CN109999391A - A kind of intelligence fire detection robot and control method - Google Patents
A kind of intelligence fire detection robot and control method Download PDFInfo
- Publication number
- CN109999391A CN109999391A CN201910231457.6A CN201910231457A CN109999391A CN 109999391 A CN109999391 A CN 109999391A CN 201910231457 A CN201910231457 A CN 201910231457A CN 109999391 A CN109999391 A CN 109999391A
- Authority
- CN
- China
- Prior art keywords
- fire
- walking
- mechanical arm
- sensor
- fire detection
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
A kind of fire detection robot and control method, including travelling platform and the mechanical arm clamping device, extinguishing device and the TT&C system that are mounted on travelling platform；Mechanical arm clamping device successively includes swivel base, large arm rotating mechanism, large arm, forearm rotating mechanism, forearm, wrist joint rotating mechanism, manipulator rotating mechanism and manipulator from the bottom to top；Extinguishing device includes the water tank being fixed on travelling platform and the nozzle that is fixed on mechanical arm clamping device, and tank outlet connects self prime pump, and nozzle is connected by hose with self prime pump water outlet；TT&C system is fixed on travelling platform pedestal, including wireless camera, OpenMV3 camera, laser radar range sensor, ultrasonic distance sensor, voice module and main control MCU.It is equipped with included extinguishing device, small-sized fire source can be extinguished while investigation, realizes that the self-extinguishing for carrying out fire rescue and small fire behavior while fire detection acts using the design cooperation of multisensor.
Description
Technical field
The present invention relates to fire robotic technology field, in particular to a kind of intelligent fire detection robot and controlling party
Method.
Background technique
With the continuous development of science and technology, intelligent robot is made that huge tribute in face of the problem that the mankind can not quickly solve
It offers and can all be able to unprecedented development in each field, intelligent robot has all played unlimited potentiality, breaches many difficulties
Topic makes us enter the intelligent epoch, and in various disasters, fire is most frequently, most generally threatens public security and society's hair
One of major casualty of exhibition, destructive power is big, sudden strong, and production and life to the mankind bring different degrees of damage.
Importantly, the when and where of fire outburst, than more random, inducement multiplicity has nature to cause and artificially cause, once hair
It is raw, it is difficult to control, it also will cause secondary injury, this brings great challenge to fire fighter, while also bringing to rescue personnel
Life threat.In order to cope with complicated fire, and preventing fire from the development of fire disaster intelligently robot occurs is to reduce fire
One effective measures of occurrence frequency and the condition of the injury.
Detecting Robot major function currently on the market is the investigation to site environment and leakage situation, and there are also connections to disappear
Water blocking tape is put out a fire, the transfer to dangerous material, and the situation of field rescue and the investigation of fire-prone regional site does not carry out entirely
The considerations of face, therefore generally there are following disadvantages for existing market product: extinguishing device is typically all to connect with fire hose, also
It is to mean that robot needs to enter with subsequent water pipe when entering the scene of a fire, increases the weight of robot itself and get over
Wild difficulty, the rapidity that can be detected in the act and rescue to it are interfered.
Summary of the invention
In order to solve the problems, such as described in background technique, the present invention provides a kind of intelligent fire detection robot and controlling party
Method is equipped with included extinguishing device, can extinguish small-sized fire source while investigation, be cooperated using the design of multisensor and realized
The self-extinguishing movement of fire rescue and small fire behavior is carried out while fire detection.
In order to achieve the above object, the present invention is implemented with the following technical solutions:
A kind of intelligence fire detection robot, the robot include travelling platform and the machinery that is mounted on travelling platform
Arm clamping device, extinguishing device and TT&C system；The mechanical arm clamping device successively includes swivel base from the bottom to top, big
Arm rotating mechanism, large arm, forearm rotating mechanism, forearm, wrist joint rotating mechanism, manipulator rotating mechanism and manipulator；It is described
Extinguishing device includes the water tank being fixed on travelling platform and the nozzle that is fixed on mechanical arm clamping device, tank outlet connection
Self prime pump, nozzle are connected by hose with self prime pump water outlet；The TT&C system is fixed on travelling platform bottom
On seat, including wireless camera, OpenMV3 camera, laser radar range sensor, ultrasonic distance sensor, voice mould
Block and main control MCU, wireless camera, OpenMV3 camera, laser radar range sensor, ultrasonic distance sensor, voice
Module is connect with the Interface Electrical of main control MCU.
