CN107998554A - A kind of fire-fighting robot for automating patrol - Google Patents
A kind of fire-fighting robot for automating patrol Download PDFInfo
- Publication number
- CN107998554A CN107998554A CN201711242052.XA CN201711242052A CN107998554A CN 107998554 A CN107998554 A CN 107998554A CN 201711242052 A CN201711242052 A CN 201711242052A CN 107998554 A CN107998554 A CN 107998554A
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- CN
- China
- Prior art keywords
- fire
- module
- fighting
- fighting robot
- patrol
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- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a kind of fire-fighting robot for automating patrol, belong to automatic field；Each fire-fighting robot installs four traveling wheels and walks in the running track of closing, realizes 360 degree of rotations；Fire-fighting robot is driven to rotate by revolvable revolution module；Turn round and telescoping mechanism is fixedly mounted above module, telescoping mechanism fixes support fire monitor by supporting module；Telescoping mechanism drives fire monitor to be lifted in allowed band, the distance to further with burning things which may cause a fire disaster point.Supporting module hinging rotary motor, the pitch angle of fire monitor is adjusted by gear drive；Fire monitor front end installs infrared temperature detecting module and camera；When carrying out fire detection, video monitoring image analysis, infrared temperature detecting module detection ignition point are carried out by camera.Present device installation is simple, realizes automatic cruising and detection burning things which may cause a fire disaster, self-extinguishing, fire-fighting scope and situation can be sent to control centre in real time, and foundation is provided for fire analysis below and prevention.
Description
Technical field
The invention belongs to automatic field, is specifically a kind of fire-fighting robot for automating patrol.
Background technology
The existing fire fighting device overwhelming majority is all fixed point fire-fighting, using fire hydrant, fire extinguisher, spray facility, is not had also
A kind of fire fighting device for being capable of patrol automatically, covering fire-fighting scope that can be comprehensive.
At present in the place of the stream of people such as large-scale building, market, workshop, school, hospital material ratio comparatively dense, fire fighting device
All it is configured with automatic spray, fire hydrant and fire extinguisher, the methods of fireproof isolating door is set.These configurations are when occurring fire
Wait, it is necessary to go to take various fire-extinguishing apparatus to the place that fixed point is placed, waste time, and in big market and workshop, warehouse such as
Fruit has accumulated many cargos, once there is fire, it is also relatively difficult manually to reach fire extinguishing point；Time-consuming expense when causing to put out a fire
Power, can not precisely be sprayed for burning things which may cause a fire disaster.
Although document 1：A kind of automatic fire extinguishing fire-fighting cannon of Publication No. CN101920083A and the side of detection positioning
In method, devise a kind of by sensor detection fire, adjust automatically nozzle, the device that alignment burning things which may cause a fire disaster is put out a fire；Compared to people
Work is put out a fire using fire-extinguishing apparatus, can more find burning things which may cause a fire disaster accurately；But the occasion scope that this method is applicable in is narrow, it is impossible to
Use some unsuitable occasions that sprinkling fire-distinguishing is carried out using water；It is also limited using dry powder extinguisher fire extinguishing scope at the same time.
For above-mentioned emergency case, it is badly in need of designing a kind of extinguishing device for being capable of patrol, fire is carried out in the scene of closing
Feelings are detected.
The content of the invention
The present invention to solve the above-mentioned problems, devises a kind of fire-fighting robot for automating patrol, by orbit
Automatic patrol is circulated, when running into fire, using video temperature detection ignition point, the spray angle of adjust automatically fire monitor and is covered
Lid scope, realizes automatic ejecting extinguishing, while starts fire alarm.
The fire-fighting robot of the automation patrol is arranged on the operation rail of the ceiling or wall side of building interior
On road or slideway；Running track or slideway are in enclosed construction, ensure that fire-fighting robot can circulate patrol.
Some fire-fighting robots are equally spaced in running track or slideway, while are additionally provided with test point；
Each fire-fighting robot includes：Four traveling wheels, turn round module, telescoping mechanism, supporting module, rotation motor, disappears
Anti- big gun, infrared temperature detecting module and camera；
Turn round and four traveling wheels are fixedly mounted below module, walk in running track or slideway, revolution module is using rotation
Rotation mechanism, realizes 360 degree of rotations；Turn round and telescoping mechanism is fixedly mounted above module, telescoping mechanism fixes branch by supporting module
Support fire monitor；Telescoping mechanism drives fire monitor to be lifted in allowed band.
