CN202662122U - Remote fire alarming system of mobile robot - Google Patents
Remote fire alarming system of mobile robot Download PDFInfo
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- CN202662122U CN202662122U CN 201220163082 CN201220163082U CN202662122U CN 202662122 U CN202662122 U CN 202662122U CN 201220163082 CN201220163082 CN 201220163082 CN 201220163082 U CN201220163082 U CN 201220163082U CN 202662122 U CN202662122 U CN 202662122U
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Abstract
The utility model relates to the field of intelligent detecting, automatic control and remote fire alarming of robot, and discloses a remote fire alarming system of a mobile robot. The remote fire alarming system of the mobile robot comprises two subsystems which are respectively a mobile robot subsystem and a remote alarming terminal subsystem; and the mobile robot is a system which integrates a single-chip controller and a plurality of electromechanical and mechanical modules and has the capacity of accurately distinguishing the running route, detecting the fire conditions at the left and the right side and the smoothness of the front road, and universally detecting the fire in special areas based on 360 degrees. According to the remote fire alarming system of the mobile robot provided by the utility model, the mobile robot is capable of sensing and collecting environmental information, and transmitting the on-site fire information to a remote alarming terminal in a wireless way on real time; and the remote alarming terminal is the system for processing the information and performing fire alarming, which is used for receiving the fire information remotely transmitted by the mobile robot, making a decision and processing, implementing an alarming decision and alarming, and storing and displaying the fire information and the alarming decision.
Description
Technical field:
The utility model relates to intelligent robot and detects, automatically controls and the remote fire alarm field, is specifically related to mobile robot's remote fire alarm system.
Background technology:
The mobile robot is one and integrates multi-functional system such as environment sensing, dynamic decision and behavior control and execution etc., has locomotive function, replacing the people to be engaged in operation under the environment such as danger, abominable (such as radiation, poisonous, smog etc.), have larger maneuverability, dirigibility.At present, the fire detection in large-scale indoor place adopts the methods such as fixed fire detection sensor or video monitoring mostly.These methods have certain geographic position limitation, and very difficult adaptation detects and the situation of environmental change on a large scale.For the problems referred to above, the utility model provides a kind of mobile robot's remote fire alarm system.
The utility model content:
The purpose of this utility model is to provide a kind of mobile robot's remote fire alarm system, realizes fast and accurately remote fire disaster automatic alarm in its scope of activities.
For achieving the above object, the utility model is achieved by the following technical solutions.
Mobile robot's remote fire alarm system comprises mobile robot and remote alarming terminal two sub-systems.The mobile robot comprises infrared obstacle avoidance apparatus, infra red flame sensor device, mobile robot's electric supply installation, temp sensor device, mist detecting device, mobile robot's monolithic processor control device, mobile robot's acoustic-optic alarm, mobile robot's radio communication device, motor driver, wheel, Photoelectric Sensor Device, direct current generator, universal wheel; Remote alarming terminal comprises remote terminal radio communication device, liquid crystal indicator, remote terminal acoustic-optic alarm, remote terminal electric supply installation, remote terminal monolithic processor control device, clock apparatus, rectangle plank, key device; An accumulator connects motor driver (9) to direct current generator (12) power supply in mobile robot's electric supply installation (3); Another accumulator connects mu balanced circuit to each sensor, mobile robot's monolithic processor control device (6), mobile robot's radio communication device (8) power supply; The digital output end of infrared obstacle avoidance apparatus (1), infra red flame sensor device (2), temp sensor device (4), mist detecting device (5), mobile robot's acoustic-optic alarm (7), mobile robot's radio communication device (8), Photoelectric Sensor Device (11) all is connected with Single-chip Controlling end (6); The digital input end of motor driver (9), mobile robot's radio communication device (8) all is connected with mobile robot's Single-chip Controlling end (6); The digital input end of remote terminal radio communication device (13), liquid crystal indicator (14), remote terminal acoustic-optic alarm (15), clock apparatus (18), key device (27) all is connected with remote terminal Single-chip Controlling end (17); The digital output end of remote terminal radio communication device (13), clock apparatus (18) all is connected with remote terminal Single-chip Controlling end (17); Each device in the output terminal of remote terminal electric supply installation (16) and the remote alarming terminal links to each other; Rectangle plank (26) is used for placing each device of remote alarming terminal.
