CN106514661A - Underground fire disaster patrolling robot system - Google Patents
Underground fire disaster patrolling robot system Download PDFInfo
- Publication number
- CN106514661A CN106514661A CN201610972679.XA CN201610972679A CN106514661A CN 106514661 A CN106514661 A CN 106514661A CN 201610972679 A CN201610972679 A CN 201610972679A CN 106514661 A CN106514661 A CN 106514661A
- Authority
- CN
- China
- Prior art keywords
- robot
- output end
- input
- remote control
- communication module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses an underground fire disaster patrolling robot system. The underground fire disaster patrolling robot system comprises a remote control end, a power source, a robot controller and a robot body. The power source is connected with the remote control end, the robot controller and the robot body in parallel. A robot control end is connected with the robot body. The remote control end comprises a data storage module, a path planning system, an image signal receiving end, a data communication module, a PC end and a mobile terminal. The input end of the image signal receiving end is connected with the output end of the robot controller, and the output end of the image signal receiving end is connected with the input end of the data storage module. The output end of the robot controller is connected with the input end of the data communication module. The robot body comprises a patrolling robot, a thermal infrared imager, a signal processing system, an infrared camera, a visible light camera, a driving system and a positioning system, and the output end of the patrolling robot is connected with the driving system. The underground fire disaster patrolling robot system is diverse in function, high in reliability, simple in structure, easy to expand and easy to maintain.
Description
Technical field
The present invention relates to fire-fighting robot technical field, especially underground fire crusing robot system.
Background technology
As the development of social economy, various Large Scale Petrochemical Enterprises, tunnel, subway etc. are on the increase, correspondingly, oil
Product combustion gas, toxic gas leakage blast, tunnel, the subway Hidden hazrads such as cave in also just are continuously increased.The characteristics of these disasters, exactly exists
In sudden strong, disposal process complexity, endanger huge, preventing and treating difficulty.And once such disaster accident occurs, fireman is facing
During the environment that high temperature, dark, severe toxicity and dense smoke etc. is all kinds of to be in extreme danger, if be not equipped with corresponding equipment just rush in rashly it is existing
, not only it is difficult to complete task, the probability of casualties can also be greatly increased.
Under such background, as specialized robot in a class, fire-fighting robot arises at the historic moment, putting out a fire and speedily carrying out rescue work
Effect important all the more is played in rescue.It is inflammable and explosive, poisonous, scarce that fire-fighting robot can replace fire-fighting and rescue personnel to enter
The hazards such as oxygen, dense smoke scene of the accident carries out data sampling and processing, feedback, efficiently solves fire fighter in above-mentioned place
The problems such as personal safety that faces, not enough data information acquisition.Research and development one kind can replace fire fighter to enter scene of fire, to thing
Therefore live each item data is detected, or even the fire-fighting robot of fire-fighting work and rescue is directly carried out, be very urgent and must
Must.
The content of the invention
For above-mentioned problem, it is an object of the invention to provide a kind of underground fire crusing robot system.
The technical scheme is that：Underground fire crusing robot system, including remote control terminal, power supply, robot
Controller, robot body, the remote control terminal are connected with robot controller, the power supply respectively with remote control terminal,
Robot controller and robot body electrical connection, the robot control end are connected with robot body, the long-range control
End processed includes data memory module, path planning system, picture signal receiving terminal, data communication module, PC ends and mobile terminal,
The output end of the path planning system is connected with the input of robot control system, the input of described image signal receiving end
End is connected with the output end of robot controller, and its output end is connected with the input of data memory module, the robot control
The output end of device processed is connected with the input of data communication module, and the output end of the data communication module is defeated with PC ends respectively
The input end signal for entering end and mobile terminal connects, and the robot body is included at crusing robot, thermal infrared imager, signal
Reason system, infrared camera, visible image capturing head, drive system, alignment system, the output end drivetrain of the crusing robot
System, the input of the crusing robot respectively with thermal infrared imager, signal processing system, infrared camera, visible image capturing
The output end electrical connection of machine and alignment system.