The travelling platform includes walking chassis, driving motor, walking driver gear, walking passive gear and crawler belt；Driving
Motor is mounted in walking chassis, exports axis connection walking driver gear, and walking driver gear and walking passive gear are mounted on shoe
In band, walking passive gear is also hinged with walking chassis.
A kind of control method of intelligence fire detection robot, including without fire behavior/small fire behavior mode and big fire behavior mode.
No fire behavior/small fire behavior mode control method includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor, pass through data
Path is planned, coding motor starts turning walking, passes through smoke sensor device, Temperature Humidity Sensor, gas sensor pair
Ambient enviroment, which is acquired, shows data by LCD screen；The data of acquisition are passed through into object if terminal sends data ' Y '
Networking module is sent to terminal；
If Step 2: if thering is barrier to measure distance obstacle distance intelligence by ultrasonic sensor in walking process
Energy fire detection robot 10cm then stop motion, the rotation of mechanical arm clamping device if measuring within obstacle distance 10cm
Turn after chassis turns an angle and then large arm, forearm, wrist joint and manipulator and turn an angle to grab barrier placement
Mechanical arm initialization action behind route two sides；
Step 3: executing if ultrasound obtains distance also less than 10cm, the avoidance left side encodes motor or the right coding is electric
The machine two-way coding motor after making its intelligent 90 degree of revolute of fire detection that stops operating works on, and otherwise intelligence fire is detectd
Robot is looked into move forward；
It endangers Step 4: being issued by Internet of Things module to terminal if smokescope is very high or temperature is more than 40 degrees Celsius
Dangerous information；
Step 5: passing through Internet of Things module if the image of OpenMV3 camera scanning to fire sends fire information simultaneously
Intelligent fire detection robot is advanced through the scanning fire source image analysis of OpenMV3 camera to fire source and stops to apart from fire source 15cm
Real-time live picture is passed to by terminal by wireless camera and spray nozzle device is sent on fire source by mechanical arm after place
It is put out after side by the water of control relay module feed pump energization extraction water tank；
Step 6: if detecting field data normally by Internet of Things module send security information, whole process into
Enter circulation；
The control method of big fire behavior mode includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor, pass through data
Path is planned, coding motor starts turning walking；
Step 2: Temperature Humidity Sensor, gas sensor is acquired data ambient enviroment by smoke sensor device
Terminal command centre is passed to by Internet of Things module and turns on demister screen lamp, while wireless module live view passes to terminal commander
Center, command centre simultaneously observe scene of fire by terminal, are constantly made a sound by buzzer and called for help scene of fire personnel；
Step 3: mechanical arm turns an angle and is grabbed if being scanned by OpenMV3 camera to dangerous goods
It takes, commanding is sent to intelligent fire detection by Internet of Things module by terminal input ' T ' if automatically grabbing failure
Robot, goes to Bluetooth control if intelligent fire detection robot receives ' T ', issues instruction to mechanical arm by terminal
Control accurately crawl dangerous material to take away from the scene.