More specifically:
The mobile robot comprises:
A mobile vehicle; Mobile vehicle is made of two-layer vehicle frame, two electric machine supports and the travel mechanism that is installed on the electric machine support, described electric machine support lays respectively at both sides, bottom vehicle frame the place ahead, described travel mechanism comprise drive travel mechanism work about two independent direct current motors, be installed in the wheel on the direct current generator and be positioned at the universal wheel of carrier rear central authorities;
Be affixed on the code-disc of left wheel inboard, described code-disc is marked with chequered with black and white circular pattern;
Symmetry is installed in the Photoelectric Sensor Device of below, lower floor vehicle frame front side, and this Photoelectric Sensor Device is comprised of n reflective photoelectric sensor unit, for detection of the black line on ground; Described n reflective photoelectric sensor unit is the number of using photoelectric transducer element according to mobile robot the place ahead width adjustment;
Be installed in mobile vehicle left wheel right side Photoelectric Sensor Device, this Photoelectric Sensor Device is that the reflective photoelectric sensor unit forms, and rotates situation, the distance that the calculating robot travels by the code-disc that detects the left wheel inboard;
Be installed in mobile robot's electric supply installation of top, mobile vehicle lower floor vehicle frame front side, this mobile robot's electric supply installation comprises mu balanced circuit and two accumulators, and one on described accumulator is to the mu balanced circuit power supply, powers to direct current generator for one; Described mu balanced circuit is given each power circuit power supply.
Be installed in the DC electric machine drive apparatus of mobile vehicle lower floor vehicle frame back side top;
Be installed in the infra red flame sensor device of vehicle frame front side, mobile vehicle upper strata and central both sides top, the infra red flame sensor device of described front side comprises three infra red flame sensor units, lays respectively at three positions, left, center, right;
Be installed in the infrared obstacle avoidance apparatus of top, vehicle frame front side, mobile vehicle upper strata, this infrared obstacle avoidance apparatus is to the detection of the barrier in robot the place ahead;
Be installed in the mist detecting device of mobile vehicle upper strata vehicle frame central authorities top, this mist detecting device utilizes the smoke condition in the infrared smoke sensor device testing environment;
Be installed in the temp sensor device of vehicle frame central authorities both sides, mobile vehicle upper strata and top, front side, this sets of temperature sensors is comprised of digital temperature sensor, is respectively applied to detect temperature left and right, first three orientation;
Be installed in mobile robot's monolithic processor control device of mobile vehicle upper strata vehicle frame rear side, this mobile robot's monolithic processor control device is used for gathering the information of each sensor, by the motion of DC electric machine drive apparatus control mobile vehicle, and control mobile robot radio communication device is sent to remote terminal with fire information;
Be installed in mobile robot's radio communication device of vehicle frame rear side right bit top, mobile vehicle upper strata, this mobile robot's radio communication device is by the send and receive of its data of Single-chip Controlling; Described mobile robot's radio communication device transmission information comprises temperature, smoke condition, barrier situation, robot ride distance, robot ride time, robot ride average velocity, the special area position of fire;
Be installed in mobile robot's acoustic-optic alarm of top, vehicle frame rear side left position, moving body upper strata, described mobile robot's acoustic-optic alarm is comprised of audible alarm unit and light alarming device; When robot found fire, this mobile robot's acoustic-optic alarm of Single-chip Controlling carried out sound and light alarm.
The digital output end of Photoelectric Sensor Device, infra red flame sensor device, infrared obstacle avoidance apparatus, mist detecting device, temp sensor device, mobile robot's radio communication device, mobile robot's acoustic-optic alarm all is connected with the Single-chip Controlling end; The digital input end of DC electric machine drive apparatus, mobile robot's radio communication device all is connected with the Single-chip Controlling end; The DC electric machine drive apparatus output terminal is connected with the direct current generator input end.
