CN2799194Y - Sensor device for task execution of fire-fighting robot - Google Patents
Sensor device for task execution of fire-fighting robot Download PDFInfo
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- CN2799194Y CN2799194Y CN 200520042798 CN200520042798U CN2799194Y CN 2799194 Y CN2799194 Y CN 2799194Y CN 200520042798 CN200520042798 CN 200520042798 CN 200520042798 U CN200520042798 U CN 200520042798U CN 2799194 Y CN2799194 Y CN 2799194Y
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- fire
- input module
- fighting robot
- analog quantity
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Abstract
The utility model relates to a sensor device for task execution of a fire-fighting robot, which is composed of an internal sensor, an external sensor, a, PLC analog input module and an, EM331 analog input module. The utility model is mainly used for protecting a fire-fighting robot body, detecting the type, the concentration and the variation tendency of poisonous and combustible gas in a hazardous area, detecting the radiation heat in a hazardous area, the on-site temperature, detecting whether obstacles appear during walking, etc. The information of the fire-fighting robot body and the peripheral environment can be better known by the sensor information, and a fire-fighting robot can easily finish the detection and the reconnaissance tasks in a dangerous hazard site, such as an inflammable site, an easy-explosive site, a toxic site, a harmful site, an easy-collapse site, etc.; the problem that information can not be fed back at real time and the problems of personal safety, reconnaissance time limitation, insufficient data collection, etc., are efficiently solved.
Description
Technical field
The utility model is a fire-fighting robot task sensor device, relates to fire-fighting robot.Be mainly used in and survey the fire-fighting robot parameter relevant with site environment.
Background technology
In recent years, the inflammable and explosive and hypertoxic chemicals that relates in China's industrial production, the storage and transport process increases sharply, because aspects such as equipment and management cause the accident potential of leakage of Hazardous Chemical Substances and radioactive substance and burning, blast more and more.Not carried out taking action blindly under the situation of abundant detection and analysis in the scene, not only can not achieve the desired result, and tend to cause the sacrifice of innocent life, pay heavy cost.Robot can substitute fire-fighting and rescue personnel remote control and enter inflammable, explosive, poisonous, harmful, the easy indoor and outdoor hazards scenes such as building, bulk storage plant stacking, anoxic, dense smoke, radioactivity that cave in, carry out the scene and survey, scout, and can carry out the instant processing and the real-time Transmission of Information Monitoring (image, voice, data).Solve personal safety that the fire fighter faced in above-mentioned place, restriction reconnaissance time, data acquisition quantity not sufficient and problem such as feedback information in real time effectively.Be starved of such fire-fighting robot at present, but domestic also there is not this series products.
Summary of the invention
The purpose of this utility model provide a kind of simple in structure, cost is not high, fire-fighting robot task sensor device safely and effectively.
The task sensor device of the fire-fighting robot that the utility model proposes is formed (as shown in Figure 1) by internal sensor, external sensor and PLC analog quantity input module 100, EM331 analog quantity input module 101.Wherein, internal sensor is used for the related parameter that has of sniffing robot oneself state, comprises body obliquity sensor QX, the limit position sensor DW of executing agency, control cabinet internal temperature sensor WD1, velocity sensor SD, under-voltage sensor QY; External sensor is used for testing object, environment and fire-fighting robot and their relation, comprises obstacle detection sensor JL, environment temperature sensor WD, caloradiance sensor FS, flammable, toxic gas sensor QT; Body obliquity sensor QX connects the 2-2 pin of PLC analog quantity input module, the limit position sensor DW1 of executing agency, DW2 connects the 1-22 pin and the 1-23 pin of PLC analog quantity input module respectively, control cabinet internal temperature sensor WD1L is by the 1-14 of the connection PLC analog quantity input module of thermistor R1, the 1-15 pin, velocity sensor SD connects the 2-2 pin of PLC analog quantity input module, under-voltage sensor QY connects the 7-2 of EM331 analog quantity input module, the 7-4 pin, obstacle detection sensor JL1, JL2, JL3 connects the 1-6 of PLC analog quantity input module respectively, 1-9, the 1-12 pin, environment temperature sensor WD2 connects the 7-3 of EM331 analog quantity input module by thermistor R1, the 7-5 pin, radiation intensity sensor FS connects the 8-2 of EM331 analog quantity input module, the 8-4 pin, flammable, toxic gas sensor QT connects MODEM.