Further, the path planning system also include electronic chart, for show underground rail simulated scenario and
The real time position and track route of crusing robot.
Further, the data communication module adopts wireless network, while being provided with wireless communication in underground rail network
Number repeating base station.
Further, the signal processing system includes CO sensors, CO2Sensor, O2Sensor, CH4Sensor, with
It is respectively used to detect CO, CO in live air2、O2And CH4Gas content.
Further, the CO sensors, CO2Sensor, O2Sensor, CH4Sensor is referred to as gas sensor, institute
It is a kind of converter that certain gas volume fraction is changed into correspondence electric signal to state gas sensor.
Compared with prior art, the invention has the beneficial effects as follows：
(1) present invention has the features such as networking, autonomy-oriented, depth man-machine interaction.The remote control terminal of research and development is based on
The intelligent terminal platform such as PC or Android, comprehensive existing main software technology, designs generous, succinct, friendly people
Machine interactive interface；The key arrangement of hommization；Highly reliable button and touch screen design.Information Mobile Service robot function is more, reliable
Property height, simple structure, easily extension, easy-maintaining maintenance.
(2) present invention can partly replace people to detect disaster relief rescue in the forefront that disaster occurs, and merged Internet of Things, calculated
The multinomial advanced technology such as machine, communication, with it is high in technological content, fund input is big the characteristics of, market access threshold is higher, soft or hard knot
Close and the pattern of service customization does not allow transreplication and imitation, possess the longer stable development cycle, the time for having abundance improves and produces
Product, improve performance, have a high potential.
Description of the drawings
Fig. 1 is the system schematic of the present invention.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As illustrated, underground fire crusing robot system, including remote control terminal, power supply, robot controller, machine
Human body, remote control terminal are connected with robot controller, power supply respectively with remote control terminal, robot controller and machine
Human body electrically connects, and robot control end is connected with robot body, and remote control terminal includes data memory module, path planning
System, picture signal receiving terminal, data communication module, PC ends and mobile terminal, the output end and robot of path planning system
The input connection of control system, the input of picture signal receiving terminal are connected with the output end of robot controller, its output
End is connected with the input of data memory module, and the output end of robot controller is connected with the input of data communication module,
The output end of data communication module is connected with the input end signal of the input and mobile terminal at PC ends respectively, robot body bag
Include crusing robot, thermal infrared imager, signal processing system, infrared camera, visible image capturing head, drive system, positioning system
System, the output end drive system of crusing robot, the input of crusing robot respectively with thermal infrared imager, signal transacting system
The output end electrical connection of system, infrared camera, visible light camera and alignment system.
Path planning system also includes electronic chart, for showing the reality of underground rail simulated scenario and crusing robot
When position and track route.
Data communication module adopts wireless network, while wireless signal repeating base station is provided with underground rail network.
Signal processing system includes CO sensors, CO2Sensor, O2Sensor, CH4Sensor.
CO sensors, CO2Sensor, O2Sensor, CH4Sensor is referred to as gas sensor, and gas sensor is a kind of
Certain gas volume fraction is changed into into the converter of correspondence electric signal.
The positioning of robot：Fire-fighting robot can adopt the navigation that vision and multi-sensor information fusion combine and determine
Position mode.When robot runs into barrier during traveling, obstacle information is obtained by sonac, by analysis
Acquired information Perception external environment condition, sets up corresponding model, so as to carry out stock of knowledge for the detection of barrier and avoidance.
Thermal infrared imager is the infrared energy point for receiving measured target using Infrared Detectors and optical imagery object lens
Cloth figure reflects on the light-sensitive element of Infrared Detectors, so as to obtain Infrared Thermogram, this thermography and body surface
Heat distribution field is corresponding.Generally thermal infrared imager is exactly that the invisible infrared energy that object sends is changed into visible heat
Image.Different colours above thermal image represent the different temperatures of testee.