Supporting module hinging rotary motor, by gear drive, adjusts the pitch angle of fire monitor.
The fire monitor front end is set with a stent, and infrared temperature detecting module, infrared temperature are installed in cantilever tip
Degree detecting module includes infrared thermography instrument and smoke detector, for perceiving the temperature of ignition point；Pacify in the bottom of stent
Fill camera, for carrying out flame image identification, while the video information to monitoring pass to control centre carry out display and
Record.
When some fire-fighting robot of described automation patrol is during patrol, the image recognition of camera is to fiery
During calamity, control centre immediately passes through the rotation angle of revolution module adjustment fire monitor, and adjusts fire monitor by telescoping mechanism
Travel distance, then adjusts the pitch angle of fire monitor using rotation motor, what alignment infrared temperature detecting module perceived
At fire point maximum temperature, injection dry powder is carried out in fire-fighting area maximum position.
After the dry powder injection of the fire-fighting robot, remaining rested in order on running track or slideway disappears
Anti- robot is assembled to ignition point, continues to carry out automation fire extinguishing to scene of fire；Sprayed the fire-fighting robot of dry powder along
Running track or slideway reach test point, wait hand inspection.
Advantages of the present invention and its beneficial effect brought are：
1st, a kind of fire-fighting robot for automating patrol, breaks conventional fixed point fire-fighting, allows fire monitor in the range of fire-fighting
Automatic cruising and detection burning things which may cause a fire disaster, self-extinguishing.
2nd, a kind of fire-fighting robot for automating patrol, equipment installation are simple, it is only necessary to closed orbit band trolley is laid,
Automatic patrol fire-fighting robot is placed into startup above, by the operation of control centre's adjusting device.
3rd, a kind of fire-fighting robot for automating patrol, be furnished with camera on device, can in real time fire-fighting scope with
Situation is sent to control centre, analyzes fire behavior situation and ignition cause, and foundation is provided for fire analysis below and prevention.
Brief description of the drawings
Fig. 1 is the patrol classification of track figure that a kind of fire-fighting robot for automating patrol of the present invention uses；
Fig. 2 is a kind of schematic elevation view for the fire-fighting robot for automating patrol of the present invention；
Fig. 3 is a kind of schematic side view for the fire-fighting robot for automating patrol of the present invention.
In figure：
1- traveling wheels；2- turns round module；3- telescoping mechanisms；4- rotation motors；5- fire monitors；6- infrared temperature sensor moulds
Block；7- fire monitor nozzles；8- cameras；9- supporting modules.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention proposes a kind of automation equipment, passes through the fortune closed in the ceiling or wall side arrangement of building interior
Row track or slideway, according to fire-fighting scope, the requirement of building size, the running track type of closing is different, as shown in Figure 1,
, can be in closed orbit according to the size of fire-fighting area including modes such as circle, round rectangle, ellipse, S types combination shapes
More automatic patrol fire-fighting robots are set, is equidistantly spaced from, collaboration cruise is carried out on cruise line, realizes fire-fighting robot
Circulate patrol；It was found that after fire behavior, other multiple automatic fire control robots on the patrol line of closing, can assemble to ignition point,
Automation fire extinguishing is carried out to scene of fire, until detecting that fire has been put out.It is additionally provided with the same time in running track or slideway
Test point, artificial detection is carried out to fire-fighting robot.
The fire-fighting robot that the present invention uses is using the suspension method of operation, as shown in Figures 2 and 3, each fire-fighting robot
Including：Four traveling wheels 1, turn round module 2, telescoping mechanism 3, supporting module 9, rotation motor 4, fire monitor 5, infrared temperature detection
Module 6 and camera 8；
Turn round the lower section of module 2 and four traveling wheels 1 are fixedly mounted, provide power by motor, be stuck in the operation double track of closing
Walk on road；Turn round the top of module 2 and telescoping mechanism 3 is fixedly mounted, telescoping mechanism 3 fixes support fire monitor by supporting module 9
5；Revolution module 2 uses rotating mechanism, realizes 360 degree of rotations of telescoping mechanism 3, and simultaneous retractable mechanism 3 drives fire monitor 5 to carry out
360 degree of selections；And telescoping mechanism 3 is accomplished that lifting of the fire monitor 5 in allowed band.