The course of work of the present utility model is: PLC is converted to data signal with this analog signals through A/D by program then by the analog value (curtage) of analog quantity input module read sensor.The PLC program is according to Design of device, with these sensor signals as triggering signal, every control function of start-up routine.For example obstacle sensor: PLC reads the analog value (4～20 milliamperes current signals) of this sensor by the analog quantity input module, by program this analog signals is converted to the data signal of 0.5 meter～8 meters distances then through A/D.According to Design of device, during apart from 5 meters on barrier, automatically the speed of travel is reduced to the low speed walking at fire-fighting reconnoitre robot, when 1 meter on distance barrier, stop walking automatically.
In the utility model, fire-fighting robot travel or the obstacle detouring process in, before and after itself inevitably will taking place or left and right directions tilt, if magnitude of inclination is excessive, overturn accident will take place, and for fear of the generation of this phenomenon, adopt obliquity sensor to detect fire-fighting robot body gradient.
In the utility model, the part executing agency of fire-fighting robot such as the extreme position of The Cloud Terrace can adopt two state values of ON/OFF of limit switch to detect.When moving part that the displacement or the masterpiece of regulation are used limit switch, the electrical contact of switch disconnects or connects, and by control device, makes executing agency make corresponding action.
In the utility model, fire-fighting robot is in the disaster work on the spot, and environment is abominable, inevitably will be subjected to temperature or thermal-radiating influence, adds the heating of the inner electric elements of control cabinet, might make the control cabinet internal temperature exceed allowed band.Can adopt internal temperature sensor to come Monitoring and Controlling case internal temperature, when temperature that its internal temperature approaches to stipulate, can in time report to the police, remind operating personnel in time to take measures.
In the utility model, the travel speed measurement is a requisite link in the driver FEEDBACK CONTROL, and functions such as speed governing, path memory will rely on it to finish.
In the utility model, fire-fighting robot uses battery as its power source, in use, continuous consumption along with electric weight, its supply voltage also will constantly descend, and detect as untimely, certainly will cause the device cisco unity malfunction or can not in time recall safe area.Use under-voltage sensor to detect battery feed voltage.
In the utility model, fire-fighting robot in the process of moving, inevitably to run into stopping of barrier, this moment is not if operating personnel note this situation, continuation is to former direction running, car accident will take place, and adopt the detection of obstacles sensor to guarantee the realization of fire-fighting robot anticollision function.
In the utility model, fire-fighting robot is in the disaster work on the spot, adopt temperature sensor and continuous collection disaster site environment temperature and the caloradiance of thermal radiation sensor, and the data after the transmission process rearward in real time, make the commanding in the rear personnel in time understand the temperature and the heat radiation situation at disaster scene, so that make a policy.But when fire-fighting robot tolerance range that the temperature and the caloradiance at disaster scene approaches to stipulate, also can in time report to the police simultaneously, remind operating personnel in time to take measures.
In the utility model, fire-fighting robot is in the disaster work on the spot, and collection disaster scene is flammable, the kind and the concentration of toxic gas, and sends it back the rear in real time, make the commanding in the rear personnel in time understand flammable, the toxic and harmful situation at disaster scene, so that make a policy.
The utility model be mainly used in survey the fire-fighting robot oneself state related parameter, disaster site environment parameter, the fire-fighting robot parameter relevant with site environment arranged, better understand the body of fire-fighting robot and the information of surrounding enviroment, make fire-fighting robot finish smoothly inflammable, explosive, poisonous, harmful, easily cave in etc. that hazards is on-the-spotly surveyed, reconnaissance mission, reach the purpose that fire-fighting is scouted.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Number in the figure: QX is the body obliquity sensor, DW1 is executing agency's limit position sensor 1, DW2 is executing agency's limit position sensor 2, WD1 is a control cabinet internal temperature sensor 1, WD2 is an environment temperature sensor 2, SD is a velocity sensor, QY is under-voltage sensor, JK1 is an obstacle detection sensor 1, and JK2 is an obstacle detection sensor 2, and JK3 is an obstacle detection sensor 3, WD2 is an environment temperature sensor, FS is the caloradiance sensor, and QT is flammable, toxic gas sensor, 100 is PLC analog quantity input module, 101 is EM331 analog quantity input module.
