CN116597599A - Remote intelligent movable monitoring device for electric fire - Google Patents
Remote intelligent movable monitoring device for electric fire Download PDFInfo
- Publication number
- CN116597599A CN116597599A CN202310494183.6A CN202310494183A CN116597599A CN 116597599 A CN116597599 A CN 116597599A CN 202310494183 A CN202310494183 A CN 202310494183A CN 116597599 A CN116597599 A CN 116597599A
- Authority
- CN
- China
- Prior art keywords
- track
- inspection
- fire
- inspection device
- steering
- 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
- 238000012806 monitoring device Methods 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 claims abstract description 242
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 239000000779 smoke Substances 0.000 claims description 14
- 230000002195 synergetic effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 101100480512 Caenorhabditis elegans tag-51 gene Proteins 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 101100480513 Caenorhabditis elegans tag-52 gene Proteins 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- 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
- A62C37/40—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 with electric connection between sensor and actuator
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B1/00—Frameworks, boards, panels, desks, casings; Details of substations or switching arrangements
- H02B1/26—Casings; Parts thereof or accessories therefor
- H02B1/28—Casings; Parts thereof or accessories therefor dustproof, splashproof, drip-proof, waterproof or flameproof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Landscapes
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The remote intelligent movable monitoring device for the electrical fire disaster comprises a track inspection device, a remote server and a remote control device, wherein the track inspection device is used for acquiring information of electrical equipment and sending the information to the remote server; the track inspection device is provided with two track inspection devices, and the track inspection devices run on the same inspection track to carry out inspection in a mode that running paths do not cross; the inspection track is arranged above the electrical equipment and extends around the electrical equipment; the remote server receives and calculates the information sent by the track inspection device, and sends the calculation result to the track inspection device and/or the fire-fighting robot; the track inspection device is provided with a detection device, the remote server sends the position information of the fire starting point to the fire-fighting robot, and the fire-fighting robot runs to the corresponding fire starting point according to the position information to extinguish the fire. The monitoring device can realize twenty-four hours uninterrupted fire inspection, timely find the ignition point and timely extinguish fire.
Description
Technical Field
The invention relates to a monitoring device, in particular to a remote intelligent movable monitoring device for an electric fire disaster.
Background
Electrical equipment, electrical cabinets, data cabinets, etc. are often centrally located for ease of maintenance and overhaul. At present, fire control in an electrical room is generally realized by matching a smoke alarm with spraying equipment. Fire is also extinguished in a mode of combining remote video monitoring with a manual fire extinguisher, and when the remote video monitoring finds a fire, an operator on duty is informed to enter an electric room for manual fire extinguishing.
The smoke alarm is not sensitive enough, can generate false alarm or alarm-free condition, and after the spraying equipment is started, other electrical equipment which does not fire can be damaged, so that the loss can not be reduced to the minimum. When the fire is extinguished manually, the fire is not extinguished timely, and the loss is increased. The above problems are to be solved.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the invention provides the remote intelligent movable monitoring device for the electric fire, which has simple layout and can realize automatic charging and 24-hour uninterrupted inspection.
The invention particularly provides a remote intelligent movable monitoring device for an electric fire, which comprises a track inspection device, a remote server and a remote control device, wherein the track inspection device is used for acquiring information of electric equipment and sending the information to the remote server; the track inspection device is provided with two track inspection devices, and the track inspection devices run on the same inspection track to carry out inspection in a mode that running paths do not cross; the inspection track is arranged above the electrical equipment and extends around the electrical equipment; the remote server receives and calculates the information sent by the track inspection device, and sends the calculation result to the track inspection device and/or the fire-fighting robot; the track inspection device is provided with a detection device, and the detection device at least comprises a high-definition camera, a smoke sensor and a CO sensor or an infrared temperature sensor, wherein the high-definition camera is used for taking high-definition videos and pictures of electrical equipment, the smoke sensor, the CO sensor is used for measuring air parameters on an inspection path, and the infrared temperature sensor is used for scanning thermal images of an electrical cabinet; when the high-definition video, the photo, the air parameter and the thermal image received by the remote server represent that the electrical equipment fires, the remote server sends the position information of the fire-starting point to the fire-fighting robot, and the fire-fighting robot runs to the corresponding fire-starting point according to the position information to extinguish the fire.
Further, the electrical equipment comprises a plurality of electrical cabinets, wherein the electrical cabinets are arranged in rows and columns; the inspection track extends from the first row of electrical cabinets along the front row thereof around to the rear row thereof and then continues to extend forward so as to be located between the two rows of electrical cabinets; and then sequentially bypassing the second row of electric cabinets and the third row of electric cabinets until the rear of the last row of electric cabinets.
Further, the two track inspection devices are a first inspection device and a second inspection device, the inspection sending point of the second inspection device is located on the first electrical cabinet needing inspection on the front face of the first row of electrical cabinets, the inspection end point of the second inspection device is located on the last electrical cabinet needing inspection on the front face of the middle row of electrical cabinets, the first track inspection device starts from the opposite end of the inspection track, and the inspection end point of the first track inspection device is located on the last electrical cabinet needing inspection on the back face of the middle row of electrical cabinets; when the first track inspection device and the second track inspection device reach the inspection terminal points, the first track inspection device and the second track inspection device return to the inspection along the original paths.