9 hinging rotary motor 4 of supporting module, by gear drive, can adjust fire monitor 5 to be scanned within 180 degree
Pitch angle.
5 front end of fire monitor is set with a stent, infrared in cantilever tip installation infrared temperature detecting module 6
Temperature sensing module 6 includes infrared thermography instrument and smoke detector, for perceiving the temperature of ignition point；In the bottom of stent
Camera 8 is installed, for carrying out flame image identification, while the video information to monitoring passes to control centre and shows
And record.
The power supply of fire-fighting robot leans on the trolley arranged together along running track to be provided in the present invention, trolley
It is embedded in running track；Automatic patrol has manually and automatically two kinds of operator schemes；In automatic mode, multiple fire-fighting robots
The voluntarily patrol in running track, continual low speed or high-performance cruise, while adjust automatically fire monitor are carried out along track
5th, camera 8, the angle of infrared temperature detecting module 6, fire behavior detecting is carried out to scanning range；In a manual mode, Ke Yitong
Cross the alignment that remote controler manipulation fire monitor 5 carries out angle, the flexible and adjustment pitching of fire monitor 5, and according to circumstances manual mode
Start fire monitor ejecting extinguishing.
When carrying out temperature detection and fire detection, pass through " video image identification+infrared thermography instrument+smoke detection
Device " is realized, ignition point, adjust automatically are detected by graphical analysis, infrared temperature sensing module 6 in the video monitoring of camera 8
The theta alignment ignition point of fire monitor nozzle 7, automatic ejecting extinguishing, prevents fire behavior from expanding.
Specific work process is as follows：
When some fire-fighting robot of described automation patrol is during patrol, the image recognition of camera is to fiery
During calamity, control centre immediately passes through the rotation angle of revolution module adjustment fire monitor, and adjusts fire monitor by telescoping mechanism
Travel distance, then adjusts the pitch angle of fire monitor using rotation motor, what alignment infrared temperature detecting module perceived
At fire point maximum temperature, injection dry powder is carried out in fire-fighting area maximum position.
After the dry powder injection of the fire-fighting robot, remaining rested in order on running track or slideway disappears
Anti- robot is assembled to ignition point, continues to carry out automation fire extinguishing to scene of fire；Sprayed the fire-fighting robot of dry powder along
Running track or slideway reach test point, wait hand inspection.
After each fire monitor is finished, tank body can reuse, and automatically into test point manually filling can be waited dry
Powder re-replaces fire monitor, reenters fire-fighting track and enters patrol pattern, equipment can be utilized repeatedly.
The present invention is different from existing fixed point monitoring mode, and similar holder facility, has the scope of activities of four frees degree, disappear
Anti- robot can along track forward-reverse, fire monitor can realize freely stretch, rotate, pitching, the covering of multi-angle is more
Big scope, can more timely find fire behavior, put out a fire from passive fire fighting to active, realize intelligent fire fighting.
Claims (3)
1. a kind of fire-fighting robot for automating patrol, it is characterised in that in the ceiling of building interior or the fortune of wall side
Some fire-fighting robots are equally spaced on row track or slideway；
Each fire-fighting robot includes：Four traveling wheels, revolution module, telescoping mechanism, supporting module, rotation motor, fire monitor,
Infrared temperature detecting module and camera；
Turn round and four traveling wheels are fixedly mounted below module, walk in running track or slideway, revolution module uses whirler
Structure, realizes 360 degree of rotations；Turn round and telescoping mechanism is fixedly mounted above module, telescoping mechanism fixes support by supporting module and disappears
Anti- big gun；Telescoping mechanism drives fire monitor to be lifted in allowed band；
Supporting module hinging rotary motor, by gear drive, adjusts the pitch angle of fire monitor；
The fire monitor front end is set with a stent, installs infrared temperature detecting module in cantilever tip, infrared temperature is visited
Surveying module includes infrared thermography instrument and smoke detector, for perceiving the temperature of ignition point；In the bottom of stent, installation is taken the photograph
As head, for carrying out flame image identification, while the video information to monitoring passes to control centre and is shown and recorded.