Remote control terminal：Based on the software of C/S architecture design fire Robot Control System Based on Network, planned network communication protocols
View, builds mobile robot remote control table.Research robot monitor supervision platform is primarily to make the monitoring work of scene of fire
Make more directly perceived, be more convenient to process in time, state quantity data inquiry, monitoring analysis, information can be carried out to the environmental information monitored
Exchange, the application layer messages form of planned network communication, is real-time transmitted to client upload cloud the information that robotic end is gathered
Platform, and Intelligent treatment is carried out, operator is shown to visual graphics mode；Auxiliary operator is carried out remotely to robot
Control, robot are received and order and perform associative operation, realize energy-saving, intelligent management；Ensure in severe movement simultaneously
The stability of system in environment.The major function of remote control table has：
(1) provide the user under three-dimensional visualization scene the real-time status with height feeling of immersion show, assistant analysis
And data query, enable an operator to accurately understand the ambient condition of scene of fire and guide which to carry out the analysis of correlation.
(2) solve the problems, such as various environment in scene of fire, temperature, flame, toxic gas, etc. comprehensively monitoring, centralized integration
The environmental information of the special module of different Contents for Monitoring.Communication with robot is realized using the wireless technology of high reliability, will
Video, audio frequency, the transmission of sensing data.
(3) two kinds of steer modes of robot are realized：Wired and wireless control mode.In the wireless mode can be independently real
Now navigate and avoidance, while the setting to robot parameter can be realized.
With the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various change and modification can be carried out in the range of without departing from this invention technological thought entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (4)
1. underground fire crusing robot system, it is characterised in that including remote control terminal, power supply, robot controller and machine
Device human body, the remote control terminal are connected with robot controller, and the power supply is controlled with remote control terminal, robot respectively
Device and robot body electrical connection, the robot control end are connected with robot body, and the remote control terminal includes number
According to memory module, path planning system, picture signal receiving terminal, data communication module, PC ends and mobile terminal, the path rule
The output end of the system of drawing is connected with the input of robot control system, the input and robot of described image signal receiving end
The output end connection of controller, the output end of described image signal receiving end is connected with the input of data memory module, described
The output end of robot controller is connected with the input of data communication module, the output end of the data communication module respectively with
The input end signal connection of the input and mobile terminal at PC ends, the robot body include crusing robot, infrared thermal imagery
Instrument, signal processing system, infrared camera, visible image capturing head, drive system, alignment system, the crusing robot it is defeated
Go out to hold the input of drive system and the crusing robot respectively with thermal infrared imager, signal processing system, infrared camera,
The output end electrical connection of visible light camera and alignment system.
2. underground fire crusing robot system according to claim 1, it is characterised in that the path planning system is also
Including electronic chart, for showing the real time position and track route of underground rail simulated scenario and crusing robot.
3. underground fire crusing robot system according to claim 1, it is characterised in that the data communication module is adopted
With wireless network, while wireless signal repeating base station is provided with underground rail network.