Further, when a signal sent by the smoke sensor and the CO sensor is received, the remote server identifies a signal abnormality part, judges whether the value of the signal abnormality part exceeds a threshold value and lasts for a certain period of time, if so, the remote server further inquires a thermal image sent by the infrared temperature sensor and a video shot by the high-definition camera in the period of time, calculates whether the temperature represented by the thermal image exceeds the threshold value and/or identifies the video shot by the high-definition camera, and judges whether flame is generated in the thermal image; if the temperature exceeds the threshold value but no flame is identified, the remote server identifies the electrical cabinet with the temperature exceeding the threshold value, controls the electrical cabinet to temporarily power off, and informs an maintainer of maintenance; if the temperature exceeds the threshold value and a flame is identified, the remote server transmits the position of the identified flame to the fire-fighting robot, and the fire-fighting robot moves to a corresponding electrical cabinet according to the position and controls the fire-fighting nozzle to spray fire-fighting medium to the flame.
Further, a bypass track system and a wireless charging device are arranged at the side surface of the middle part of the inspection track; through the bypass track system, the first track inspection device and the second track inspection device can both drive away from the respective inspection tracks and enter the charging track; a wireless charging device is arranged at the end of the charging track; the inspection device comprises an inspection device, wherein the inspection device comprises a power cabinet, a controller ECU, a wireless charging receiver, a charging circuit, a detection device, a wireless charging circuit and a controller ECU, wherein the detection device is arranged on the two sides of the inspection device and faces to the direction of the power cabinet, the wireless charging receiver is arranged on the front side and/or the back side of the inspection device, when the wireless charging receiver is aligned with the wireless charging device, the charging circuit is connected with the controller ECU of the inspection device to charge, and when the charging is completed, the charging circuit is disconnected, the inspection device is controlled to return to the original circuit, and the inspection of the original planned route is continued.
Further, the inspection track comprises a track formed by combining two inverted T-shaped tracks, namely a first track and a second track; the inverted T-shaped vertical parts of the two rails serve as a separation part, and the separation part separates the inverted T-shaped horizontal parts into a driving wheel rail and a steering wheel rail; the track inspection device comprises a driving device, a first driving wheel of the driving device is arranged on a driving wheel track of the first track, a second driving wheel of the driving device is arranged on a driving wheel track of the second track, a hanging rod is arranged below the driving device, the hanging rod extends downwards from a gap between the driving wheel tracks of the first track and the second track, and a body part of the inspection device is hung below the hanging rod; the inspection device comprises a body part, a fixed block, a first steering wheel, a first steering shaft, a second steering wheel, a rotating gear, a motor, a driving pinion and a rotating gear, wherein the two sides of the inspection device are also provided with the steering devices, the steering devices comprise a first steering device and a second steering device, the two steering devices are identical in configuration, the first steering device comprises a first steering wheel which is arranged on the first track steering wheel track, the first steering wheel is connected with the fixed block arranged on the body part of the inspection device through the first steering shaft through a hinge device, the first steering shaft comprises a horizontal part and a vertical part, the horizontal part is used for being connected with the first steering wheel, the vertical part is used for being hinged with the fixed block, the hinge device is provided with the rotating gear, the rotating gear is connected with the driving pinion arranged on the body part through a chain or a belt, and the driving pinion is driven by the motor, so that the first steering wheel rotates to be contacted with the first track steering track in the vertical direction or rotates to a horizontal position below the first track when the motor rotates.
Further, the bypass track system consists of a first track and a second track, the second track is kept unchanged, the first track is disconnected for a certain distance and is divided into a front section track and a rear section track, each section of track of the front section and the rear section is bypassed to the same side through an arc track, and finally the two sections of tracks are converged into a charging track, and the charging track is a straight track; when charging is needed, the second steering wheel and the second steering shaft of the first inspection device rotate to the horizontal position under the drive of the motor, so as to finish derailment; the first steering wheel and the first steering shaft are fixed, the first inspection device continues to run forwards, and under the synergistic effect of the first steering wheel and the first driving wheel, the first inspection device runs along an arc-shaped track of the first track, finishes steering and enters a charging track; when the first inspection device is charged, the second inspection device continuously runs forwards across the bypass track system to replace the first inspection device, the inspection path of the second inspection device is completed, and the actions across the bypass track system are as follows: the second steering wheel and the second steering shaft of the second inspection device rotate to a horizontal position under the drive of a motor to finish derailment; the first steering wheel and the first steering shaft remain stationary; the second inspection device continues to run forwards, and continues to run straight along the second track under the synergistic effect of the first steering wheel and the first driving wheel, so that the action of crossing the bypass track system is completed.
Further, the bypass track system is composed of a first track and a second track; the first track is disconnected for a distance and is divided into a front section of track and a rear section of track, each section of track of the front section and the rear section of track bypasses the same side through an arc track, and finally the two sections of tracks are converged into a charging track; the second track is disconnected for a distance and is divided into a front section of track and a rear section of track, and the front section of track and the rear section of track are connected through a connecting track; the side surface or the top of the arc-shaped track is provided with a first brake which can enable the arc-shaped track to be engaged with or separated from the first track; the side surface or the top surface of the connecting rail is provided with a second brake which can enable the connecting rail to be engaged with or separated from the second rail; the steering wheel of the inspection device is kept motionless, and the inspection device is completed to go straight or enter a bypass track system through the operation of the first brake and the second brake.