A kind of 2. fire-fighting robot for automating patrol as claimed in claim 1, it is characterised in that certain described fire-fighting machine
People is during patrol is automated, and when the image recognition of camera is to fire, control centre immediately passes through revolution module adjustment and disappears
The rotation angle of anti-big gun, and by the travel distance of telescoping mechanism adjustment fire monitor, then utilize rotation motor to adjust fire monitor
Pitch angle, at the ignition point maximum temperature that perceives of alignment infrared temperature detecting module, fire-fighting area maximum position into
Row injection dry powder；
After the dry powder injection of the fire-fighting robot, remaining fire tower on running track or slideway is rested in order
Device people assembles to ignition point, continues to carry out automation fire extinguishing to scene of fire；The fire-fighting robot of dry powder has been sprayed along operation
Track or slideway reach test point, wait hand inspection.
A kind of 3. fire-fighting robot for automating patrol as claimed in claim 1, it is characterised in that the running track or
Slideway is in enclosed construction, ensures that fire-fighting robot can circulate patrol；Test point is additionally provided with the running track or slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711242052.XA CN107998554A (en) | 2017-11-30 | 2017-11-30 | A kind of fire-fighting robot for automating patrol |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711242052.XA CN107998554A (en) | 2017-11-30 | 2017-11-30 | A kind of fire-fighting robot for automating patrol |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107998554A true CN107998554A (en) | 2018-05-08 |
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ID=62055625
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711242052.XA Pending CN107998554A (en) | 2017-11-30 | 2017-11-30 | A kind of fire-fighting robot for automating patrol |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108905008A (en) * | 2018-06-13 | 2018-11-30 | 西安理工大学 | A kind of high-rise fire-fighting system |
| CN109350899A (en) * | 2018-10-29 | 2019-02-19 | 郑州航空工业管理学院 | A kind of Emergency Logistics storehouse management monitoring device |
| CN109731269A (en) * | 2019-01-23 | 2019-05-10 | 沈阳航空航天大学 | A kind of automatic multi-function monitoring positioning fire-extinguishing system |
| CN110377066A (en) * | 2019-06-27 | 2019-10-25 | 广州杰赛科技股份有限公司 | A kind of control method of inspection device, device and equipment |
| CN110507927A (en) * | 2019-07-30 | 2019-11-29 | 深圳供电局有限公司 | Cable tunnel fire extinguishing system |
| CN110507938A (en) * | 2019-08-21 | 2019-11-29 | 南京航空航天大学 | A kind of extinguishing method of the large area fire based on fire source positioning |
| CN110517462A (en) * | 2019-09-24 | 2019-11-29 | 苏州南师大科技园投资管理有限公司 | A kind of shop safety monitoring system |
| CN110544359A (en) * | 2019-09-03 | 2019-12-06 | 广东潮鑫建设工程有限公司 | building fire extinguishing system based on BIM |
| CN110597137A (en) * | 2019-09-24 | 2019-12-20 | 苏州南师大科技园投资管理有限公司 | Workshop intelligent fire-fighting system |
| CN111228701A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Building house fire-fighting robot |
| CN111388925A (en) * | 2020-03-27 | 2020-07-10 | 焦作大学 | Automatic control system of fire extinguishing equipment |
| CN112096445A (en) * | 2020-09-30 | 2020-12-18 | 重庆建工建筑产业技术研究院有限公司 | Mobile fire-extinguishing robot system for tunnel |
| CN112933489A (en) * | 2021-03-12 | 2021-06-11 | 展阔电子科技(苏州)有限公司 | Family's fire control intelligent robot |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN113457060A (en) * | 2021-07-19 | 2021-10-01 | 中扬建设集团有限公司 | Building fire extinguishing system based on BIM |
| CN113521612A (en) * | 2020-04-22 | 2021-10-22 | 西门子股份公司 | Control method and control device of fire-fighting robot |
| CN113963505A (en) * | 2021-11-26 | 2022-01-21 | 国网河南省电力公司直流运检分公司 | Extra-high voltage converter transformer mobile fire-fighting early warning and fire extinguishing device |
