CN109663253A - A kind of underground pipe gallery fire-fighting robot and its fire-fighting method - Google Patents
A kind of underground pipe gallery fire-fighting robot and its fire-fighting method Download PDFInfo
- Publication number
- CN109663253A CN109663253A CN201910019413.7A CN201910019413A CN109663253A CN 109663253 A CN109663253 A CN 109663253A CN 201910019413 A CN201910019413 A CN 201910019413A CN 109663253 A CN109663253 A CN 109663253A
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- China
- Prior art keywords
- fire
- pipe gallery
- underground pipe
- module
- mobile phone
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Classifications
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- 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
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
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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 present invention provides a kind of underground pipe gallery fire-fighting robot, and wireless signal connects mobile phone, includes: 4 wheel driven trolley and the control module being fixed on 4 wheel driven trolley, signal acquisition module, fire suppression module, communication module.Signal acquisition module acquires smog information, the infrared heat information, image information of underground pipe gallery；Fire suppression module, for putting out a fire；Communication module is wireless router, generates wireless network, carries out information exchange by the wireless network between control module and mobile phone.Control module is electrically connected signal acquisition module, fire suppression module and wheel electrical machine, and wireless signal connects mobile phone；The information that signal acquisition module obtains is sent to mobile phone by control module, and receives the command signal of mobile phone transmission, and driving 4 wheel driven trolley marches to fire behavior spot, and fire suppression module is driven to put out a fire.The present invention also includes a kind of fire-fighting method.Robot of the invention can enter underground pipe gallery, and intellectual monitoring fire behavior simultaneously puts out a fire, offers convenience to fire-fighting work.
Description
Technical field
The present invention relates to intelligent robot technology field, in particular to a kind of underground pipe gallery fire-fighting robot.
Background technique
Pipe gallery is to build one for the various pipeline collection such as electric power, communication, combustion gas, municipal administration, plumbing in Urban Underground
In tunnel space, be ensure city operations important infrastructure and " lifeline ".The construction of pipe gallery engineering is conducive to
It ensures urban safety, improves city function, beautifying city landscape, promotes the intensive efficient and Transformation Development in city, with Xiong Anxinqu
It is built for the new urbanization of representative, has largely used pipe gallery mode in planning, be conducive to improve city integrated carrying
Ability and urbanization quality are conducive to increase making full use of for public resource.
In pipe gallery, there are more combustibles, such as pipeline, optical cable and cable, by taking cable as an example, by line
Under the influence of passing by load, shorted to earth and poor contact etc., ignition of cable will be made, there is potential security risk hidden danger, and
Genesis mechanism is complicated and changeable, and accident is usually not easy to be found, and incident consequence is serious, the safety guarantee during piping lane construction operation
It is urgently to be resolved.
Each cabin of piping lane independently divides ventilation section, and each fire compartment is a ventilation subregion.It is equipped in the air duct of piping lane
A large amount of all kinds of special pipelines, and pipe gallery extends bending along road；Air current composition in pipe gallery is complex, piping lane
In usual improper ventilation, and the ignition energy of gas pipeline is extremely low, just extremely dangerous in the environment of improper ventilation.In addition, comprehensive
Close in piping lane design and often more power cable concentration be laid in cable tank, including power cable and power cable without
Interfere pipeline, communications optical cable etc., sometimes also with give, drainage pipeline is laid with corridor.Forefathers studies have shown that piping lane often because short circuit is drawn
Electrical fire is sent out, feature is as follows:
(1) intensity of a fire is fierce, burning is rapid.Front and back perforation in piping lane, cable laying are concentrated intensively, once kindling cable can shape
Cheng Huoliu spreads to rapidly adjacent domain, causes the intensity of a fire rapid along cable louding sprawling.
(2) it saves difficult.Cable fire generates a large amount of toxic gases, and piping lane internal channel is narrow, causes to fireman's fire extinguishing
Difficulty, while the communication apparatus, by screening effect, liaison is inconvenient.