Further, a plurality of spaced RFID tags are arranged around the electrical cabinet, an RFID tag reader is arranged on the track inspection device, and the information recorded by the RFID tag at least comprises three-dimensional space coordinate information of the RFID tag; the information is read by the reader, and is packaged together with the information of the high-definition camera, the smoke sensor, the CO sensor and the infrared temperature sensor and transmitted to the remote server; after the remote server recognizes the flame, the position coordinates of the flame center are calculated according to the three-dimensional space coordinate information of the RFID tag and are sent to the fire-fighting robot.
Further, the fire-fighting robot comprises a body, a fire-fighting tank body is arranged on the body, the fire-fighting tank body is connected with a fire-fighting hose through an electromagnetic one-way valve, and a nozzle end of the fire-fighting hose is fixed at the top end of the lifter through a fixing device; the fire-fighting robot also comprises an RFID tag reader arranged on the fire-fighting robot; the controller ECU is connected with the electromagnetic one-way valve, the driving device of the lifter and the RFID tag reader, and is connected to the controller ECU of the fire-fighting robot.
The invention can realize twenty-four hours uninterrupted fire inspection, timely find the ignition point and timely extinguish fire, and meanwhile, the invention has the advantages of simple equipment, simple track layout, track saving, automatic charging function and high degree of automation.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a remote intelligent mobile monitoring device for electrical fires of the present invention;
FIG. 2 is a layout diagram of a track inspection device of an electrical fire remote intelligent mobile monitoring device of the present invention;
FIG. 3 is a schematic view of a track inspection device of an electrical fire remote intelligent movable monitoring device according to the present invention;
FIG. 4 is a schematic diagram of a bypass track system of an electrical fire remote intelligent mobile monitoring device of the present invention;
FIG. 5 is a schematic diagram of a bypass track system of another embodiment of an electrical fire remote intelligent mobile monitoring apparatus of the present invention;
FIG. 6 is a schematic diagram of the operation of the bypass track system of FIG. 5;
FIG. 7 is a schematic diagram of a two-dimensional coordinate system of the electrical cabinet fire point of the remote intelligent movable monitoring device for electrical fire according to the present invention;
fig. 8 is a schematic structural view of a fire-fighting robot of the remote intelligent movable monitoring device for electric fire according to the present invention.
Detailed Description
In order to more particularly describe the present invention, the following detailed description of the technical scheme of the present invention is provided with reference to the accompanying drawings and the specific embodiments.
Fig. 1 is a schematic system structure diagram of an electric fire remote intelligent movable monitoring device, which comprises a track inspection device 3, wherein the track inspection device is used for acquiring information of electric equipment 1 and sending the information to a remote server 9. The electrical equipment 1 comprises a plurality of electrical cabinets, and the electrical cabinets are arranged in rows and columns. The remote server 9 receives and calculates the information sent by the track inspection device 3, and sends the calculation result to the track inspection device 3 and/or the fire-fighting robot 7.
Referring to fig. 3, the track inspection device 3 is provided with a detection device 33, where the detection device 33 includes at least a high-definition camera, a smoke sensor, a CO sensor or an infrared temperature sensor, where the high-definition camera is used to take high-definition videos and pictures of the inspection electrical cabinet, the smoke sensor, the CO sensor is used to measure air parameters on the inspection path, and the infrared temperature sensor is used to scan thermal images of the electrical cabinet, and all the above information is transmitted to the remote server 9 through a network.
When receiving the sensor signals sent by the gas sensors such as the smoke sensor, the CO sensor and the like, the remote server 9 identifies the abnormal signal part, judges whether the value of the abnormal signal part exceeds a threshold value and lasts for a certain period of time, if so, the remote server further inquires the thermal image sent by the infrared temperature sensor and the video shot by the high-definition camera in the period of time, calculates whether the temperature represented by the thermal image exceeds the threshold value and/or identifies the video shot by the high-definition camera, and judges whether flame is generated in the thermal image. If the temperature exceeds the threshold value but no flame is identified, the remote server 9 identifies the electrical cabinet with the temperature exceeding the threshold value, controls the electrical cabinet to power off temporarily, and informs an maintainer of maintenance. If the temperature exceeds a threshold value and a flame is recognized, the remote server 9 transmits the position of the recognized flame to the fire-fighting robot 7, which moves to a corresponding electrical cabinet according to the position, and controls the fire-fighting nozzle to spray the fire-fighting medium to the flame.
Referring to fig. 7, a plurality of spaced RFID tags (radio frequency identification) are disposed around the electric cabinet, and an RFID tag reader is disposed on the track inspection device 3, and the reader can read information recorded by the RFID tag in a range of, for example, 0-5 meters, and the information recorded by the RFID tag at least includes three-dimensional space coordinate information of the RFID tag, electrical label information of the RFID tag, functional information, power type, and the like. The information is read by the reader, and is packaged together with the information of the high-definition camera, the smoke sensor, the CO sensor and the infrared temperature sensor and transmitted to the remote server 9. Thus, the worker can quickly locate the corresponding electrical cabinet.
After receiving the video image of the electrical cabinet sent by the inspection device, the remote server 9 constructs a two-dimensional coordinate system, identifies the flame 6, positions the flame center point of the flame, selects two RFID tags 51 and 52 near the flame center as reference points, and respectively measures the included angles A and B between the connecting line between the first RFID tag 51 and the second RFID tag 52 and the center of the circle and the vertical direction. The coordinates of the flame center are calculated using the coordinates of the first and second RFID tags 51, 52.
The d value was calculated using the following equation
c＝a-b
d*ctgA+d*ctgB＝c
Where a is the Y coordinate value of the first RFID tag 51; b is the Y coordinate value of the second RFID tag; c is the Y coordinate difference value of the first RFID tag and the second RFID tag; a is the included angle between the connecting line of the first RFID tag 51 and the flame center and the vertical direction; b is the included angle between the connecting line of the second RFID tag 52 and the flame center and the vertical direction; d is the horizontal distance of the flame center from the first or second RFID tag.
The coordinate value of the flame center on the x-axis may be marked as the sum of the abscissa value and the d value of the first tag 51.
The coordinate value of the flame center on the Y-axis may be denoted b+d ctgB, and the plane coordinate value of the flame center is transmitted to the fire-fighting robot 7.
Referring to fig. 8, which shows a simplified construction of the fire-fighting robot of the present invention, the fire-fighting robot includes a body 71, the body 71 being driven by driving wheels, and being freely movable under the control of a controller ECU. The fire-fighting pot body 72 is arranged on the body 71, the fire-fighting pot body 72 is connected with the fire-fighting hose 73 through an electromagnetic one-way valve 79, a nozzle end 74 of the fire-fighting hose 73 is fixed at the top end of the lifter 75 through a fixing device 78, and the lifter 75 can be lifted under the driving of the driving device 76. The fire-fighting robot further comprises an RFID tag reader 77 arranged on the fire-fighting robot 7, wherein the RFID tag reader 77 is used for scanning RFID tags on the electrical cabinet; the controller ECU is connected to the electromagnetic check valve 79, the driving device 76, and the RFID tag reader 77.
When the fire-fighting robot 7 receives the planar coordinates of the flame center, the controller ECU first controls the fire-fighting robot 7 to travel to the vicinity of the corresponding electrical cabinet according to the coordinate values of the flame center on the x-axis, then the RFID tag reader 77 determines the target electrical cabinet by scanning the RFID tag on the electrical cabinet, fine-adjusts the position of the fire-fighting robot so that the lifter 75 thereon is aligned with the coordinate values of the flame center on the x-axis, then controls the lifter 75 to rise or fall so that the nozzle end 74 located thereon is aligned with the flame center according to the coordinate values of the flame center on the Y-axis, then the controller ECU controls the electromagnetic check valve 79 to open, and fire-extinguishing medium (carbon dioxide or the like) is ejected from the nozzle end 74 to extinguish the fire.
While the fire-fighting robot is extinguishing the fire, the track inspection device 3 will monitor the flame condition of the corresponding area in real time and transmit the relevant information to the remote server, the remote server 9 can judge whether the fire-fighting is completed through the track inspection device 3, send a return signal to the fire-fighting robot if the fire-fighting is completed, and continue the fire-fighting operation if the fire-fighting is not completed. If a new flame is found during the fire extinguishing process, the above steps are repeated to re-determine the center position of the new flame.
Referring to fig. 2, which shows a layout of a track inspection device 3 of the present invention, as shown, a plurality of electrical cabinets 1 are arranged in rows, each row of electrical cabinets 1 having a plurality of electrical cabinets, and an inspection track 2 extends from a first row of electrical cabinets along its front row around to its rear row and then continues forward so as to be located between the two rows of electrical cabinets; and then sequentially bypassing the second row of electric cabinets and the third row of electric cabinets until the rear row of the last row of electric cabinets. Since the front and back sides (front and back rows) of the electrical cabinet have corresponding plugs, sockets, electronic components, etc., it is necessary to ensure that both the front and back sides of the electrical cabinet are inspected. The inspection track 2 is hoisted to the electrical cabinet from the ceiling.
In one embodiment, the invention adopts two track inspection devices 31 and 32 for the inspection track of a group (a plurality of rows) of electrical cabinets, the inspection point of the second inspection device 32 is positioned on the first electrical cabinet needing to be inspected on the front surface of the first row of electrical cabinets, the inspection end point of the second inspection device is positioned on the last electrical cabinet needing to be inspected on the front surface of the middle row of electrical cabinets, the first track inspection device 31 starts from the opposite end of the inspection track, namely, the inspection point of the first electrical cabinet needing to be inspected on the back surface of the last row of electrical cabinets, and the inspection end point of the second inspection device is positioned on the last electrical cabinet needing to be inspected on the back surface of the middle row of electrical cabinets. When the inspection end point is reached, the first and second track inspection devices 31 and 32 return to the inspection along the original path until returning to the inspection point, and the two track inspection devices do not cross run so as to ensure the stability of the system. Therefore, all the electric cabinets can be continuously and uninterruptedly inspected, and fire hazards can be timely found.
In one embodiment, a bypass track system 4 and a wireless charging device 41 are provided at a side of the intermediate drain cabinet shown in fig. 2 at a side position of the intermediate portion of the inspection track 2. Through the bypass track system 4, the track inspection device 3 can drive away from the inspection track and enter the charging track, a wireless charging device 41 is arranged at the end of the charging track, as shown in fig. 3, a detection device 33 is arranged at the positions facing the direction of the electric cabinet on two side surfaces of the inspection device 3, a wireless charging receiver 34 is arranged on the front surface and/or the back surface of the inspection device 3, when the wireless charging receiver 34 is aligned with the wireless charging device 41, a controller ECU of the inspection device 3 is connected with a charging circuit to charge, and when the charging is completed, the charging circuit is disconnected, the original circuit of the inspection device 3 is controlled to return, and the inspection of the original planned route is continued.