| CN115228023A (en) * | 2022-08-25 | 2022-10-25 | 广州市川控自动化设备有限公司 | Rail mounted patrols and examines robot suitable for conflagration |
| CN115599091A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Intelligent inspection robot for intervention of extremely early fire condition of warehouse and fire-fighting linkage control method thereof |
| CN117484472A (en) * | 2024-01-02 | 2024-02-02 | 广州国巡机器人科技有限公司 | Fire-fighting rail robot |
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| CN202086986U (en) * | 2011-05-12 | 2011-12-28 | 湖南新纪元消防工程有限公司 | Track type automatic fire extinguishing device |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
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| JPH1088997A (en) * | 1996-09-12 | 1998-04-07 | Shinko Electric Co Ltd | In-tunnel fire-extinguishing robot |
| CN202086986U (en) * | 2011-05-12 | 2011-12-28 | 湖南新纪元消防工程有限公司 | Track type automatic fire extinguishing device |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108905008A (en) * | 2018-06-13 | 2018-11-30 | 西安理工大学 | A kind of high-rise fire-fighting system |
| CN109350899A (en) * | 2018-10-29 | 2019-02-19 | 郑州航空工业管理学院 | A kind of Emergency Logistics storehouse management monitoring device |
| CN109731269A (en) * | 2019-01-23 | 2019-05-10 | 沈阳航空航天大学 | A kind of automatic multi-function monitoring positioning fire-extinguishing system |
| CN110377066A (en) * | 2019-06-27 | 2019-10-25 | 广州杰赛科技股份有限公司 | A kind of control method of inspection device, device and equipment |
| CN110507927A (en) * | 2019-07-30 | 2019-11-29 | 深圳供电局有限公司 | Cable tunnel fire extinguishing system |
| CN110507938A (en) * | 2019-08-21 | 2019-11-29 | 南京航空航天大学 | A kind of extinguishing method of the large area fire based on fire source positioning |
| CN110544359A (en) * | 2019-09-03 | 2019-12-06 | 广东潮鑫建设工程有限公司 | building fire extinguishing system based on BIM |
| CN110597137B (en) * | 2019-09-24 | 2020-12-29 | 苏州南师大科技园投资管理有限公司 | Workshop intelligent fire-fighting system |
| CN110517462A (en) * | 2019-09-24 | 2019-11-29 | 苏州南师大科技园投资管理有限公司 | A kind of shop safety monitoring system |
| CN110597137A (en) * | 2019-09-24 | 2019-12-20 | 苏州南师大科技园投资管理有限公司 | Workshop intelligent fire-fighting system |
| CN110517462B (en) * | 2019-09-24 | 2021-02-09 | 苏州南师大科技园投资管理有限公司 | Workshop safety monitoring system |
| CN111228701A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Building house fire-fighting robot |
| CN111388925A (en) * | 2020-03-27 | 2020-07-10 | 焦作大学 | Automatic control system of fire extinguishing equipment |
| CN113521612A (en) * | 2020-04-22 | 2021-10-22 | 西门子股份公司 | Control method and control device of fire-fighting robot |
| CN112096445A (en) * | 2020-09-30 | 2020-12-18 | 重庆建工建筑产业技术研究院有限公司 | Mobile fire-extinguishing robot system for tunnel |
| CN112933489A (en) * | 2021-03-12 | 2021-06-11 | 展阔电子科技(苏州)有限公司 | Family's fire control intelligent robot |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN113457060A (en) * | 2021-07-19 | 2021-10-01 | 中扬建设集团有限公司 | Building fire extinguishing system based on BIM |
| CN113963505A (en) * | 2021-11-26 | 2022-01-21 | 国网河南省电力公司直流运检分公司 | Extra-high voltage converter transformer mobile fire-fighting early warning and fire extinguishing device |
| CN115599091A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Intelligent inspection robot for intervention of extremely early fire condition of warehouse and fire-fighting linkage control method thereof |
| CN115599091B (en) * | 2022-08-23 | 2024-06-07 | 国网上海市电力公司 | Intelligent inspection robot for extremely early fire intervention of warehouse and fire control linkage control method thereof |
| CN115228023A (en) * | 2022-08-25 | 2022-10-25 | 广州市川控自动化设备有限公司 | Rail mounted patrols and examines robot suitable for conflagration |
| CN117484472A (en) * | 2024-01-02 | 2024-02-02 | 广州国巡机器人科技有限公司 | Fire-fighting rail robot |
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