4. underground fire crusing robot system according to claim 1, it is characterised in that the signal processing system bag
Include CO sensors, CO2Sensor, O2Sensor and CH4Sensor, to be respectively used to detect CO, CO in live air2、O2And CH4
Gas content.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972679.XA CN106514661A (en) | 2016-10-28 | 2016-10-28 | Underground fire disaster patrolling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972679.XA CN106514661A (en) | 2016-10-28 | 2016-10-28 | Underground fire disaster patrolling robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514661A true CN106514661A (en) | 2017-03-22 |
Family
ID=58349569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610972679.XA Pending CN106514661A (en) | 2016-10-28 | 2016-10-28 | Underground fire disaster patrolling robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514661A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292676A (en) * | 2016-10-28 | 2017-01-04 | 天津城建大学 | Fire-fighting robot system |
| CN106873560A (en) * | 2017-04-12 | 2017-06-20 | 大连海事大学 | A kind of Tunnel Fire initial stage rescues accessory system and method |
| CN107014433A (en) * | 2017-04-16 | 2017-08-04 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent O＆M cruising inspection system in hydroelectric power plant and its method |
| CN108230597A (en) * | 2018-01-08 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of intelligent family moving platform fire early-warning system and its method |
| CN108646762A (en) * | 2018-07-17 | 2018-10-12 | 北京极智嘉科技有限公司 | Fire-fighting control method, device, server and the storage medium of robot |
| CN109986568A (en) * | 2017-12-29 | 2019-07-09 | 重庆西电普华智能机器人技术有限公司 | A kind of gallery robot device with inspection function |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN112248032A (en) * | 2020-10-15 | 2021-01-22 | 河南科技学院 | Life body feature detection and identification method for rescue robot |
| CN112396797A (en) * | 2020-11-28 | 2021-02-23 | 西安建筑科技大学 | Intelligent fire-driving auxiliary monitoring and early warning robot system and method |
| US11969896B2 (en) | 2018-06-21 | 2024-04-30 | Beijing Geekplus Technology Co., Ltd. | Robot scheduling and robot path control method, server and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003295951A (en) * | 2002-03-29 | 2003-10-17 | Sogo Keibi Hosho Co Ltd | Autonomous mobile-body patrolling system and method for compensating for position of autonomous mobile-body |
| CN203598398U (en) * | 2013-10-31 | 2014-05-21 | 陕西思尔生物科技有限公司 | Fire monitoring and directional extinguishing system with capability of automatic tracking |
| CN103816626A (en) * | 2012-11-19 | 2014-05-28 | 西安众智惠泽光电科技有限公司 | Walking control system for forest fire fighting robot |
| CN203644168U (en) * | 2013-11-30 | 2014-06-11 | 陕西子竹电子有限公司 | GSM-based household robot alarm system |
| CN204288415U (en) * | 2014-10-22 | 2015-04-22 | 常州大学 | Intelligent early-warning firefighting robot |
| CN104680706A (en) * | 2013-11-30 | 2015-06-03 | 陕西子竹电子有限公司 | Domestic robot alarming system based on GSM (Global System for Mobile Communications) |
| CN204856812U (en) * | 2015-08-03 | 2015-12-09 | 高世恒 | Automatic warning robot patroles |
| CN205252381U (en) * | 2015-12-03 | 2016-05-25 | 九江消防装备有限公司 | Rescue auxiliary system puts out a fire |
-
2016
- 2016-10-28 CN CN201610972679.XA patent/CN106514661A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003295951A (en) * | 2002-03-29 | 2003-10-17 | Sogo Keibi Hosho Co Ltd | Autonomous mobile-body patrolling system and method for compensating for position of autonomous mobile-body |
| CN103816626A (en) * | 2012-11-19 | 2014-05-28 | 西安众智惠泽光电科技有限公司 | Walking control system for forest fire fighting robot |
| CN203598398U (en) * | 2013-10-31 | 2014-05-21 | 陕西思尔生物科技有限公司 | Fire monitoring and directional extinguishing system with capability of automatic tracking |
| CN203644168U (en) * | 2013-11-30 | 2014-06-11 | 陕西子竹电子有限公司 | GSM-based household robot alarm system |
| CN104680706A (en) * | 2013-11-30 | 2015-06-03 | 陕西子竹电子有限公司 | Domestic robot alarming system based on GSM (Global System for Mobile Communications) |
| CN204288415U (en) * | 2014-10-22 | 2015-04-22 | 常州大学 | Intelligent early-warning firefighting robot |