Remote alarming terminal comprises:
One rectangle plank, this plank are used for placing RTU (remote terminal unit);
Be installed in the remote terminal radio communication device in the place ahead, plank left side;
Be installed in the remote terminal electric supply installation at rear, plank left side, this remote terminal electric supply installation comprises transformer and mu balanced circuit; Described mu balanced circuit is given each power circuit power supply.
Be installed in the liquid crystal indicator in plank central authorities the place ahead, this liquid crystal indicator is used for showing fire information, comprises temperature, smoke condition, barrier situation, robot ride distance, robot ride time, robot ride average velocity, the special area position of fire;
Be installed in plank central-remote terminal monolithic processor control device, this remote terminal monolithic processor control device is used for control remote terminal radio communication device and receives fire information, receive condition of a fire information, store and in the LCDs demonstration, control simultaneously the remote terminal acoustic-optic alarm and report to the police;
Be installed in the key device at plank central authorities rear, this key device is used for making things convenient for managerial personnel's input control order and inquiry fire information;
Be installed in the remote terminal acoustic-optic alarm in the place ahead, plank right side.
Be installed in the clock apparatus at rear, plank right side, this clock apparatus has self-clocking function, dual power supply; Described dual power supply is the power supply of remote terminal electric supply installation and button cell power supply;
The digital input end of liquid crystal indicator, remote terminal radio communication device, clock apparatus, remote terminal acoustic-optic alarm all is connected with the Single-chip Controlling end; The digital output end of remote terminal radio communication device, clock apparatus all is connected with the Single-chip Controlling end.
The robot ride track is to place default place to be affixed on the black line on ground, and described black line width is less than the width between the photoelectric sensor; The utility model is used perpendicular to the right side black line of running rail and left side black line and is represented special area, and which special area robot by specifying to the counting of right side black line and left side black line; Described right side and left side black line length are greater than the distance of outermost photoelectric sensor apart from center line; Use perpendicular to the running rail black line and represent terminal point; Described perpendicular to running rail black line length greater than the distance between two photoelectric sensors of outermost.
Managerial personnel send the execution instruction by remote terminal to robot, and robot is from starting point along rail running.Simultaneously, the infra red flame sensor of robot by both sides, and infrared obstacle avoidance apparatus detect the unimpeded situation of fire condition and the place ahead of both sides.If robot finds that there is barrier in the place ahead, robot stops, and the Single-chip Controlling radio communication device sends relevant information to remote terminal, and terminal receives information and shows in LCDs, and reports to the police; If robot finds the fire situation, robot stops, temp sensor device by mist detecting device and close burning things which may cause a fire disaster detects smoke condition and temperature, the Single-chip Controlling radio communication device sends relevant information to remote terminal, terminal receives condition of a fire information and shows in LCDs, and storage is also reported to the police.When robot walks to special area, robot original place rotation, monolithic processor control device is to the collection of three infra red flame sensor informations in the place ahead.After finding burning things which may cause a fire disaster, robot de-orbits.Determine the travel direction of robot by the differential method in unit, the left and right sides, and rely on temporary location to determine the distance of robot and burning things which may cause a fire disaster.When arbitrary unit inspection value surpassed max-thresholds, robot halted, detected temperatures and smoke condition, and the Single-chip Controlling radio communication device sends relevant information to remote terminal, and terminal receives condition of a fire information and shows in LCDs, and storage is also reported to the police.
The utlity model has following remarkable result:
(1) cost is low
The utility model only needs a mobile robot to carry out fire detection to the interior space on a large scale, and equipment needed thereby is less, and simple and convenient is installed by system, has reduced user's expense expenditure.
(2) reliable remote alarms performance
The mobile robot adopts the infra red flame sensor device to detect the fire situation of travel route both sides, and can carry out the comprehensive detection of 360 degree to the fire situation of special area, and by radio communication device fire information is sent to remote alarming terminal.Overcome wired mode circuit corrosion-vulnerable, the deficiency of the aspect such as fragile has improved the reliability of system alarm.
(3) higher dirigibility
At present, the fire detection in large-scale indoor place adopts the methods such as fixed fire detection sensor or video monitoring mostly.These methods have certain geographic position limitation, and very difficult adaptation detects and the situation of environmental change on a large scale.The utility model utilization has the fire information in the robot testing environment of travelling performance, has higher dirigibility.
Description of drawings:
Fig. 1 mobile robot structure vertical view.
Fig. 2 is mobile robot's structure backplan.
Fig. 3 is mobile robot's structure left view.
Fig. 4 is remote terminal structure vertical view.
Fig. 5 is special area sign schematic diagram.
Fig. 6 is the post schematic diagram.
Fig. 7 is the code-disc schematic diagram that is affixed on the left wheel inboard.
1-infrared obstacle avoidance apparatus among the figure, 2-infra red flame sensor device, 3-mobile robot electric supply installation, the 4-temp sensor device, 5-mist detecting device, 6-mobile robot monolithic processor control device, 7-mobile robot acoustic-optic alarm, 8-mobile robot radio communication device, 9-motor driver, the 10-wheel, the 11-Photoelectric Sensor Device, 12-direct current generator, 13-remote terminal radio communication device, the 14-liquid crystal indicator, 15-remote terminal acoustic-optic alarm, 16-remote terminal electric supply installation, 17-remote terminal monolithic processor control device, the 18-clock apparatus, the 19-track, 20-special area sign, 21-post, the 22-universal wheel, the 23-pillar, 24-lower floor vehicle frame, 25-upper strata vehicle frame, 26-rectangle plank, the 27-key device.
Embodiment:
Below in conjunction with accompanying drawing the utility model is described in detail.
With reference to Fig. 1, Fig. 2, shown in Figure 3, this mobile robot comprises infrared obstacle avoidance apparatus 1, infra red flame sensor device 2, mobile robot's electric supply installation 3, temp sensor device 4, mist detecting device 5, mobile robot's monolithic processor control device 6, mobile robot's acoustic-optic alarm 7, mobile robot's radio communication device 8, motor driver 9, wheel 10, Photoelectric Sensor Device 11, direct current generator 12, universal wheel 22.An accumulator connects motor driver 9 to direct current generator 12 power supplies in mobile robot's electric supply installation 3; Another accumulator connects mu balanced circuit to each sensor, mobile robot's monolithic processor control device 6,8 power supplies of mobile robot's radio communication device.The digital output end of infrared obstacle avoidance apparatus 1, infra red flame sensor device 2, temp sensor device 4, mist detecting device 5, mobile robot's acoustic-optic alarm 7, mobile robot's radio communication device 8, Photoelectric Sensor Device 11 all is connected with mobile robot's Single-chip Controlling end 6; The digital input end of motor driver 9, mobile robot's radio communication device 8 all is connected with mobile robot's Single-chip Controlling end 6.
With reference to shown in Figure 4, this remote terminal comprises remote terminal radio communication device 13, liquid crystal indicator 14, remote terminal acoustic-optic alarm 15, remote terminal electric supply installation 16, remote terminal monolithic processor control device 17, clock apparatus 18, rectangle plank 26, key device 27.The digital input end of remote terminal radio communication device 13, liquid crystal indicator 14, remote terminal acoustic-optic alarm 15, clock apparatus 18, key device 27 all is connected with remote terminal Single-chip Controlling end 17; The digital output end of remote terminal radio communication device 13, clock apparatus 18 all is connected with remote terminal Single-chip Controlling end 17; Each device in the output terminal of remote terminal electric supply installation 16 and the remote alarming terminal links to each other; Rectangle plank (26) is used for placing each device of remote alarming terminal.
With reference to shown in Figure 5, the robot ride track is to place default place to be affixed on the black line 19 on ground, and described black line width is less than the width between the Photoelectric Sensor Device 11; The utility model is used perpendicular to the right side black line of running rail and left side black line 20 and is represented special area, and when two Photoelectric Sensor Devices 11 of robot the same side detected black line 20 simultaneously, the expression robot entered special area; Which special area robot represents by the counting to the right side black line.
With reference to shown in Figure 6, the utility model uses the black line 21 perpendicular to running rail 19 to represent terminal point, and when four Photoelectric Sensor Devices 11 of robot detected black line 21 simultaneously, the expression robot reached terminal point.
When reality was used, the remote management of CPE personnel sent the execution instruction by key device 27 to robot, and robot 19 travels from starting point along track by 4 Photoelectric Sensor Devices 11.In the driving process, robot detects the fire condition of both sides by the infra red flame sensor device 2 of both sides, detect the unimpeded situation in the place ahead by infrared obstacle avoidance apparatus 1, detect special area by two Photoelectric Sensor Devices in the same side 11, by 4 Photoelectric Sensor Devices, 11 endpoint detection positions 21.If infrared obstacle avoidance apparatus 1 detects the place ahead barrier is arranged, robot stops, mobile robot's monolithic processor control device 6 control control mobile robot acoustic-optic alarms 7 are reported to the police, and pass through mobile robot's radio communication device 8 transmission obstacle informations to remote terminal radio communication device 13, remote terminal monolithic processor control device 17 shows by remote terminal radio communication device 13 reception information and in LCD device 14, storage and 15 warnings of control remote terminal acoustic-optic alarm; If both sides infra red flame sensor device 2 detects fire, robot stops, detect temperature and smoke condition on every side by temp sensor device 4 and mist detecting device 5, mobile robot's monolithic processor control device 6 control mobile robot acoustic-optic alarms 7 are reported to the police, and pass through mobile robot's radio communication device 8 transmission fire information to remote terminal radio communication device 13, remote terminal monolithic processor control device 17 receives condition of a fire information by remote terminal radio communication device 13, storage also shows same alarm at liquid crystal indicator 14.When robot walks to special area, the rotation of robot original place, the fire situation is carried out the comprehensive detection of 360 degree around 2 pairs of three infra red flame sensor devices of mobile robot's monolithic processor control device 6 by the place ahead.If infra red flame sensor device 2 does not detect fire, mobile robot's monolithic processor control device 6 sends the information of special area to remote terminal radio communication device 13 by mobile robot's radio communication device 8, remote terminal monolithic processor control device 17 is by remote terminal radio communication device 13 reception information and in LCD device 14 demonstrations, and robot continues to travel along track black line 19; If after infra red flame sensor device 2 detected fire, robot de-orbited.Determine the travel direction of robot by left and right sides infra red flame sensor device 2 differential methods, and rely on middle infra red flame sensor device 2 to determine the distance of robots and burning things which may cause a fire disaster.When arbitrary unit inspection value surpasses max-thresholds, robot halts, detect temperature and smoke condition on every side by temp sensor device 4 and mist detecting device 5, mobile robot's monolithic processor control device 6 control mobile robot acoustic-optic alarms 7 are reported to the police, and pass through mobile robot's radio communication device 8 transmission fire information to remote terminal radio communication device 13, remote terminal monolithic processor control device 17 receives condition of a fire information by remote terminal radio communication device 13, storage also shows same alarm at liquid crystal indicator 14.If robot detects final position 21, mobile robot's monolithic processor control device 6 sends final position information to remote terminal radio communication device 13 by mobile robot's radio communication device 8, and remote terminal monolithic processor control device 17 shows by remote terminal radio communication device 13 reception information and in LCD device 14.
Claims (1)
1. mobile robot's remote fire alarm system is characterized in that: comprise mobile robot and remote alarming terminal two sub-systems; The mobile robot comprises infrared obstacle avoidance apparatus (1), infra red flame sensor device (2), mobile robot's electric supply installation (3), temp sensor device (4), mist detecting device (5), mobile robot's monolithic processor control device (6), mobile robot's acoustic-optic alarm (7), mobile robot's radio communication device (8), motor driver (9), wheel (10), Photoelectric Sensor Device (11), direct current generator (12), universal wheel (22); Remote alarming terminal comprises remote terminal radio communication device (13), liquid crystal indicator (14), remote terminal acoustic-optic alarm (15), remote terminal electric supply installation (16), remote terminal monolithic processor control device (17), clock apparatus (18), rectangle plank (26), key device (27); An accumulator connects motor driver (9) to direct current generator (12) power supply in mobile robot's electric supply installation (3); Another accumulator connects mu balanced circuit to each sensor, mobile robot's monolithic processor control device (6), mobile robot's radio communication device (8) power supply; The digital output end of infrared obstacle avoidance apparatus (1), infra red flame sensor device (2), temp sensor device (4), mist detecting device (5), mobile robot's acoustic-optic alarm (7), mobile robot's radio communication device (8), Photoelectric Sensor Device (11) all is connected with Single-chip Controlling end (6); The digital input end of motor driver (9), mobile robot's radio communication device (8) all is connected with mobile robot's Single-chip Controlling end (6); The digital input end of remote terminal radio communication device (13), liquid crystal indicator (14), remote terminal acoustic-optic alarm (15), clock apparatus (18), key device (27) all is connected with remote terminal Single-chip Controlling end (17); The digital output end of remote terminal radio communication device (13), clock apparatus (18) all is connected with remote terminal Single-chip Controlling end (17); Each device in the output terminal of remote terminal electric supply installation (16) and the remote alarming terminal links to each other; Rectangle plank (26) is used for placing each device of remote alarming terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220163082 CN202662122U (en) | 2012-04-17 | 2012-04-17 | Remote fire alarming system of mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220163082 CN202662122U (en) | 2012-04-17 | 2012-04-17 | Remote fire alarming system of mobile robot |
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| CN202662122U true CN202662122U (en) | 2013-01-09 |
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| CN 201220163082 Expired - Fee Related CN202662122U (en) | 2012-04-17 | 2012-04-17 | Remote fire alarming system of mobile robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273982A (en) * | 2013-04-27 | 2013-09-04 | 东莞市华虹电子有限公司 | Multifunctional all-terrain bio-robot |
| CN103839371A (en) * | 2014-03-31 | 2014-06-04 | 内蒙古科技大学 | Indoor unattended safety inspection system |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| CN105353633A (en) * | 2015-11-27 | 2016-02-24 | 深圳市神州云海智能科技有限公司 | Intelligent safe kitchen system |
| CN106393051A (en) * | 2016-10-13 | 2017-02-15 | 成都聚智工业设计有限公司 | Intelligent security robot based on Internet of Things |
| CN108806170A (en) * | 2018-07-19 | 2018-11-13 | 安徽共生众服供应链技术研究院有限公司 | A kind of Warehouse Fire initial stage fire protection warning unmanned plane |
-
2012
- 2012-04-17 CN CN 201220163082 patent/CN202662122U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273982A (en) * | 2013-04-27 | 2013-09-04 | 东莞市华虹电子有限公司 | Multifunctional all-terrain bio-robot |
| CN103839371A (en) * | 2014-03-31 | 2014-06-04 | 内蒙古科技大学 | Indoor unattended safety inspection system |
| CN103839371B (en) * | 2014-03-31 | 2016-01-13 | 内蒙古科技大学 | A kind of indoor unmanned safety patrol inspection system |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| CN105353633A (en) * | 2015-11-27 | 2016-02-24 | 深圳市神州云海智能科技有限公司 | Intelligent safe kitchen system |
| CN106393051A (en) * | 2016-10-13 | 2017-02-15 | 成都聚智工业设计有限公司 | Intelligent security robot based on Internet of Things |
| CN108806170A (en) * | 2018-07-19 | 2018-11-13 | 安徽共生众服供应链技术研究院有限公司 | A kind of Warehouse Fire initial stage fire protection warning unmanned plane |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130109 Termination date: 20130417 |