(3) there are Danger Electric shock risks.In the gallery that wire and cable is intensively arranged, high-tension cable is after a loss of power it is possible to stay
There is overbottom pressure, there are Danger Electric shock risks.
Summary of the invention
Based on the long and narrow hidden design feature in underground pipe gallery space, to solve actually to ask present in underground pipe gallery fire-fighting
Topic, the present invention propose a kind of underground pipe gallery fire-fighting robot.The robot is lightly nimble, can operator remotely control it
Under, into underground pipe gallery make an inspection tour image, and can automatic collection smog and infrared heat information, pass through wireless transmission real-time pictures
With the mobile phone of information collection result to operator, allow an operator to clearly understand underground pipe gallery inner case.When having monitored
When fire behavior occurs, operator can drive robot to fire behavior spot in time, and fire suppression module is driven to put out a fire, effectively
The generation of fire is prevented, is realized to the effective security monitoring of underground pipe gallery and fire-fighting fire extinguishing.
In order to achieve the above object, the present invention provides a kind of underground pipe gallery fire-fighting robot, wireless signal connects mobile phone,
Mobile phone is equipped with operating software, includes: 4 wheel driven trolley, control module, signal acquisition module, fire suppression module and communication module；
The 4 wheel driven trolley includes: connecting plate, and the connecting plate bottom is fixedly connected at the top of 4 wheel driven dolly chassis；4 phases
Same wheel electrical machine；The every side of connecting plate is respectively equipped with 2 wheel electrical machines, and each wheel electrical machine drives a corresponding wheel；
The signal acquisition module, connection are arranged on connecting plate, acquire smog information, the infrared heat letter of underground pipe gallery
Breath, image information；
The fire suppression module, is fixed on connecting plate, when fire behavior occurs, puts out a fire；
The communication module is wireless router, is fixed on connecting plate, is generated centered on the 4 wheel driven trolley
Wireless network；
The control module includes single-chip microcontroller, and the single-chip microcontroller is fixed on connecting plate, is electrically connected signal acquisition
Module, fire suppression module and wheel electrical machine；The single-chip microcontroller input has program corresponding with mobile phone operation software, leads between mobile phone
It crosses the wireless network and carries out information exchange；Smog information that single-chip microcontroller obtains signal acquisition module, infrared heat information, figure
As information is sent to mobile phone, and the first command signal sent according to mobile phone, driving wheel electrical machine realize that 4 wheel driven trolley marches to
Fire behavior spot；The second command signal that single-chip microcontroller is sent according to mobile phone, driving fire suppression module are put out a fire.
The control module also includes expansion plate, is fixed on connecting plate；The expansion plate connects single-chip microcontroller, signal
Acquisition module, fire suppression module and wheel electrical machine；Expanding plate is that single-chip microcontroller provides interface, realize single-chip microcontroller and signal acquisition module,
The information of interactive instruction signal and acquisition between wheel electrical machine, fire suppression module.
The signal acquisition module includes: planar semiconductor gas sensor, acquires underground pipe gallery smog information；Infrared heat
As instrument sensor, underground pipe gallery infrared heat information is acquired；Camera acquires underground pipe gallery image information；The plane is partly led
Body gas sensor, thermal infrared imager sensor, camera are all connected with expansion plate, and information collected is sent to expansion
Plate.
The signal acquisition module also includes holder；The holder is fixed at connection front edge of board, and connects expansion plate；
The camera is fixed at the top of holder；Single-chip microcontroller receives the third command signal that mobile phone is sent, and is sent to expansion plate；
It expands plate and drives holder to overturn and turn left and right above and below according to third command signal；Cam movement is driven by holder, it is real
The image information of existing camera acquisition 4 wheel driven trolley ambient enviroment.