| CN204856812U (en) * | 2015-08-03 | 2015-12-09 | 高世恒 | Automatic warning robot patroles |
| CN205252381U (en) * | 2015-12-03 | 2016-05-25 | 九江消防装备有限公司 | Rescue auxiliary system puts out a fire |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292676A (en) * | 2016-10-28 | 2017-01-04 | 天津城建大学 | Fire-fighting robot system |
| CN106873560A (en) * | 2017-04-12 | 2017-06-20 | 大连海事大学 | A kind of Tunnel Fire initial stage rescues accessory system and method |
| CN106873560B (en) * | 2017-04-12 | 2019-08-20 | 大连海事大学 | A kind of Tunnel Fire initial stage rescue mode |
| CN107014433A (en) * | 2017-04-16 | 2017-08-04 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent O＆M cruising inspection system in hydroelectric power plant and its method |
| CN109986568A (en) * | 2017-12-29 | 2019-07-09 | 重庆西电普华智能机器人技术有限公司 | A kind of gallery robot device with inspection function |
| CN108230597A (en) * | 2018-01-08 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of intelligent family moving platform fire early-warning system and its method |
| US11969896B2 (en) | 2018-06-21 | 2024-04-30 | Beijing Geekplus Technology Co., Ltd. | Robot scheduling and robot path control method, server and storage medium |
| CN108646762A (en) * | 2018-07-17 | 2018-10-12 | 北京极智嘉科技有限公司 | Fire-fighting control method, device, server and the storage medium of robot |
| CN108646762B (en) * | 2018-07-17 | 2020-01-14 | 北京极智嘉科技有限公司 | Fire control method and device for robot, server and storage medium |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN112248032A (en) * | 2020-10-15 | 2021-01-22 | 河南科技学院 | Life body feature detection and identification method for rescue robot |
| CN112248032B (en) * | 2020-10-15 | 2022-07-26 | 河南科技学院 | Life body feature detection and identification method for rescue robot |
| CN112396797A (en) * | 2020-11-28 | 2021-02-23 | 西安建筑科技大学 | Intelligent fire-driving auxiliary monitoring and early warning robot system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514661A (en) | Underground fire disaster patrolling robot system | |
| CN106593534B (en) | A kind of intelligent tunnel construction safety monitoring system | |
| US20200240802A1 (en) | System and method for aiding responses to an event detected by a monitoring system | |
| CN103679203B (en) | Robot system and method for detecting human face and recognizing emotion | |
| CN110047150B (en) | Complex equipment operation on-site simulation system based on augmented reality | |
| CN106292676A (en) | Fire-fighting robot system | |
| CN107256652A (en) | Training on electric power Comprehensive Control experience system | |
| CN104111655A (en) | Remote control based smart home service robot system | |
| KR20210086072A (en) | System and method for real-time monitoring field work | |
| CN112109090A (en) | Multi-sensor fusion search and rescue robot system | |
| KR102504330B1 (en) | Realtime Evacuation Guidance System | |
| CN107797561A (en) | A kind of explosion prevention robot cruising inspection system and method | |
| CN109523041A (en) | Nuclear power station management system | |
| CN113746936B (en) | VR and AR distributed cooperation fully-mechanized coal mining face intelligent monitoring system | |
| Mayton et al. | Truss: tracking risk with ubiquitous smart sensing | |
| Tikanmäki et al. | The remote operation and environment reconstruction of outdoor mobile robots using virtual reality | |
| CN105999595A (en) | Fire detecting and fire fighting trolley | |
| CN111612671B (en) | Emergency drilling system | |
| CN109968366A (en) | A kind of multifunction domestic appliance people | |
| CN107894285A (en) | A kind of infrared temperature inspection device and method based on augmented reality | |
| CN115828620A (en) | Mine disaster emergency simulation method and system based on augmented reality | |
| CN116380162A (en) | Security monitoring method, device, computer equipment and storage medium | |
| CN107884363A (en) | A kind of laser mine gas method of telemetering based on machine vision technique | |
| Fang et al. | Real-time visualization of crane lifting operation in virtual reality | |
| Jia et al. | Condition assessment of the cable trench based on an intelligent inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170322 |
|
| WD01 | Invention patent application deemed withdrawn after publication |