Compared with prior art, the beneficial effects of the present invention are:
1, the included water tank of the present invention and nozzle without external water source and carry fire hose, can put out small-sized fire source；
2, TT&C system is realized using the design cooperation of multisensor carries out fire rescue and small while fire detection
The self-extinguishing of fire behavior acts.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is overall structure planar side view of the invention；
Fig. 3 is mechanical arm clamping device perspective view of the invention；
Fig. 4 is travelling platform perspective view of the invention；
Fig. 5 is mechanical arm clamping device detailed perspective view of the invention；
Fig. 6 is travelling platform rearview of the invention；
Fig. 7 is extinguishing device of the invention and TT&C system three-dimensional structure diagram；
Fig. 8 is extinguishing device of the invention and TT&C system top view；
Fig. 9 is the piece electrical structural block diagram of TT&C system of the invention；
Figure 10 is the main control MCU electric diagram of TT&C system of the invention；
Figure 11 is the connecting interface electric diagram of six steering engines of TT&C system of the invention；
Figure 12 is the electric interfaces figure of the gas sensor of TT&C system of the invention；
Figure 13 is the OpenMV3 camera electric hookup of TT&C system of the invention；
Figure 14 is the movable motor driver electric diagram of TT&C system of the invention；
Figure 15 is the laser radar range sensor interface electric diagram of TT&C system of the invention；
Figure 16 is the ultrasonic sensor Interface Electrical figure of TT&C system of the invention；
Figure 17 is the bluetooth radio module Interface Electrical figure of TT&C system of the invention；
Figure 18 is the fire extinguishing water pump Interface Electrical figure of TT&C system of the invention；
Figure 19 is the LCD display electric diagram of TT&C system of the invention.
Wherein: 1- travelling platform 2- mechanical arm clamping device 3- TT&C system 4- extinguishing device 1-1- walking driver gear
1-2- walking passive gear 1-3- crawler belt 1-4- driving motor 1-5- walking chassis 2-1- swivel base 2-2- large arm whirler
Structure 2-3- large arm 2-4- forearm rotating mechanism 2-5- forearm (third u-bracket) 2-6- wrist joint rotating mechanism 2-7- machine
The 6th steering engine 2-21- the first steering engine the first steering engine of 2-22- of tool hand rotating mechanism 2-8- manipulator 2-11- rotating disk 2-12-
Fixed frame 2-23- the first steering engine output shaft 2-31- the first u-bracket 2-32- the second u-bracket the second steering engine of 2-41- 2-
The output shaft 2-61- third steering engine 2-62- third steering engine fixed frame 2- of 42- the second steering engine fixed frame the second steering engine of 2-43-
The output shaft of the 4th steering engine of the 4th steering engine fixed frame 2-73- of output shaft the 4th steering engine 2-72- of 2-71- of 63- third steering engine
The 5th steering engine 2-82- of 2-81- clamps driving wheel 2-83- and clamps driven wheel 2-84 gripper jaw 3-1- wireless camera 3-2-
OpenMV3 camera 3-3- laser radar range sensor 3-4- ultrasonic distance sensor 3-5- fog lamp 3-6-PCB plate
Bracket 3-7-LCD display screen 3-8- cabinet 4-1- water tank 4-2- nozzle 4-3- water pump 4-4- fire hose.
Specific embodiment
Specific embodiment provided by the invention is described in detail below in conjunction with attached drawing.
As shown in Figs. 1-2, a kind of intelligent fire detection robot, the robot includes that travelling platform 1 and installation are expert at
Walk mechanical arm clamping device 2, extinguishing device 4 and the TT&C system 3 on platform 1.
As shown in figure 3, the mechanical arm clamping device 2 successively includes swivel base 2-1, large arm whirler from the bottom to top
Structure 2-2, large arm 2-3, forearm rotating mechanism 2-4, forearm 2-5, wrist joint rotating mechanism 2-6, manipulator rotating mechanism 2-7 and machine
Tool hand 2-8.
Seeing Fig. 4 and Fig. 6, the swivel base 2-1 includes rotating disk 2-11 and the 6th steering engine 2-12 (see Fig. 6), and the 6th
Steering engine 2-12 is fixed on travelling platform 1, exports axis connection rotating disk 2-11.