The fire suppression module includes water storage box, water pump, delivery hose and water outlet transition；The water storage box fixed setting
On connecting plate；The water pump is arranged in cistern interior, and is electrically connected the expansion plate；The water outlet transition is fixed
Setting is in connection front edge of board；Water outlet transition first end is open end, the small front side of face；The delivery hose connection setting
Between water pump and water outlet transition second end；Single-chip microcontroller receives the second command signal of mobile phone and is sent to expansion plate, opens up
Panel drives pump working according to the second command signal, and the water in water tank flows through delivery hose, water outlet gradual change by water pump
Section is sprayed from water outlet transition first end.
The underground pipe gallery fire-fighting robot also includes power module；The power module is by several identical electricity
Plate and water pump are expanded in the battery pack that pond is constituted, the battery pack connection, provide work energy to expand plate and water pump；The monolithic
Machine, wireless router, planar semiconductor gas sensor, camera, thermal infrared imager sensor are expanded plate by connection and are obtained
Work energy；The voltage for expanding plate also conversion battery group is the operating voltage of single-chip microcontroller.
The fire suppression module also includes water pump driving plate；The water pump driving plate connection is arranged in the water pump and battery pack
Between, the voltage of conversion battery group is water pump normal working voltage, provides work energy for water pump；Water pump driving plate, which is also connected with, opens up
Panel will expand received second command signal of plate and be converted into water pump driving signal, drives pump working.
The power module also includes digital voltage digital display tube；The digital voltage digital display tube connection is expanded
Plate；It expands plate and the voltage signal of the battery pack is converted into digital signal, digital voltage number is shown in the form of decimal value
Show the digital signal.
The camera is additionally provided with light modules, is illuminated by light modules, realizes camera under dark environment
It works normally.
A kind of fire-fighting method of underground pipe gallery is realized using fire-fighting robot of the invention, comprising the steps of:
S1, operator install operating software on mobile phone, and program corresponding with the operating software is inputted in single-chip microcontroller,
Show that numerical value judges whether to need replacing battery according to digital voltage digital display tube；When electric energy abundance, operator is by mobile phone
The wireless network that the communication module generates is connected, and fire-fighting robot is put into underground pipe gallery；
S2, operator issue the first command signal by the operating software, and single-chip microcontroller is according to the first order-driven wheel
Motor realizes that fire-fighting robot is travelled in underground pipe gallery；Camera acquires the image information of underground pipe gallery, and by the image of acquisition
Information is sent to mobile phone by single-chip microcontroller and is shown；
S3, planar semiconductor gas sensor and the thermal infrared imager sensor acquisition smog information of underground pipe gallery and infrared
Caloric information, and the information of acquisition is sent to mobile phone by single-chip microcontroller；
S4, the operating software judge that fire occurs in underground pipe gallery according to the smog information and infrared heat information of acquisition
Feelings are alarmed；Operator issues third command signal by operating software, and single-chip microcontroller drives holder according to third command signal
It spins upside down and left-right rotation, the image information of realization camera acquisition different angle, single-chip microcontroller sends out the image information of acquisition
Mobile phone is given to be shown；
S5, operator issue the first command signal by operating software, drive fire-fighting machine according to the image information of display
People travels to fire behavior spot；Operator issues the second command signal by operating software, and single-chip microcontroller is believed according to the second instruction
Number driving pump working, water from water tank flow through delivery hose, from water outlet transition spray, realize fire extinguishing.
Compared with prior art, underground pipe gallery fire-fighting robot advantage of the invention is: (1) present invention is using no route
By device, realize that mobile phone remote is wirelessly connected manipulation fire-fighting robot；(2) light and small nimble, small in size, facilitating can not be into the mankind
Operation is carried out in the underground pipe gallery special space entered, so that the work belt to safety patrol inspection person carrys out great convenience；It decreases prominent
Hair event is damaged to caused by staff；(3) it by control cloud platform rotation, realizes locating for the comprehensive acquisition robot of camera
Ambient image；The image sent in real time by camera, convenient for operator understand underground pipe gallery the case where；(5) when encountering fire
The emergencies such as calamity can carry out instant fire extinguishment by the fire suppression module of robot driven by mobile phone, avoid the generation (6) of fire incident
Applicability is wide, which can not only act on underground pipe gallery special space, equally can also be other similar narrow limited
Operation is carried out in space；(7) expansion is strong, other than the functions such as monitor, put out a fire, moreover it is possible to fire-fighting robot of the invention into
Row secondary development carries other function module, to realize more functions.
