on the container valve so as to prevent the bottle group and the fire extinguishing agent pipeline from exploding when the bottle group and the fire extinguishing agent pipeline are abnormally pressed, the leak detection device and the fire extinguishing agent bottle body are used for monitoring pressure or mass loss of media in the bottle group, and the hook support mechanical arm is installed at the tail end and used for fixing a fire extinguishing agent nozzle.
6. The intelligent unattended indoor fire-fighting robot according to claim 1, wherein: the laser radar (6) is composed of a shell, a laser transmitting and receiving device, an optical component and a photosensitive component, wherein a transmission area is arranged on the shell, the laser transmitting and receiving device is arranged in the transmission area and used for transmitting laser and receiving reflected laser reflected by an object in a scanned area, the optical component comprises a plurality of reflectors with different included angles with a horizontal plane, the reflectors deflect the laser transmitted by the transmitting device and then emit the laser to the scanned area at different angles, the reflected laser reflected by the object in the scanned area is deflected to the receiving device, and the photosensitive component is connected with the laser transmitting and receiving device and converts received optical signals into digital signals and transmits the digital signals to a controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022420272.0U CN213964918U (en) | 2020-10-27 | 2020-10-27 | Unmanned indoor intelligent fire-fighting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022420272.0U CN213964918U (en) | 2020-10-27 | 2020-10-27 | Unmanned indoor intelligent fire-fighting robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN114152282A (en) * | 2021-11-15 | 2022-03-08 | 国网黑龙江省电力有限公司信息通信公司 | Communication machine room automatic inspection equipment capable of fault positioning |
-
2020
- 2020-10-27 CN CN202022420272.0U patent/CN213964918U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN114152282A (en) * | 2021-11-15 | 2022-03-08 | 国网黑龙江省电力有限公司信息通信公司 | Communication machine room automatic inspection equipment capable of fault positioning |
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