Seeing Fig. 4, the large arm rotating mechanism 2-2 includes the first steering engine 2-21 and the first steering engine fixed frame 2-22, and first
Steering engine 2-21 is fixed on the first steering engine fixed frame 2-22, and the first steering engine fixed frame 2-22 is fixed on swivel base 2-11；
See that Fig. 5, the large arm 2-3 include the first u-bracket 2-31 and the second u-bracket 3-32 of two docking, the
One u-bracket 2-31 is located at lower end, connect with the first steering engine output shaft 2-23 of large arm rotating mechanism 2-2, the forearm rotation
Rotation mechanism 2-4 includes the second steering engine 2-41 and the second steering engine fixed frame 2-42, and the second steering engine 2-41 is fixed on the second steering engine and fixes
On frame 2-42, the second u-bracket 3-32 is connect with the output shaft 2-43 of the second steering engine, and forearm is third u-bracket 2-5, lower end
It is fixed on the second steering engine fixed frame 2-42, the wrist joint rotating mechanism 2-6 includes that third steering engine 2-61 and third steering engine are solid
Determine frame 2-62, third steering engine 2-61 is fixed on third steering engine fixed frame 2-62, and the output shaft 2-63 and third of third steering engine are U-shaped
Bracket 2-5 is connected；Manipulator rotating mechanism 2-7 includes the 4th steering engine 2-71 and the 4th steering engine fixed frame 2-72, the 4th steering engine 2-
71 are fixed on the 4th steering engine fixed frame 2-72, and the 4th steering engine fixed frame 2-72 is fixed on third steering engine fixed frame 2-62, machine
Tool hand 2-8 is connected with the output shaft 2-73 of the 4th steering engine；The manipulator 2-8 includes the 5th steering engine 2-81, clamping active
2-82, clamping driven wheel 2-83 and gripper jaw 2-84 are taken turns, clamping driving wheel 2-82 is connected with the output shaft of the 5th steering engine 2-81, presss from both sides
It holds driving wheel 2-82 to engage with clamping driven wheel 2-83, gripper jaw 2-84 is mounted on clamping driving wheel 2-82 and clamping driven wheel 2-
On 83.
As shown in Fig. 4,6, the travelling platform 1 include walking chassis 1-5, driving motor 1-4, walking driver gear 1-1,
Walking passive gear 1-2 and crawler belt 1-3；Driving motor 1-4 is mounted on walking chassis 1-5, exports axis connection walking driver gear
1-1 drives the walking driver gear 1-1, walking driver gear 1-1 and walking passive gear 1-2 to be mounted in crawler belt 1-3, walking
Driven wheel 1-2 is also hinged with walking chassis 1-5.Crawler belt 1-3 and walking passive gear 1-2 walking is driven by walking driver gear 1-1.
As shown in Fig. 3,7,8, the extinguishing device 4 includes the water tank 4-1 being fixed on travelling platform 1 and is fixed on machinery
The outlet nozzle 4-2 on arm clamping device large arm 2-3, water tank 4-1 installation self prime pump 4-3, nozzle 4-2 pass through fire hose
4-4 is connected with self prime pump 4-3 water outlet.
As shown in Fig. 1,7,8, the TT&C system 3 is fixed on 1 base rear end of travelling platform, including wireless camera 3-
1, OpenMV3 camera 3-2, laser radar range sensor 3-3, the PCB circuit board 3-6 of main control MCU, LCD display 3-7,
It further include the ultrasonic distance sensor 3-4 for being mounted on 1 front end of travelling platform, wireless camera 3-1, OpenMV3 camera 3-
2, laser radar range sensor 3-3, LCD display 3-7 and ultrasonic distance sensor 3-4 with main control MCU electric interfaces
It is connected.
As shown in Figures 9 and 10, the main control MCU on PCB circuit board 3-6 is STM32 series monolithic；PCB circuit board is also installed
There are the voice module being connected with main control MCU and Internet of Things module (GPRS module), temperature sensor, smoke sensor device etc., sees
The electric hookup of the electrical component of the invention of Figure 10-18, wireless camera 3-1, OpenMV3 camera 3-2 of the invention,
Laser radar range sensor 3-3, ultrasonic distance sensor 3-4, LCD display 3-7 and the first steering engine 2-21 to the 6th
The electrical equipments such as steering engine 2-11, travel driving motor 1-4, fire extinguishing water pump 4-3 are connected with the port of main control MCU, by master control
MCU carries out overall control.
A kind of control method of intelligence fire detection robot, including without fire behavior/small fire behavior mode and big fire behavior mode.Such as
Fruit voice module hears that " opening first mode " sentence is then assigned to variable a for ' 1 ', or presses the button 1 and be assigned to ' 1 '
Variable a.Judgement enters mode one if a is equal to 1: without fire behavior/small fire behavior mode；If voice module, which is heard, " opens second
Mode " sentence is then assigned to variable a for ' 2 ', or presses the button 2 and be assigned to variable a for ' 2 '.Judgement is if a is equal to 2
Into mode two: big fire behavior mode.