Underground pipe gallery fire-fighting robot of the invention is light and small nimble, collects illumination, camera shooting, wireless remote control, instant fire extinguishment in real time
Etc. multi-functional in one, the unapproachable concealed space of the mankind such as underground pipe gallery can enter, carry out effective security monitoring and disappear
Fire extinguishing.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in description will be made simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is one embodiment of the present of invention, and those of ordinary skill in the art are come
It says, without creative efforts, is also possible to obtain other drawings based on these drawings:
Fig. 1 is the underground pipe gallery fire-fighting robot schematic diagram in Application Example of the present invention；
Fig. 2 is underground pipe gallery fire-fighting robot outlet transition schematic diagram of the invention；
Fig. 3 is underground pipe gallery fire-fighting robot circuit diagram of the invention；
Fig. 4 is mobile phone operation software interface schematic diagram in Application Example of the invention；
Fig. 5 is the connection schematic diagram of each module of underground pipe gallery fire-fighting robot of the invention.
In figure: 1, single-chip microcontroller；2, plate is expanded；3, digital voltage digital display tube；4, battery pack；5, water pump；51, water delivery is soft
Pipe；52, boss；53, spacer bar；54, fixed block；55, water outlet transition；56, water storage box；6, water pump driving plate；7, nothing
Line router；8, wheel electrical machine；81, wheel；82, chassis；83, connecting plate；9, camera；91, light modules；10, holder；
15, planar semiconductor gas sensor 16, thermal infrared imager sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to achieve the above object, the present invention provides a kind of underground pipe gallery fire-fighting robot, wireless signal connects mobile phone,
Mobile phone is equipped with operating software, it is preferred that cell phone software of the invention is by APP Inventor programming；With open source, easily
In exploitation, realize the strong feature of function.
As shown in Figure 1, shown in Figure 5, underground pipe gallery fire-fighting robot of the invention includes: 4 wheel driven trolley, control module, signal are adopted
Collect module, fire suppression module and communication module.
The 4 wheel driven trolley includes: connecting plate 83, and the connecting plate bottom is fixedly connected with 82 top of 4 wheel driven dolly chassis；4
A identical wheel electrical machine 8；The every side of connecting plate 83 is respectively equipped with 2 wheel electrical machines 8, and each wheel electrical machine 8 drives a correspondence
Wheel 81；Preferably, 4 wheel driven trolley of the invention is crawler type 4 wheel driven trolley.
The communication module is wireless router 7, is fixed on connecting plate 83, generates with the 4 wheel driven trolley and is
The wireless network of the heart；Preferably, router of the invention uses the TL-WR703 product of TP-LINK, specific compact, sexual valence
Than high feature, and it can support USB 3G network interface card.
The signal acquisition module, connection are arranged on connecting plate 83, and include: planar semiconductor gas sensor 15 is adopted
Collect underground pipe gallery smog information；Thermal infrared imager sensor 16 acquires underground pipe gallery infrared heat information；Camera 9, locality
Lower piping lane image information.The camera 9 is additionally provided with light modules 91, is illuminated by light modules 91, realizes camera 9
It is worked normally under dark environment.Preferably, the present invention is infrared using MP-9 planar semiconductor gas sensor 15, AMG8833
Thermal imaging system sensor 16 and 720P high-definition camera 9.