The specific embodiment
Further describe the utility model below by embodiment, but be not limited to present embodiment.
Adopt 0-100 ℃ temperature transmitter monitoring electric control box temperature, when internal temperature＞50 ℃, promptly rearward console sends warning message.
Adopt rotary encoder to be used as speed detection sensor SD.It and servomotor, brake, reducing gear are formed the servomotor driver element.
The voltage available comparator is finished the under-voltage detection task of battery as under-voltage sensor QY.
Can adopt limit switch to detect the extreme position of the part executing agency of fire-fighting robot such as camera lifting mechanism, The Cloud Terrace or fire-fighting robot as the limit position sensor DW of executing agency runs into fixing or the barrier that moves etc. in the process of moving.
Adopt the ultrasonic ranging sensor as obstacle detection sensor JK survey fire-fighting robot its advance or the direction that retreats on not barrier is arranged.The ultrasonic ranging sensor can be judged the distance between fire-fighting robot and the barrier, and fire-fighting robot will be made deceleration, stops or retreat etc. corresponding action automatically according to distance.
Adopt 0--300 ℃ temperature sensor and 0--15KW/m
2The continuous collection of thermal radiation sensor and handle disaster site environment temperature and caloradiance.
Acquisition sensor QT flammable, toxic gas adopts the AraeRAE mobile wireless transmission combined type five in one gas detecting instrument (PGM-5040) of two cover Hua Rui companies.So both avoided the phase mutual interference of sensor, the detection that can carry out multiple flammable, toxic gas had been arranged.Above-mentioned each parts adopt Fig. 1 mode to connect, and these those skilled in the art all can finish the enforcement of the utility model device smoothly.
Claims (1)
1, a kind of task sensor device of fire-fighting robot is characterized in that being made up of internal sensor, external sensor and PLC analog quantity input module (100), EM331 analog quantity input module (101); Wherein, internal sensor is the related parameter that has of sniffing robot oneself state, is made up of body obliquity sensor QX, the limit position sensor DW of executing agency, control cabinet internal temperature sensor WD1, velocity sensor SD, under-voltage sensor QY; External sensor is testing object, environment and fire-fighting robot and their relation, is made up of obstacle detection sensor JL, environment temperature sensor WD, caloradiance sensor FS, flammable, toxic gas sensor QT; Body obliquity sensor QX connects the 2-2 pin of PLC analog quantity input module, the limit position sensor DW1 of executing agency, DW2 connects the 1-22 pin and the 1-23 pin of PLC analog quantity input module respectively, control cabinet internal temperature sensor WD1L is by the 1-14 of the connection PLC analog quantity input module of thermistor R1, the 1-15 pin, velocity sensor SD connects the 2-2 pin of PLC analog quantity input module, under-voltage sensor QY connects the 7-2 of EM331 analog quantity input module, the 7-4 pin, obstacle detection sensor JL1, JL2, JL3 connects the 1-6 of PLC analog quantity input module respectively, 1-9, the 1-12 pin, environment temperature sensor WD2 connects the 7-3 of EM331 analog quantity input module by thermistor R1, the 7-5 pin, radiation intensity sensor FS connects the 8-2 of EM331 analog quantity input module, the 8-4 pin, flammable, toxic gas sensor QT connects MODEM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520042798 CN2799194Y (en) | 2005-06-23 | 2005-06-23 | Sensor device for task execution of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520042798 CN2799194Y (en) | 2005-06-23 | 2005-06-23 | Sensor device for task execution of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2799194Y true CN2799194Y (en) | 2006-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200520042798 Expired - Fee Related CN2799194Y (en) | 2005-06-23 | 2005-06-23 | Sensor device for task execution of fire-fighting robot |
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| Country | Link |
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| CN (1) | CN2799194Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107013018A (en) * | 2017-03-01 | 2017-08-04 | 浙江大学 | A kind of high-rise outer rendering robot |
-
2005
- 2005-06-23 CN CN 200520042798 patent/CN2799194Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107013018A (en) * | 2017-03-01 | 2017-08-04 | 浙江大学 | A kind of high-rise outer rendering robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060726 Termination date: 20140623 |
|
| EXPY | Termination of patent right or utility model |