No fire behavior/small fire behavior mode control method includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor 3-3, pass through number
It is planned according to path, coding motor 1-4 starts turning walking, passes through smoke sensor device, Temperature Humidity Sensor, gas sensing
Device is acquired ambient enviroment and shows data by LCD screen；The data of acquisition are led to if terminal sends data ' Y '
It crosses Internet of Things module and is sent to terminal；
If Step 2: if having in walking process barrier by ultrasonic sensor 3-4 measure distance barrier away from
From intelligent fire detection robot 10cm then stop motion, the mechanical arm clamping device if measuring within obstacle distance 10cm
And then large arm 2-3, forearm 2-5, wrist joint 2-6 and manipulator 2-8 rotation one after 2 swivel base 2-1 turns an angle
Determine angle crawl barrier and places mechanical arm initialization action behind route two sides；
Avoidance left side coding motor or the right volume are executed if distance is also less than 10cm Step 3: measuring if ultrasonic wave 3-4
The code motor 1-4 two-way after making its intelligent 90 degree of revolute of fire detection that stops operating encodes motor 1-4 and works on, otherwise
Intelligent fire detection robot moves forward；
It endangers Step 4: being issued by Internet of Things module to terminal if smokescope is very high or temperature is more than 40 degrees Celsius
Dangerous information；
Step 5: passing through Internet of Things module if the image of OpenMV3 camera 3-2 scanning to fire sends fire information
And intelligent fire detection robot is advanced through the scanning fire source image analysis of OpenMV3 camera to fire source and stops to apart from fire source
Real-time live picture is passed to by terminal by wireless camera 3-1 after the place 15cm and passes through mechanical arm 2 for spray nozzle device 4-2
It is put out after being sent to above fire source by the water of control relay module feed pump 4-3 energization extraction water tank 4-1；
Step 6: if detecting field data normally by Internet of Things module send security information, whole process into
Enter circulation；
The control method of big fire behavior mode includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor 3-3, pass through number
It is planned according to path, coding motor 1-4 starts turning walking；
Step 2: Temperature Humidity Sensor, gas sensor is acquired data ambient enviroment by smoke sensor device
Terminal command centre is passed to by Internet of Things module and turns on demister screen lamp, while wireless module live view passes to terminal commander
Center, command centre simultaneously observe scene of fire by terminal, are constantly made a sound by buzzer and called for help scene of fire personnel；
Step 3: if by OpenMV3 camera 3-2 scan to dangerous goods if mechanical arm 2 turn an angle into
Row crawl, commanding is sent to intelligent fire by Internet of Things module by terminal input ' T ' if automatically grabbing failure
Detecting Robot, goes to Bluetooth control if intelligent fire detection robot receives ' T ', issues instruction to machine by terminal
Tool arm control accurately crawl dangerous material and takes away from the scene.
Above embodiments are implemented under the premise of the technical scheme of the present invention, give detailed embodiment and tool
The operating process of body, but protection scope of the present invention is not limited to the above embodiments.Method therefor is such as without spy in above-described embodiment
Not mentionleting alone bright is conventional method.
Claims (4)
1. a kind of intelligence fire detection robot, which is characterized in that the robot includes that travelling platform is put down with walking is mounted on
Mechanical arm clamping device, extinguishing device and TT&C system on platform；
The mechanical arm clamping device successively includes swivel base, large arm rotating mechanism, large arm, forearm whirler from the bottom to top
Structure, forearm, wrist joint rotating mechanism, manipulator rotating mechanism and manipulator；The extinguishing device includes being fixed on travelling platform
On water tank and the nozzle that is fixed on mechanical arm clamping device, tank outlet connect self prime pump, nozzle by hose with
Self prime pump water outlet is connected；The TT&C system is fixed on travelling platform pedestal, including wireless camera,
OpenMV3 camera, laser radar range sensor, ultrasonic distance sensor, voice module and main control MCU, wireless camera
Head, OpenMV3 camera, laser radar range sensor, ultrasonic distance sensor, voice module connect with main control MCU
Mouth electrical connection.