The signal acquisition module also includes holder 10, is fixed at 83 front end of connecting plate, and the fixation of camera 9 is set
It sets at 10 top of holder.It drives camera 9 to move by holder 10, realizes that camera 9 acquires the figure of 4 wheel driven trolley ambient enviroment
As information.Preferably, holder 10 of the invention is using Twin Rudders machine head, it can be achieved that camera 9 is spun upside down and left-right rotation.
As shown in Figure 1, the fire suppression module, is fixed on connecting plate 83, when fire behavior occurs, put out a fire；Institute
Stating fire suppression module includes water storage box 56, water pump 5, delivery hose 51 and water outlet transition 55；The water storage box 56 is fixedly installed
On connecting plate 83, it is equipped with a boss 52 at the top of water storage box 56, is equipped with spacer bar 53 at the top of boss 52；The water pump 5 is set
It sets inside water storage box 56, and is electrically connected the expansion plate 2.Delivery hose first end connects water pump 5, wears in the middle part of delivery hose
If the boss 52 and spacer bar 53, pass through boss 52 and the fixed delivery hose 51 of spacer bar 53, delivery hose second end
Connect water outlet transition second end.Connection front edge of board is fixed with a fixed block 54.As shown in Fig. 2, the water outlet is gradually
Become section first end as open end, wear the fixed block 54, is fixed at connection front edge of board and the small front side of face.Water pump 5
When work, the water in water tank flows through delivery hose 51, water outlet transition 55 by water pump 5, from water outlet transition first end
It sprays.
The control module includes the single-chip microcontroller 1 interconnected and expands version, is fixed on connecting plate 83.Monolithic
Input has program corresponding with mobile phone operation software in machine 1, carries out information exchange by the wireless network between mobile phone.It opens up
Panel 2 is also connected with planar semiconductor gas sensor 15, thermal infrared imager sensor 16, camera 9, holder 10, water pump 5 and vehicle
Turbin generator 8；Expanding plate 2 is that single-chip microcontroller 1 provides interface, realizes single-chip microcontroller 1 and planar semiconductor gas sensor 15, infrared thermal imagery
The information of interactive instruction signal and acquisition between instrument sensor 16, camera 9, holder 10, water pump 5 and wheel electrical machine 8.It is preferred that
, single-chip microcontroller 1 of the invention uses Arduino UNO product, has the advantages that open source, is easy to write program.Preferably, this hair
Bright expansion plate 2 expands plate using AR-293D, and single-chip microcontroller 1Arduino UNO pin compatibility, and is integrated with the drive of 293D motor
Dynamic chip and voltage stabilizing chip.
Planar semiconductor gas sensor 15, thermal infrared imager sensor 16, camera 9 respectively believe the smog of acquisition
Breath, infrared heat information, image information are sent to single-chip microcontroller 1 by expanding plate 2, and single-chip microcontroller 1 will be each by the wireless network
The information of kind acquisition is sent to mobile phone.Operator watches the image of underground pipe gallery by mobile phone operation software.
Fig. 3 is underground pipe gallery fire-fighting robot circuit diagram of the invention.
Fig. 4 is the interface schematic diagram of mobile phone operation software of the invention.
Operator passes through the moving of car control button of mobile phone operation software, the first command signal of transmission.Single-chip microcontroller 1 will
First command signal, which is sent to, expands plate 2, realizes that 4 wheel driven trolley is advanced by 293D motor drive ic driving wheel electrical machine 8
To fire behavior spot；
Operator passes through the holder direction controlling button of mobile phone operation software, and the third command signal of transmission, single-chip microcontroller 1 will
Third command signal, which is sent to, expands plate 2, is spun upside down by expansion version driving holder 10 or left-right rotation, realization camera 9 are complete
Orientation acquires image information.
Water pump 5 water spray, stop button of the operator by mobile phone operation software, the second command signal of transmission, single-chip microcontroller 1
Second command signal is sent to and expands plate 2, is put out a fire by the driving work of water pump 5 of expansion version.