Thus, when one of the inspection devices, for example, the first inspection device 31, has insufficient electric power, it enters the charging track to be charged, and the second inspection device 32 will replace the inspection task of the first inspection device 31, that is, the second inspection device 32 will go through its inspection end point and then continue to inspect forward until the inspection point of the first inspection device 31, and then return again to continue inspection until the inspection point of the second inspection device 32. When the first inspection device 31 is charged, the second inspection device 32 exits the inspection path of the first inspection device 31, returns to the original inspection path to perform inspection, and the first inspection device 31 returns to the inspection path to continue inspection. In this way, the alternating charging is performed in turn, so that one of the charging is ensured, and the other inspection device can cover all inspection paths, so that all electrical cabinets can be inspected uninterruptedly.
The track inspection device system of the present invention is shown in fig. 3, and includes a track formed by combining two inverted T-shaped tracks, namely a first track 21 and a second track 22. The first track 21 and the second track 22 are arranged at intervals, the inverted T-shaped vertical parts of the two tracks are used as isolating parts, the inverted T-shaped horizontal parts are separated into driving wheel tracks and steering wheel tracks by the isolating parts, as shown in fig. 3, the driving wheel tracks of the first track 21 and the second track 22 are oppositely arranged, a driving device 315 is arranged on the tracks, a first driving wheel 311 of the driving device 315 is arranged on the driving track of the first track 21, a second driving wheel 312 is arranged on the driving track of the second track 22, a driving motor and a corresponding driving shaft are arranged between the first driving wheel 311 and the second driving wheel 312, a hanging rod 319 is arranged below the driving device 315, the hanging rod 319 extends downwards from a gap between the driving tracks of the first track and the second track, and a body part 30 of the inspection device 3 is hung below the hanging rod 319. The driving device 315 drives the first driving wheel and the second driving wheel to rotate, so that the inspection device 3 is driven to move along the driving wheel track through the hanging rod 319.
The inspection device 3 is further provided with steering devices on both sides, the steering devices comprise a first steering device and a second steering device, the two steering devices are configured identically, the first steering device is taken as an example for describing the structure of the first steering device, the first steering device comprises a first steering wheel 313 which is configured on a steering track of a first track and is used for assisting the first driving wheel 311 to run, the first steering wheel 313 is connected with a fixed block 318 arranged on a body part 30 of the inspection device 3 through a first steering shaft 316 through a hinging device 317, the first steering shaft 316 comprises a horizontal part and a vertical part, the horizontal part is used for being connected with the first steering wheel 313, the vertical part is used for being hinged with the fixed block 318, a rotating gear 321 is arranged at the hinging device 317, the rotating gear 321 is connected with a driving pinion 322 arranged on the body part 30 through a chain or a belt, the driving pinion 322 is driven by a motor, and when the motor rotates, the rotating gear 321 is driven to rotate further to drive the hinging device 317 and the first steering shaft 316 to synchronously rotate, so that the first steering wheel 313 can rotate to a position contacting the track in the vertical direction or rotate to the first track to the horizontal position 21 below the first track.
Referring to fig. 4, the bypass track system 4 of the present invention will be described in detail below, and includes a first track 21 and a second track 22, where the second track 22 remains continuous, and the first track 21 is broken by a distance and is divided into two front and rear tracks, and each of the front and rear tracks bypasses the same side through an arc-shaped track 212 and finally converges into a charging track 23, and the charging track 23 is a straight track, so that the charging track 23 also includes two parallel tracks.
In the following, the first inspection device 31 needs to be charged, and the second inspection device 32 spans the bypass track system 4 to replace the first inspection device 31 to complete the inspection task will be described as an example. The first inspection device 31 moves from bottom to top, and the second inspection device 32 moves from top to bottom.
When charging is required, the first inspection device 31 moves upward from the lower direction of fig. 3, and the second steering wheel 314 and the second steering shaft of the first inspection device 31 rotate to the horizontal position under the drive of the motor, so as to complete the derailment action. The first steering wheel 313 and the first steering shaft 316 are stationary, the first inspection device 31 continues to travel forward, travels along the arc-shaped rail 212 of the first rail 21 under the synergistic effect of the first steering wheel 313 and the first driving wheel 311, completes steering, travels toward the charging rail 23, and when traveling smoothly on the charging rail 23, the second steering wheel 314 and the second steering shaft rotate to a vertical position under the driving of the motor, completing the track connection action.
When the first inspection device 31 is charged, the second inspection device 32 continues to inspect and runs forward across the bypass track system 4, and the inspection path is completed instead of the first inspection device 31. The action across the bypass track system 4 is as follows: the second steering wheel 314 and the second steering shaft of the second inspection device 32 are driven by the motor to rotate to the horizontal position, so as to finish the derailment action; the first steering wheel 313 and the first steering shaft 316 remain stationary. The second inspection device 32 continues to travel forward, and continues to travel straight along the second track 22 under the synergistic effect of the first steering wheel 314 and the first driving wheel 312, so as to complete the movement of crossing the bypass track system 4, and after the second inspection device runs smoothly, the second steering wheel 314 and the second steering shaft rotate to the vertical position under the drive of the motor, so as to complete the track connection movement.
In the above embodiment, the change-rail charging is completed by adopting a reversing wheel mode.
In another embodiment, referring to fig. 5-6, the bypass track system 4 of the present invention comprises: a first rail 21, a second rail 22; the first track 21 is broken into a distance and is divided into a front section and a rear section, each section of track of the front section and the rear section is bypassed to the same side through the arc-shaped track 212, and finally the two sections of track are converged into a charging track 23, and the charging track 23 is a straight track, so that the charging track 23 also comprises two parallel tracks. The second rail 22 is separated by a distance and is divided into a front section and a rear section, and the front section and the rear section are connected by a connecting rail 221. The arc-shaped rail 212 is provided with a first stopper 210 at a side or top thereof, and the first stopper 210 enables the arc-shaped rail to be engaged with or disengaged from the first rail 21. The side or top surface of the connection rail 221 is provided with a second stopper 220, and the second stopper 220 can engage or disengage the connection rail with or from the second rail 22.
In the following, the first inspection device 31 needs to be charged, and the second inspection device 32 spans the bypass track system 4 to replace the first inspection device 31 to complete the inspection task will be described as an example. The first inspection device 31 moves from bottom to top, and the second inspection device 32 moves from top to bottom.
When charging is needed, the first inspection device 3 moves from the lower direction to the upper direction in fig. 6, the first steering wheel 313 and the second steering wheel 314 of the first inspection device 3 are kept at the original positions, the second brake 220 drives the connecting rail 221 to separate, and the first brake 210 drives the arc-shaped rail 212 to be engaged with the first rail 21 and the charging rail 23. The first inspection device 31 continues to travel forward, and the second steering wheel 314 and the second driving wheel 312 of the first inspection device 31 idle without contact with the track; under the synergistic effect of the first steering wheel 313 and the first driving wheel 311, the first inspection device 31 runs along the arc-shaped rail 212 of the first rail 21, finishes steering, and runs toward the charging rail 23.
When the first inspection device 31 is charged, the second inspection device 32 continues to inspect and runs forward across the bypass track system 4, and the inspection path is completed instead of the first inspection device 31. The action across the bypass track system 4 is as follows: the first and second steering wheels 313, 314 of the second inspection device 32 are kept stationary; the second brake 220 drives the connection rail 221 to engage, and the first brake 210 drives the arc-shaped rail 212 to be separated from the first rail 21 and the charging rail 23. The second inspection device 32 continues to travel forward, and the second steering wheel 314 and the second driving wheel 312 of the second inspection device 32 idle without contact with the track; under the cooperation of the first steering wheel 313 and the first driving wheel 316, the straight movement is continued along the second rail 22, and the movement across the bypass rail system 4 is completed.
Through the embodiment, the invention has the advantages of realizing twenty-four hours uninterrupted fire inspection, finding the ignition point in time and extinguishing fire in time, along with simple equipment, simple track layout, track saving, automatic charging function and high automation degree.
While the invention has been described in detail and with reference to the related embodiments, it will be apparent to one skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention.
Claims (10)
1. The remote intelligent movable monitoring device for the electrical fire is characterized by comprising a track inspection device, a remote server and a remote control device, wherein the track inspection device is used for acquiring information of electrical equipment and sending the information to the remote server; the track inspection device is provided with two track inspection devices, and the track inspection devices run on the same inspection track to carry out inspection in a mode that running paths do not cross; the inspection track is arranged above the electrical equipment and extends around the electrical equipment; the remote server receives and calculates the information sent by the track inspection device, and sends the calculation result to the track inspection device and/or the fire-fighting robot; the track inspection device is provided with a detection device, and the detection device at least comprises a high-definition camera, a smoke sensor and a CO sensor or an infrared temperature sensor, wherein the high-definition camera is used for taking high-definition videos and pictures of electrical equipment, the smoke sensor, the CO sensor is used for measuring air parameters on an inspection path, and the infrared temperature sensor is used for scanning thermal images of an electrical cabinet; when the high-definition video, the photo, the air parameter and the thermal image received by the remote server represent that the electrical equipment fires, the remote server sends the position information of the fire-starting point to the fire-fighting robot, and the fire-fighting robot runs to the corresponding fire-starting point according to the position information to extinguish the fire.
2. The remote intelligent mobile monitoring device for electrical fire according to claim 1, wherein the electrical equipment comprises a plurality of electrical cabinets, and the electrical cabinets are arranged in rows and columns; the inspection track extends from the first row of electrical cabinets along the front row thereof around to the rear row thereof and then continues to extend forward so as to be located between the two rows of electrical cabinets; and then sequentially bypassing the second row of electric cabinets and the third row of electric cabinets until the rear of the last row of electric cabinets.
3. The remote intelligent movable monitoring device for electric fire disaster according to claim 2, wherein the two track inspection devices are a first inspection device and a second inspection device, the inspection output point of the second inspection device is positioned on the first electric cabinet needing inspection on the front face of the first row of electric cabinets, the inspection end point of the second inspection device is positioned on the last electric cabinet needing inspection on the front face of the middle row of electric cabinets, the first track inspection device starts from the opposite end of the inspection track, and the inspection end point of the first track inspection device is positioned on the last electric cabinet needing inspection on the back face of the middle row of electric cabinets; when the first track inspection device and the second track inspection device reach the inspection terminal points, the first track inspection device and the second track inspection device return to the inspection along the original paths.
4. A remote intelligent mobile monitoring device for electric fire according to any one of claims 1-3, wherein when receiving a signal sent by a smoke sensor and a CO sensor, a remote server identifies a portion in which the signal is abnormal, determines whether the value of the signal is abnormal and exceeds a threshold value, and continues for a certain period of time, if so, the remote server further queries a thermal image sent by an infrared temperature sensor and a video shot by a high-definition camera in the period of time, calculates whether the temperature represented by the thermal image exceeds the threshold value and/or identifies the video shot by the high-definition camera, and determines whether flame is generated therein; if the temperature exceeds the threshold value but no flame is identified, the remote server identifies the electrical cabinet with the temperature exceeding the threshold value, controls the electrical cabinet to temporarily power off, and informs an maintainer of maintenance; if the temperature exceeds the threshold value and a flame is identified, the remote server transmits the position of the identified flame to the fire-fighting robot, and the fire-fighting robot moves to a corresponding electrical cabinet according to the position and controls the fire-fighting nozzle to spray fire-fighting medium to the flame.
5. The remote intelligent movable monitoring device for electric fire according to claim 3, wherein a bypass track system and a wireless charging device are arranged at the side surface of the middle part of the inspection track; through the bypass track system, the first track inspection device and the second track inspection device can both drive away from the respective inspection tracks and enter the charging track; a wireless charging device is arranged at the end of the charging track; the detection device is arranged on the two side surfaces of the track inspection device, the positions facing the direction of the electrical cabinet are provided with wireless charging receivers on the front surface and/or the back surface of the inspection device, when the wireless charging receivers are aligned with the wireless charging devices, the controller ECU of the track inspection device is connected with a charging circuit for charging, when the charging is completed, the charging circuit is disconnected, the original circuit of the inspection device is controlled to return, and the inspection of the original planned route is continued.
6. The remote intelligent movable monitoring device for electric fire according to claim 5, wherein the inspection track comprises a track formed by combining two inverted T-shaped tracks, namely a first track and a second track; the inverted T-shaped vertical parts of the two rails serve as a separation part, and the separation part separates the inverted T-shaped horizontal parts into a driving wheel rail and a steering wheel rail; the track inspection device comprises a driving device, a first driving wheel of the driving device is arranged on a driving wheel track of the first track, a second driving wheel of the driving device is arranged on a driving wheel track of the second track, a hanging rod is arranged below the driving device, the hanging rod extends downwards from a gap between the driving wheel tracks of the first track and the second track, and a body part of the inspection device is hung below the hanging rod; the inspection device comprises a body part, a fixed block, a first steering wheel, a first steering shaft, a second steering wheel, a rotating gear, a motor, a driving pinion and a rotating gear, wherein the two sides of the inspection device are also provided with the steering devices, the steering devices comprise a first steering device and a second steering device, the two steering devices are identical in configuration, the first steering device comprises a first steering wheel which is arranged on the first track steering wheel track, the first steering wheel is connected with the fixed block arranged on the body part of the inspection device through the first steering shaft through a hinge device, the first steering shaft comprises a horizontal part and a vertical part, the horizontal part is used for being connected with the first steering wheel, the vertical part is used for being hinged with the fixed block, the hinge device is provided with the rotating gear, the rotating gear is connected with the driving pinion arranged on the body part through a chain or a belt, and the driving pinion is driven by the motor, so that the first steering wheel rotates to be contacted with the first track steering track in the vertical direction or rotates to a horizontal position below the first track when the motor rotates.
7. The remote intelligent movable monitoring device for the electric fire disaster according to the claim 6 is characterized in that the bypass track system consists of a first track and a second track, the second track is kept unchanged, the first track is disconnected for a certain distance and is divided into a front section track and a rear section track, each section of track of the front section and the rear section bypasses to the same side through an arc track, and finally the two sections of tracks are converged into a charging track, and the charging track is a straight track; when charging is needed, the second steering wheel and the second steering shaft of the first inspection device rotate to the horizontal position under the drive of the motor, so as to finish derailment; the first steering wheel and the first steering shaft are fixed, the first inspection device continues to run forwards, and under the synergistic effect of the first steering wheel and the first driving wheel, the first inspection device runs along an arc-shaped track of the first track, finishes steering and enters a charging track; when the first inspection device is charged, the second inspection device continuously runs forwards across the bypass track system to replace the first inspection device, the inspection path of the second inspection device is completed, and the actions across the bypass track system are as follows: the second steering wheel and the second steering shaft of the second inspection device rotate to a horizontal position under the drive of a motor to finish derailment; the first steering wheel and the first steering shaft remain stationary; the second inspection device continues to run forwards, and continues to run straight along the second track under the synergistic effect of the first steering wheel and the first driving wheel, so that the action of crossing the bypass track system is completed.
8. The remote intelligent movable monitoring device for electric fire according to 6, wherein the bypass track system comprises a first track and a second track; the first track is disconnected for a distance and is divided into a front section of track and a rear section of track, each section of track of the front section and the rear section of track bypasses the same side through an arc track, and finally the two sections of tracks are converged into a charging track; the second track is disconnected for a distance and is divided into a front section of track and a rear section of track, and the front section of track and the rear section of track are connected through a connecting track; the side surface or the top of the arc-shaped track is provided with a first brake which can enable the arc-shaped track to be engaged with or separated from the first track; the side surface or the top surface of the connecting rail is provided with a second brake which can enable the connecting rail to be engaged with or separated from the second rail; the steering wheel of the inspection device is kept motionless, and the inspection device is completed to go straight or enter a bypass track system through the operation of the first brake and the second brake.
9. The remote intelligent mobile monitoring device for electrical fire according to claim 8, wherein,
a plurality of spaced RFID tags are arranged around the electric cabinet, an RFID tag reader is arranged on the track inspection device, and the information recorded by the RFID tag at least comprises three-dimensional space coordinate information of the RFID tag; the information is read by the reader, and is packaged together with the information of the high-definition camera, the smoke sensor, the CO sensor and the infrared temperature sensor and transmitted to the remote server; after the remote server recognizes the flame, the position coordinates of the flame center are calculated according to the three-dimensional space coordinate information of the RFID tag and are sent to the fire-fighting robot.
10. The remote intelligent movable monitoring device for electric fire according to claim 9, wherein the fire-fighting robot comprises a body, a fire-fighting tank body is arranged on the body, the fire-fighting tank body is connected with a fire-fighting hose through an electromagnetic one-way valve, and a nozzle end of the fire-fighting hose is fixed at the top end of a lifter through a fixing device; the fire-fighting robot also comprises an RFID tag reader arranged on the fire-fighting robot; the controller ECU is connected with the electromagnetic one-way valve, the driving device of the lifter and the RFID tag reader, and is connected to the controller ECU of the fire-fighting robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310494183.6A CN116597599A (en) | 2023-05-05 | 2023-05-05 | Remote intelligent movable monitoring device for electric fire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310494183.6A CN116597599A (en) | 2023-05-05 | 2023-05-05 | Remote intelligent movable monitoring device for electric fire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116597599A true CN116597599A (en) | 2023-08-15 |
Family
ID=87603720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310494183.6A Pending CN116597599A (en) | 2023-05-05 | 2023-05-05 | Remote intelligent movable monitoring device for electric fire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116597599A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106597360A (en) * | 2016-12-16 | 2017-04-26 | 西安电子科技大学 | Method for using robot to real-time and dynamically position and monitor indoor object based on RFID |
| CN209623751U (en) * | 2018-10-29 | 2019-11-12 | 金涵荃 | A kind of intelligent on-line monitoring communications equipment room inspection device |
| CN214540814U (en) * | 2021-04-21 | 2021-10-29 | 安徽工程大学 | Green house is with patrolling and examining track subassembly |
| CN114310961A (en) * | 2022-01-13 | 2022-04-12 | 上海工程技术大学 | Intelligent fire prevention robot that multisensor fuses based on vision |
-
2023
- 2023-05-05 CN CN202310494183.6A patent/CN116597599A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
| CN106597360A (en) * | 2016-12-16 | 2017-04-26 | 西安电子科技大学 | Method for using robot to real-time and dynamically position and monitor indoor object based on RFID |
| CN209623751U (en) * | 2018-10-29 | 2019-11-12 | 金涵荃 | A kind of intelligent on-line monitoring communications equipment room inspection device |
| CN214540814U (en) * | 2021-04-21 | 2021-10-29 | 安徽工程大学 | Green house is with patrolling and examining track subassembly |
| CN114310961A (en) * | 2022-01-13 | 2022-04-12 | 上海工程技术大学 | Intelligent fire prevention robot that multisensor fuses based on vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101949525B1 (en) | Safety management system using unmanned detector | |
| KR102554662B1 (en) | Safety management system using unmanned detector | |
| CN108388194A (en) | Railway machine room intelligent robot inspection system and its method | |
| CN111672045B (en) | Fire-fighting robot, fire-fighting system and fire-fighting control method | |
| US11924720B2 (en) | Autonomous drone with image sensor | |
| WO2020073232A1 (en) | Human interacting automatic guided vehicle | |
| KR101038581B1 (en) | Method, system, and operation method for providing surveillance to power plant facilities using track-type mobile robot system | |
| CN106458480A (en) | Systems and methods for automatically controlling loading dock equipment | |
| CN106600887A (en) | Video monitoring linkage system based on substation patrol robot and method thereof | |
| KR102430038B1 (en) | System monitoring and removing the abnormality of an object and method thereof | |
| CN105080014A (en) | Firefighting robot positioning and navigation system and positioning and navigation method thereof | |
| JPH0255506A (en) | Monitoring system for aerial line | |
| CN207799462U (en) | Intelligent track platform | |
| CN111142544A (en) | Avoidance device, avoidance system and avoidance method for track inspection robot | |
| CN107233680A (en) | A kind of fire-fighting robot | |
| KR20150080080A (en) | Remote control system for dangerous facility and controlling method | |
| CN109895116B (en) | Power pipe gallery track robot patrol inspection method and device | |
| CN206979880U (en) | A kind of fire-fighting robot | |
| CN104320613A (en) | Monitoring method, monitoring system and positioning system for maintenance operation of motor car | |
| CN115635486B (en) | Underground unmanned power station automatic monitoring, overhauling and disaster-resistant robot system | |
| CN113457060A (en) | Building fire extinguishing system based on BIM | |
| CN116597599A (en) | Remote intelligent movable monitoring device for electric fire | |
| CN115273377A (en) | Warehouse fire disaster brewing period early warning and saving system | |
| CN211603941U (en) | Rail inspection robot avoidance device and avoidance system | |
| CN112659146B (en) | Vision inspection robot system and expressway vision inspection method |
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 |