2. a kind of intelligent fire detection robot according to claim 1, which is characterized in that the travelling platform includes
Walking chassis, driving motor, walking driver gear, walking passive gear and crawler belt；Driving motor is mounted in walking chassis, output
Axis connection walking driver gear, walking driver gear and walking passive gear are mounted in crawler belt, walking passive gear also with walking chassis
Hingedly.
3. a kind of control method of intelligent fire detection robot described in claim 1, which is characterized in that including no fire behavior/
Small fire behavior mode and big fire behavior mode；
No fire behavior/small fire behavior mode control method includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor, satisfied the need by data
Diameter is planned that coding motor starts turning walking, and by smoke sensor device, Temperature Humidity Sensor, gas sensor is to surrounding
Environment, which is acquired, shows data by LCD screen；The data of acquisition are passed through into Internet of Things if terminal sends data ' Y '
Module is sent to terminal；
If Step 2: if thering is barrier to measure distance obstacle distance intelligence fire by ultrasonic sensor in walking process
Calamity Detecting Robot 10cm then stop motion, the rotation bottom of mechanical arm clamping device if measuring within obstacle distance 10cm
Disk turn an angle after and then large arm, forearm, wrist joint and manipulator turn an angle grab barrier place route
Mechanical arm initialization action behind two sides；
Step 3: executing if ultrasound obtains distance also less than 10cm, the avoidance left side encodes motor or the right coding motor stops
Rotation stop is dynamic to make two-way coding motor after its intelligent 90 degree of revolute of fire detection work on, otherwise intelligent fire detection machine
Device people moves forward；
Step 4: issuing dangerous letter to terminal by Internet of Things module if smokescope is very high or temperature is more than 40 degrees Celsius
Breath；
Step 5: passing through Internet of Things module if the image of OpenMV3 camera scanning to fire sends fire information and intelligent
Fire detection robot is advanced through the scanning fire source image analysis of OpenMV3 camera to fire source and stops to apart from the place fire source 15cm
Real-time live picture is passed to by terminal by wireless camera later and spray nozzle device is sent to by fire source top by mechanical arm
It is put out afterwards by the water of control relay module feed pump energization extraction water tank；
Step 6: sending security information by Internet of Things module if detecting field data normally, whole process, which enters, to be followed
Ring.
4. a kind of control method of intelligent fire detection robot according to claim 3, which is characterized in that big fire behavior mould
The control method of formula includes the following steps:
Step 1: being scanned output data array to ambient enviroment by laser radar range sensor, satisfied the need by data
Diameter is planned that coding motor starts turning walking；
Step 2: Temperature Humidity Sensor, gas sensor, which is acquired ambient enviroment, passes through data by smoke sensor device
Internet of Things module passes to terminal command centre and turns on demister screen lamp, while wireless module live view passes in terminal commander
The heart, command centre simultaneously observe scene of fire by terminal, are constantly made a sound by buzzer and called for help scene of fire personnel；
Step 3: mechanical arm turns an angle and is grabbed if being scanned by OpenMV3 camera to dangerous goods, such as
Fruit automatically grabs failure, and then commanding by terminal input ' T ' by Internet of Things module is sent to intelligent fire detection machine
People goes to Bluetooth control if intelligent fire detection robot receives ' T ', issues instruction by terminal and carry out to mechanical arm