The underground pipe gallery fire-fighting robot also includes power module；The power module is by several identical electricity
Plate 2 and water pump 5 are expanded in the battery pack 4 that pond is constituted, the connection of battery pack 4, provide work energy to expand plate 2 and water pump 5；It is excellent
Choosing, battery module of the invention uses two sections, 18650 high performance rechargeable formula lithium battery.The single-chip microcontroller 1, wireless router
7, planar semiconductor gas sensor 15, camera 9, thermal infrared imager sensor 16 expand plate 2 by connection and obtain work electricity
Energy；The operating voltage that the voltage that plate 2 passes through the integrated direct conversion battery group 4 of voltage stabilizing chip is single-chip microcontroller 1 is expanded, single-chip microcontroller is given
1 power supply.
The power module also includes digital voltage digital display tube 3, and plate 2 is expanded in connection；Plate 2 is expanded by the battery pack
4 voltage signal is converted to digital signal, and digital voltage number shows the digital signal in the form of decimal value.
The fire suppression module also includes water pump driving plate 6, and connection is arranged between the water pump 5 and battery pack 4, conversion electricity
The voltage of pond group 4 is the normal working voltage of water pump 5, provides work energy for water pump 5；Water pump driving plate 6 is also connected with expansion plate
2, received second command signal of plate 2 will be expanded and be converted into water pump driving signal, driving water pump 5 works.Preferably, of the invention
Water pump driving plate 6 is L298N product.
A kind of fire-fighting method of underground pipe gallery is realized using fire-fighting robot of the invention, comprising the steps of:
S1, operator install operating software on mobile phone, and journey corresponding with the operating software is inputted in single-chip microcontroller 1
Sequence shows that numerical value judges whether to need replacing battery according to digital voltage digital display tube 3；When electric energy abundance, operator will
Mobile phone connects the wireless network that the communication module generates, and fire-fighting robot is put into underground pipe gallery；
S2, operator issue the first command signal by the operating software, and single-chip microcontroller 1 is according to the first order-driven wheel
Motor 8 realizes that fire-fighting robot is travelled in underground pipe gallery；Camera 9 acquires the image information of underground pipe gallery, and by the figure of acquisition
It is shown as information is sent to mobile phone by single-chip microcontroller 1；
S3, planar semiconductor gas sensor 15 and thermal infrared imager sensor 16 acquire underground pipe gallery smog information and
Infrared heat information, and the information of acquisition is sent to mobile phone by single-chip microcontroller 1；
S4, the operating software judge that fire occurs in underground pipe gallery according to the smog information and infrared heat information of acquisition
Feelings are alarmed；Operator issues third command signal by operating software, and single-chip microcontroller 1 drives cloud according to third command signal
Platform 10 is spun upside down and left-right rotation, realizes that camera 9 acquires the image information of different angle, single-chip microcontroller 1 is by the image of acquisition
Information is sent to mobile phone and is shown；
S5, operator issue the first command signal by operating software, drive fire-fighting machine according to the image information of display
People travels to fire behavior spot；Operator issues the second command signal by operating software, and single-chip microcontroller 1 is believed according to the second instruction
Number driving water pump 5 works, and water flows through delivery hose 51 from water tank, sprays from water outlet transition 55, realizes fire extinguishing.
Compared with prior art, underground pipe gallery fire-fighting robot advantage of the invention is: (1) present invention is using no route
By device 7, realize that mobile phone remote is wirelessly connected manipulation fire-fighting robot；(2) light and small nimble, small in size, facilitating can not into the mankind
Operation is carried out in the underground pipe gallery special space of entrance, so that the work belt to safety patrol inspection person carrys out great convenience；It decreases
Emergency event is damaged to caused by staff；(3) it is rotated by control holder 10, realizes the comprehensive acquisition machine of camera 9
Ambient image locating for people；The image sent in real time by camera 9, convenient for operator understand underground pipe gallery the case where；(5) when
Instant fire extinguishment can be carried out by the fire suppression module of robot driven by mobile phone by encountering the emergencies such as fire, avoid the hair of fire incident
Raw (6) applicability is wide, which can not only act on underground pipe gallery special space, equally can also be other similar narrow
Operation is carried out in restricted clearance；(7) expansion is strong, other than the functions such as monitor, put out a fire, moreover it is possible to fire-fighting machine of the invention
People carries out secondary development, other function module is carried, to realize more functions.
Underground pipe gallery fire-fighting robot of the invention is light and small nimble, collects illumination, camera shooting, wireless remote control, instant fire extinguishment in real time
Etc. multi-functional in one, the unapproachable concealed space of the mankind such as underground pipe gallery can enter, carry out effective security monitoring and disappear
Fire extinguishing.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of underground pipe gallery fire-fighting robot, wireless signal connects mobile phone, and mobile phone is equipped with operating software, which is characterized in that
Include: 4 wheel driven trolley, control module, signal acquisition module, fire suppression module and communication module；
The 4 wheel driven trolley includes: connecting plate, and the connecting plate bottom is fixedly connected at the top of 4 wheel driven dolly chassis；4 identical
Wheel electrical machine；The every side of connecting plate is respectively equipped with 2 wheel electrical machines, and each wheel electrical machine drives a corresponding wheel；
The signal acquisition module, connection are arranged on connecting plate, acquire the smog information of underground pipe gallery, infrared heat information,
Image information；
The fire suppression module, is fixed on connecting plate, when fire behavior occurs, puts out a fire；
The communication module is wireless router, is fixed on connecting plate, and the nothing centered on the 4 wheel driven trolley is generated
Gauze network；
The control module includes single-chip microcontroller, and the single-chip microcontroller is fixed on connecting plate, electric connection signal acquisition module,
Fire suppression module and wheel electrical machine；Input has program corresponding with mobile phone operation software in single-chip microcontroller, by described between mobile phone
Wireless network carries out information exchange；Smog information that single-chip microcontroller obtains signal acquisition module, infrared heat information, image information
It is sent to mobile phone, and the first command signal sent according to mobile phone, driving wheel electrical machine realizes that 4 wheel driven trolley marches to fire behavior hair
Radix Rehmanniae；The second command signal that single-chip microcontroller is sent according to mobile phone, driving fire suppression module are put out a fire.
2. underground pipe gallery fire-fighting robot as described in claim 1, which is characterized in that the control module also includes to expand
Plate is fixed on connecting plate；The expansion plate connection single-chip microcontroller, signal acquisition module, fire suppression module and wheel electrical machine；It opens up
Panel provides interface for single-chip microcontroller, realizes that single-chip microcontroller and signal acquisition module, wheel electrical machine, interactive instruction is believed between fire suppression module
Number and acquisition information.
3. underground pipe gallery fire-fighting robot as claimed in claim 2, which is characterized in that the signal acquisition module includes: flat
Surface semiconductor gas sensor acquires underground pipe gallery smog information；Thermal infrared imager sensor acquires underground pipe gallery infrared heat
Information；Camera acquires underground pipe gallery image information；The planar semiconductor gas sensor, is taken the photograph thermal infrared imager sensor
As head is all connected with expansion plate, and information collected is sent to expansion plate.
4. underground pipe gallery fire-fighting robot as claimed in claim 3, which is characterized in that the signal acquisition module also includes cloud
Platform；The holder is fixed at connection front edge of board, and connects expansion plate；The camera is fixed at the top of holder；It is single
Piece machine receives the third command signal that mobile phone is sent, and is sent to expansion plate；It expands plate and holder is driven according to third command signal
It overturns and turns left and right above and below；Cam movement is driven by holder, realizes camera acquisition 4 wheel driven trolley ambient enviroment
Image information.
5. underground pipe gallery fire-fighting robot as claimed in claim 2, which is characterized in that the fire suppression module include water storage box,
Water pump, delivery hose and water outlet transition；The water storage box is fixed on connecting plate；The water pump is arranged in water storage box
Inside, and it is electrically connected the expansion plate；The water outlet transition is fixed at connection front edge of board；Water outlet transition
One end is open end, the small front side of face；The delivery hose connection is arranged between water pump and water outlet transition second end；
Single-chip microcontroller receives the second command signal of mobile phone and is sent to expansion plate, expands plate according to the second command signal and drives plugman
Make, the water in water tank flows through delivery hose, water outlet transition by water pump, sprays from water outlet transition first end.
6. underground pipe gallery fire-fighting robot as claimed in claim 5, which is characterized in that also include power module；The power supply
Module is the battery pack being made of several identical batteries, and plate and water pump are expanded in the battery pack connection, to expand plate and water
Pump provides work energy；The single-chip microcontroller, wireless router, planar semiconductor gas sensor, camera, thermal infrared imager pass
Sensor expands plate by connection and obtains work energy；The voltage for expanding plate also conversion battery group is the operating voltage of single-chip microcontroller.
7. underground pipe gallery fire-fighting robot as claimed in claim 6, which is characterized in that the fire suppression module also includes that water pump drives
Movable plate；The water pump driving plate connection is arranged between the water pump and battery pack, and the voltage of conversion battery group is that water pump is normal
Operating voltage provides work energy for water pump；Water pump driving plate is also connected with expansion plate, will expand received second command signal of plate
It is converted into water pump driving signal, drives pump working.
8. underground pipe gallery fire-fighting robot as claimed in claim 6, which is characterized in that the power module also includes digital electricity
Press digital display tube；Plate is expanded in the digital voltage digital display tube connection；Plate is expanded to turn the voltage signal of the battery pack
It is changed to digital signal, digital voltage number shows the digital signal in the form of decimal value.
9. underground pipe gallery fire-fighting robot as claimed in claim 4, which is characterized in that the camera is additionally provided with light mould
Block is illuminated by light modules, realizes that camera works normally under dark environment.
10. a kind of fire-fighting method of underground pipe gallery, using the fire-fighting robot as described in 1~claim 9 of claim is any
It realizes, which is characterized in that include step:
S1, operator install operating software on mobile phone, and program corresponding with the operating software is inputted in single-chip microcontroller, according to
Digital voltage digital display tube shows that numerical value judges whether to need replacing battery；When electric energy abundance, operator connects mobile phone
The wireless network that the communication module generates, and fire-fighting robot is put into underground pipe gallery；
S2, operator issue the first command signal by the operating software, single-chip microcontroller according to the first order-driven wheel electrical machine,
Realize that fire-fighting robot is travelled in underground pipe gallery；Camera acquires the image information of underground pipe gallery, and by the image information of acquisition
Mobile phone is sent to by single-chip microcontroller to be shown；
The smog information and infrared heat of S3, planar semiconductor gas sensor and thermal infrared imager sensor acquisition underground pipe gallery
Information, and the information of acquisition is sent to mobile phone by single-chip microcontroller；
S4, the operating software according to the smog information and infrared heat information of acquisition judge that fire behavior occurs in underground pipe gallery, into
Row alarm；Operator issues the second command signal by operating software, and single-chip microcontroller drives holder or more according to the second command signal
Overturning and left-right rotation, realize the image information of camera acquisition different angle, and the image information of acquisition is sent to by single-chip microcontroller
Mobile phone is shown；
S5, operator issue the first command signal by operating software, drive fire-fighting robot row according to the image information of display
It sails to fire behavior spot；Operator issues the second command signal by operating software, and single-chip microcontroller drives according to the second command signal
Dynamic pump working, water flow through delivery hose from water tank, spray from water outlet transition, realize fire extinguishing.
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Application publication date: 20190423 |