The accurate crawl dangerous material of control take away from the scene.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231457.6A CN109999391A (en) | 2019-03-26 | 2019-03-26 | A kind of intelligence fire detection robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231457.6A CN109999391A (en) | 2019-03-26 | 2019-03-26 | A kind of intelligence fire detection robot and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109999391A true CN109999391A (en) | 2019-07-12 |
Family
ID=67168166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910231457.6A Pending CN109999391A (en) | 2019-03-26 | 2019-03-26 | A kind of intelligence fire detection robot and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109999391A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN110673603A (en) * | 2019-10-31 | 2020-01-10 | 郑州轻工业学院 | Fire scene autonomous navigation reconnaissance robot |
| CN110757456A (en) * | 2019-10-25 | 2020-02-07 | 广东工业大学 | Reconfigurable multi-information acquisition robot sensing module |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
| CN111167045A (en) * | 2020-01-14 | 2020-05-19 | 安徽农业大学 | Bamboo forest fire extinguishing system based on cooperation of double robots and control method thereof |
| CN111604917A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot for fire scene rescue |
| CN111842302A (en) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | Intelligent cleaning device for ship cargo hold |
| CN112295145A (en) * | 2019-07-24 | 2021-02-02 | 上海长智***集成有限公司 | Artificial intelligent fire-fighting robot, disaster detection method, computer device and medium |
| CN112546520A (en) * | 2020-12-24 | 2021-03-26 | 大连理工江苏研究院有限公司 | Fire extinguishing device for intelligent fire-fighting robot |
| CN115366126A (en) * | 2022-09-06 | 2022-11-22 | 河南农业大学 | Intelligent space temperature and humidity acquisition trolley |
| CN115400376A (en) * | 2022-10-08 | 2022-11-29 | 侯鑫 | Explosion-proof fire control reconnaissance robot |
| CN115445128A (en) * | 2022-09-20 | 2022-12-09 | 国网安徽省电力有限公司电力科学研究院 | Fire-fighting robot capable of removing obstacles |
| CN115471975A (en) * | 2022-09-08 | 2022-12-13 | 温州大学 | Multipurpose escape robot for family safety accidents |
| WO2024041296A1 (en) * | 2022-08-26 | 2024-02-29 | 江苏徐工工程机械研究院有限公司 | Fire-extinguishing robot, fire-extinguishing robot group and fire-extinguishing method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231778A (en) * | 2008-02-15 | 2008-07-30 | 湖南师范大学 | Camera shooting self-extinguishing warning system |
| CN204288415U (en) * | 2014-10-22 | 2015-04-22 | 常州大学 | Intelligent early-warning firefighting robot |
| CN207139814U (en) * | 2017-04-17 | 2018-03-27 | 蓝思智能机器人(长沙)有限公司 | Rescue robot |
| CN107877495A (en) * | 2017-12-07 | 2018-04-06 | 西安工业大学 | A kind of clamp-type manipulator of robot |
| US20180203458A1 (en) * | 2015-07-08 | 2018-07-19 | Jiangsu University | Smart mobile detection platform for greenhouse |
| CN108406784A (en) * | 2018-01-24 | 2018-08-17 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism and control system and method |
| CN108969941A (en) * | 2018-08-03 | 2018-12-11 | 安徽赛福贝特信息技术有限公司 | A kind of crawler belt security robot |
-
2019
- 2019-03-26 CN CN201910231457.6A patent/CN109999391A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231778A (en) * | 2008-02-15 | 2008-07-30 | 湖南师范大学 | Camera shooting self-extinguishing warning system |
| CN204288415U (en) * | 2014-10-22 | 2015-04-22 | 常州大学 | Intelligent early-warning firefighting robot |
| US20180203458A1 (en) * | 2015-07-08 | 2018-07-19 | Jiangsu University | Smart mobile detection platform for greenhouse |
| CN207139814U (en) * | 2017-04-17 | 2018-03-27 | 蓝思智能机器人(长沙)有限公司 | Rescue robot |
| CN107877495A (en) * | 2017-12-07 | 2018-04-06 | 西安工业大学 | A kind of clamp-type manipulator of robot |
| CN108406784A (en) * | 2018-01-24 | 2018-08-17 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism and control system and method |
| CN108969941A (en) * | 2018-08-03 | 2018-12-11 | 安徽赛福贝特信息技术有限公司 | A kind of crawler belt security robot |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112295145A (en) * | 2019-07-24 | 2021-02-02 | 上海长智***集成有限公司 | Artificial intelligent fire-fighting robot, disaster detection method, computer device and 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 |
| CN110757456A (en) * | 2019-10-25 | 2020-02-07 | 广东工业大学 | Reconfigurable multi-information acquisition robot sensing module |
| CN110673603B (en) * | 2019-10-31 | 2023-10-24 | 郑州轻工业大学 | Fire scene autonomous navigation reconnaissance robot |
| CN110673603A (en) * | 2019-10-31 | 2020-01-10 | 郑州轻工业学院 | Fire scene autonomous navigation reconnaissance robot |
| CN111167045A (en) * | 2020-01-14 | 2020-05-19 | 安徽农业大学 | Bamboo forest fire extinguishing system based on cooperation of double robots and control method thereof |
| CN111167045B (en) * | 2020-01-14 | 2024-04-09 | 安徽农业大学 | Bamboo forest fire extinguishing system based on double robot cooperation and control method thereof |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
| CN111604917A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot for fire scene rescue |
| CN111842302A (en) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | Intelligent cleaning device for ship cargo hold |
| CN112546520A (en) * | 2020-12-24 | 2021-03-26 | 大连理工江苏研究院有限公司 | Fire extinguishing device for intelligent fire-fighting robot |
| WO2024041296A1 (en) * | 2022-08-26 | 2024-02-29 | 江苏徐工工程机械研究院有限公司 | Fire-extinguishing robot, fire-extinguishing robot group and fire-extinguishing method |
| CN115366126A (en) * | 2022-09-06 | 2022-11-22 | 河南农业大学 | Intelligent space temperature and humidity acquisition trolley |
| CN115471975A (en) * | 2022-09-08 | 2022-12-13 | 温州大学 | Multipurpose escape robot for family safety accidents |
| CN115445128A (en) * | 2022-09-20 | 2022-12-09 | 国网安徽省电力有限公司电力科学研究院 | Fire-fighting robot capable of removing obstacles |
| CN115400376A (en) * | 2022-10-08 | 2022-11-29 | 侯鑫 | Explosion-proof fire control reconnaissance robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109999391A (en) | A kind of intelligence fire detection robot and control method | |
| CN108000482B (en) | Explosion-proof wheeled inspection robot system | |
| CN110422242A (en) | A kind of intelligent fire roving vehicle and application method | |
| CN110812745A (en) | Mobile intelligent fire-fighting robot and fire-fighting control method | |
| CN109331378B (en) | Fire-fighting robot based on image processing and intelligent fire-fighting method | |
| JP2021500668A (en) | Monitoring equipment, industrial equipment, monitoring methods and computer programs | |
| CN100400244C (en) | Robot remote control system | |
| CN105563488A (en) | Night patrol robot | |
| CN102161202A (en) | Full-view monitoring robot system and monitoring robot | |
| WO2023130340A1 (en) | Anti-collision alarm device for intelligent ship | |
| CN208678226U (en) | A kind of multi-functional full landform fire-fighting robot | |
| CN210502924U (en) | Intelligent fire-fighting exploration vehicle | |
| CN105881549A (en) | Real-time high-precision detecting system of industrial robot | |
| CN109227527B (en) | Unmanned aerial vehicle search and rescue device based on head-tail double-end snake-shaped mechanical arm and application thereof | |
| CN117506916A (en) | Petrochemical enterprise intelligent inspection and danger-removing robot | |
| CN215281955U (en) | Building security patrol robot | |
| CN111544813B (en) | Intelligent fire extinguishing robot | |
| CN109940631A (en) | The control method of clamping unit, robot assemblies, robot and its robot | |
| CN219275821U (en) | Normalized fire inspection early warning fire rescue platform based on heterogeneous robot team cooperation | |
| CN111427354A (en) | AGV dolly is patrolled and examined in security protection based on Kinect | |
| CN209774659U (en) | fire detection robot | |
| CN217801738U (en) | Intelligent security robot | |
| KR102487554B1 (en) | System and method for detecting damages inside a cavity using an autonomous moving object and a multi-degree-of-freedom manipulator, and a recording medium recording a computer readable program for executing the method | |
| CN113370222B (en) | Crawler-type earthquake search and rescue machine | |
| CN115738143A (en) | Fire-fighting robot capable of intelligently adjusting spraying angle and height and fire-fighting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |