CN203280940U - Suspension type intelligent fire-fighting robot - Google Patents
Suspension type intelligent fire-fighting robot Download PDFInfo
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- CN203280940U CN203280940U CN2013203226388U CN201320322638U CN203280940U CN 203280940 U CN203280940 U CN 203280940U CN 2013203226388 U CN2013203226388 U CN 2013203226388U CN 201320322638 U CN201320322638 U CN 201320322638U CN 203280940 U CN203280940 U CN 203280940U
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Abstract
The utility model discloses a suspension type intelligent fire-fighting robot. A rotating shaft of a drive motor is connected with traveling wheels through a transmission device. The traveling wheels are arranged on tracks and drive the fire-fighting robot to move. A voice frequency receiver-transmitter is used for voice frequency broadcast and voice talking-back. An ultrasonic radar device is used for detecting obstructions. A visible camera and an infrared thermal imager are both installed on a visible/thermal imaging double-vision holder and can rotate freely. The voice frequency receiver-transmitter, the ultrasonic radar device, a sensor, a fire-extinguishing bullet, the visible camera and the infrared thermal imager are respectively connected with a controller in a corresponding mode. The controller is in communication connection with a vehicle-mounted control computer. The vehicle-mounted control computer is in remote communication connection with a management center through a wireless network. The suspension type intelligent fire-fighting robot can replace manpower for carrying out routing inspection work in each routing inspection point inside a tunnel, and has the advantages of carrying out real-time routing inspection automatically, protecting personal safety, giving an alarm in time, extinguishing fire in time, carrying out remote monitoring and remote real-time communication, saving data and carrying out playback of the data so as to facilitate analysis and summary, and the like.
Description
Technical field
The utility model relates to a kind of intelligence machine for fire-fighting, relates in particular to a kind of suspension type intelligent fire robot.
Background technology
Fire-fighting equipment is extremely important in the industrial and mineral industry, especially in the construction environment of relatively sealing, may contain inflammable gas etc. in its environment, security incident easily occurs.Such as: in the underpass that coal mine, sewer and electric power tunnel etc. relatively seal,, due to the reason such as Air Flow is not smooth, easily produce inflammable and explosive and harmful gas., for the administration of the prevention and control of this special area, there are suitable difficulty and danger.Processing that traditional fire protection generally needs personnel to make an inspection tour or then fire-fighting system discovery fire puts out a fire, can't carry out the early warning in early stage to fire.
In tunnel, fire extinguishing measure commonly used mainly contains following several at present:
The first, configure a large amount of dry powder extinguishers, manually take nearby during fire;
The second, segmentation is installed the foam maker fire extinguishing system and is put out a fire;
The 3rd, a large amount of foam fire-fighting bullets or dry chemical projectile are installed, automatically ignite fire extinguishing during fire;
The 4th, the on-the-spot artificial water spray of fire fighter during fire.
Above-mentioned traditional fire protection has following defect:
(1) fire causes damage greatly: because traditional measures lacks the judgement to object temperature, pile up heating etc. as cable connector heating, object, so can only just can put out a fire after fire occurs, generation that can not fire preventing, easily cause larger property loss;
(2) the fire extinguishing promptness is low:, for above-mentioned " first " and " the 4th " kind mode, occur to the staff from fire and reach the spot, need the long period, can not in time to fire, process;
(3) certain personal safety hidden danger is arranged: for above-mentioned " first " and " the 4th " kind mode, because reaching the spot, the needs staff carries out, and the subterranean tunnel scene easily produces poisonous, inflammable, the explosion hazard gases such as CH4, CO, H2S due to problem sluggish in air circulation, poisoning, the accident such as explode, cave in very easily occurs, and staff's personal safety is had larger threat;
(4) cost is high, maintenance is inconvenient: because all there is the use term of validity in all kinds of fire-extinguishing apparatus, be generally 2-5, for above-mentioned " first ", " second " and " the 3rd " kind mode, owing to adopting many places, a large amount of installation, one to the term of validity, namely need all kinds of fire-extinguishing apparatus are changed comprehensively, exist changing that quantity is many, workload is large etc. directly affects the problem of use cost; Simultaneously,, because length of tunnel differs, may reach tens of kilometers, away from the position of outlet, safeguard that replacing is also very inconvenient;
(5) the fire extinguishing effect can't real-time assessment: for above-mentioned " second " and " the 3rd " kind mode, can put out a fire owing to not needing the staff to reach the spot the very first time, the problem that exists the fire extinguishing effect to assess, be presented as: at first, the fire-extinguishing apparatus installation site not necessarily is arranged on the most appropriate position, and the fire extinguishing effect might not be best; Secondly, after fire extinguishing, before the staff does not reach the spot, can't obtain on-the-spot real time information, for follow-up decision, use, personnel rashly reach the spot and have certain risk;
(6) lack effective telecommunication means: when running at the scene knotty problem and can't process, be difficult to the long-range expert group that seeks help, be unfavorable for that also higher level department assesses scene and commands.
The utility model content
The purpose of this utility model just is the suspension type intelligent fire robot that provides a kind of energy and alarm and fire extinguishing to process in order to address the above problem.
In order to achieve the above object, the utility model has adopted following technical scheme:
suspension type intelligent fire described in the utility model robot comprises drive motors, road wheel, battery, controller, audio transceiver, ultrasonic radar, sensor, fire extinguisher bomb, visible light/thermal imaging double vision The Cloud Terrace, Visible Light Camera, infrared thermal imager and vehicle-mounted control computer, wherein: the rotating shaft of described drive motors is connected with described road wheel by transmission device, described road wheel is used for being placed on track and driving described fire-fighting robot moving, described audio transceiver is used for audio broadcasting and speech talkback, described ultrasonic radar is used for the detecting obstacles thing, described Visible Light Camera and described infrared thermal imager all are installed on described visible light/thermal imaging double vision The Cloud Terrace, described visible light/thermal imaging double vision The Cloud Terrace can rotate freely, described audio transceiver, described ultrasonic radar, described sensor, described fire extinguisher bomb, described Visible Light Camera be connected infrared thermal imager connection corresponding to described controller respectively, between described controller and described vehicle-mounted control computer, communication is connected (wire communication or wireless telecommunications connect all can), and described vehicle-mounted control computer carries out telecommunication by wireless network with administrative center and is connected.
For the ease of installing, described fire-fighting robot also comprises interconnective upper shell and lower house, described drive motors and described road wheel are installed in described upper shell, the two ends of described upper shell are provided with the through hole that passes for described track, described battery, controller, audio transceiver, ultrasonic radar, sensor, fire extinguisher bomb, visible light/thermal imaging double vision The Cloud Terrace, vehicle-mounted control computer and remote communication module all be installed in described lower house or described lower casing body wall on.
Further, described fire-fighting robot also comprises the inductive charging device, the connection corresponding to described battery of described inductive charging device.For the ease of charging, the inductive charging device is arranged in upper shell.
In order to obtain the effect of better taking pictures, described fire-fighting robot also comprises being used to and obtains video information the light compensating lamp of illumination is provided.
Particularly, described sensor comprises Temperature Humidity Sensor and gas concentration sensor.
Described fire extinguisher bomb is dry chemical projectile and/or foam fire-fighting bullet.
The beneficial effects of the utility model are:
Suspension type intelligent fire described in the utility model robot can replace manually carrying out in tunnel respectively patrolling and examining the work of patrolling and examining a little, have automatically patrol and examine in real time, protect personal safety, and alarm, in time put out a fire processing, remote monitoring, long-range real-time communication, data can preserve playback so that analyze the advantage such as summary.Be embodied in:
1, fire extinguishing is in time---and this fire-fighting robot is in tunnel, need not the wait personnel and arrives tunnel, can automatically start fire extinguishing or remote handle remote control and start fire extinguishing, saves the time that the staff reaches the spot, in the very first time processing of putting out a fire;
2, safety---this fire-fighting robot can replace manually patrolling and examining, putting out a fire, the personnel that need not arrive and are full of in the tunnel of toxic and harmful, before fire suppression, do not need the staff in person to reach the spot, there do not is the personal safety problem of making an inspection tour or putting out a fire and bringing;
3, cost is low, easy to maintenance---and this fire-fighting robot can move in orbit on a large scale, can reduce in a large number the installation quantity of fire-extinguishing apparatus, and rest against at ordinary times the positions such as import and export, ventilating opening, when fire-fighting robot carried fire extinguisher bomb exhaustion of effect replacing, replacing quantity was few, cost is low, maintenance position is easy to operate;
4, be convenient to the recruitment evaluation of putting out a fire---the vehicle-mounted Visible Light Camera of this fire-fighting robot and infrared thermal imager, coordinate orbit, can be by the on-the-spot fire condition of video Real-Time Monitoring, location fire location, start fire extinguisher bomb in optimum position, to reach best fire extinguishing effect; Secondly, after fire extinguishing is completed, can be on-the-spot by the video Real Time Observation, to pass judgment on on-the-spot actual fire extinguishing situation, for follow-up decision-making provides reliable information;
5, realize the fire disasters protection early warning---this fire-fighting robot carries gas concentration sensor and infrared thermal imager, can find as early as possible thermal source, hot stall, fire etc. in the tunnel in, is carrying out early warning not forming before losing greatly; This fire-fighting robot carries O
2, CO, H
2S, CH
4And other combustable gas concentration sensor, whenever can monitor the toxic and harmful content in tunnel, before occurring, fire carries out early warning, take precautions against fire in possible trouble;
6, process maneuvering platform be provided for fire---this fire-fighting robot carries audio transceiver with audio broadcasting and intercommunication function, when fire occurs, but the collection site acoustic information, and broadcasting evacuate staff in tunnel, in the subsequent treatment after fire suppression, can be used for remote command.
Description of drawings
Fig. 1 patrols and examines and the fire extinguishing system structural representation in suspension type intelligent fire described in the utility model robot;
Fig. 2 is the main TV structure schematic diagram after suspension type intelligent fire described in the utility model robot is installed on track;
Fig. 3 is the correlation structural representation in suspension type intelligent fire described in the utility model robot, track and tunnel.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is further described in detail:
as depicted in figs. 1 and 2, suspension type intelligent fire described in the utility model robot comprises upper shell 2, lower house 17, drive motors 4, road wheel 5, inductive charging device 3, battery 15, controller 6, audio transceiver 7, light compensating lamp 8, ultrasonic radar 9, sensor 10, fire extinguisher bomb 11, visible light/thermal imaging double vision The Cloud Terrace 12, Visible Light Camera (not shown in Fig. 2), infrared thermal imager (not shown in Fig. 2) and vehicle-mounted control computer 16, wherein: inductive charging device 3, drive motors 4 and road wheel 5 are installed in upper shell 2, the two ends of upper shell 2 are provided with the through hole (Fig. 2 is not shown) that passes for track 1, battery 15, controller 6, audio transceiver 7, ultrasonic radar 9, sensor 10, fire extinguisher bomb 11, visible light/thermal imaging double vision The Cloud Terrace 12 and vehicle-mounted control computer all are installed in lower house 17 or on the wall of lower house 17, the rotating shaft of drive motors 4 is (not shown in Fig. 2 by transmission device, adopt conventional transmission device to get final product) be connected with road wheel 5, four altogether of road wheels 5, road wheel 5 is used for being placed on track 1 and drives fire-fighting robot that (Fig. 2 is unmarked, see the fire-fighting robot 20 in Fig. 3) mobile, inductive charging device 3 connection corresponding to battery 15, audio transceiver 7 is used for audio broadcasting and speech talkback, light compensating lamp 8 is used to and obtains video information illumination is provided, ultrasonic radar 9 is used for the detecting obstacles thing, Visible Light Camera and infrared thermal imager all are installed on visible light/thermal imaging double vision The Cloud Terrace 12, visible light/thermal imaging double vision The Cloud Terrace 12 can rotate freely in horizontal 360-degree, audio transceiver 7, ultrasonic radar 9, sensor 10, fire extinguisher bomb 11, Visible Light Camera is connected connection corresponding to controller 6 with infrared thermal imager, between controller 6 and vehicle-mounted control computer, wire communication is connected (also can adopt wireless telecommunications to connect), the vehicle-mounted control computer carries out telecommunication by wireless network with administrative center and is connected.
In said structure, sensor 10 comprises a plurality of Temperature Humidity Sensors and gas concentration sensor, has illustrated one in Fig. 2, determines as required number in application; Fire extinguisher bomb 11 is a plurality of dry chemical projectiles and/or foam fire-fighting bullet, has illustrated two in Fig. 2, determines as required number in application; The concrete installation site of each parts and mounting structure are all realized according to practical application request and on the basis of existing mechanical ﹠ electrical technology, at this, are not described specifically.Also show for the The Cloud Terrace rotating shaft 13 that visible light/thermal imaging double vision The Cloud Terrace 12 is installed in Fig. 2 and be used for making the rotating mechanism 14 that visible light/thermal imaging double vision The Cloud Terrace 12 horizontally rotates.
Because fire-fighting robot 20 adopts battery 15 power supplies, and by inductive charging device 3, in the mode of electromagnetic field couples, carry out Energy Transfer, the charging of realization to battery 15, this mode does not have the input power load, not electrical connection and physical contact between circuit, have that reliability is high, safe, a good waterproof performance, good, the maintainable high of air-tightness; Coordinate simultaneously the accurate stationkeeping ability of fire-fighting robot, realized automatic charging function; By telecommunication, fire-fighting robot 20 and the external world can mutual following information: the data that the control command of fire extinguishing order, fire-fighting robot 20, various kinds of sensors 10 gather, the status data of on-the-spot visible light video, on-the-spot REAL TIME INFRARED THERMAL IMAGE line thermal imaging video, voice, fire-fighting robot 20 in real time etc.
As shown in Figures 2 and 3, during application, the road wheel of fire-fighting robot 20 5 is placed on track 1, the top that track 1 is installed in tunnel 21 is also coaxial, and fire-fighting robot 20 moves around on track 1, complete patrolling and examining and putting out a fire tunnel.The visual angle of Fig. 2 and Fig. 3 is mutual vertical relation.
, in conjunction with Fig. 2 and Fig. 3, adopt fire-fighting robot 20 to carry out the method for patrolling and examining in tunnel to be: successively all points (set and patrol and examine a little according to actual needs) of patrolling and examining in tunnel 21 are patrolled and examined, each is patrolled and examined the method for a little patrolling and examining as follows:
(1) start;
(2) walking is patrolled and examined to this a little, stops;
(3) adjust the posture of visible light/thermal imaging double vision The Cloud Terrace 12, Visible Light Camera and infrared thermal imager are aimed at patrolled and examined a little; Meanwhile, the humiture data that sensor 10 is interior with tunnel 21 and gas concentration transfer of data are to controller 6, and the gas concentration data comprise O
2, CO, H
2S, CH
4And other combustable gas concentration;
(4) parameter of Visible Light Camera and infrared thermal imager is set respectively;
(5) taken pictures respectively by Visible Light Camera and infrared thermal imager, and will clap image transmission to controller 6;
(6) 6 pairs of gained humiture data of controller and gas concentration data compare with normal data respectively, the overrun alarm; Controller 6 carries out with image information defect analysis, the data preservation that key point is carried out visible light information and thermal information, finds the defect alarm;
(7) finish.
Above-mentioned patrolling and examining in process,, if find and definite fire occurs, automatically controlled by controller 6 or by the administrative staff of administrative center, control fire-fighting robot 20 and move to the position of tunnel 21 interior breaking out of fires, and detonation fire-fighting bomb 11, realize self-extinguishing.
, by patrolling and examining, realize regularly, repeatedly patrolling and examining and fault pre-alarming the interior visual plant facility in tunnel 21 and environment; It is patrolled and examined content and comprises: environment temperature and O in normal, ambient humidity and whether normal, tunnel whether
2, H
2S, CO, CH
4And other combustable gas concentration and whether exceed standard, device temperature and whether exceed standard, whether whether whether equipment appearance has in breakage, tunnel have in ponding, tunnel and have and cave in.
Claims (6)
1. a suspension type intelligent fire robot, is characterized in that: comprise drive motors, road wheel, battery, controller, audio transceiver, ultrasonic radar, sensor, fire extinguisher bomb, visible light/thermal imaging double vision The Cloud Terrace, Visible Light Camera, infrared thermal imager and vehicle-mounted control computer, wherein: the rotating shaft of described drive motors is connected with described road wheel by transmission device, described road wheel is used for being placed on track and driving described fire-fighting robot moving, described audio transceiver is used for audio broadcasting and speech talkback, described ultrasonic radar is used for the detecting obstacles thing, described Visible Light Camera and described infrared thermal imager all are installed on described visible light/thermal imaging double vision The Cloud Terrace, described visible light/thermal imaging double vision The Cloud Terrace can rotate freely, described audio transceiver, described ultrasonic radar, described sensor, described fire extinguisher bomb, described Visible Light Camera be connected infrared thermal imager connection corresponding to described controller respectively, between described controller and described vehicle-mounted control computer, communication is connected, and described vehicle-mounted control computer carries out telecommunication by wireless network with administrative center and is connected.
2. suspension type intelligent fire according to claim 1 robot, it is characterized in that: described fire-fighting robot also comprises interconnective upper shell and lower house, described drive motors and described road wheel are installed in described upper shell, the two ends of described upper shell are provided with the through hole that passes for described track, described battery, controller, audio transceiver, ultrasonic radar, sensor, fire extinguisher bomb, visible light/thermal imaging double vision The Cloud Terrace and vehicle-mounted control computer all be installed in described lower house or described lower casing body wall on.
3. suspension type intelligent fire according to claim 1 and 2 robot, it is characterized in that: described fire-fighting robot also comprises the inductive charging device, the connection corresponding to described battery of described inductive charging device.
4. suspension type intelligent fire according to claim 1 and 2 robot is characterized in that: described fire-fighting robot also comprises being used to and obtains video information the light compensating lamp of illumination is provided.
5. suspension type intelligent fire according to claim 1 and 2 robot, it is characterized in that: described sensor comprises Temperature Humidity Sensor and gas concentration sensor.
6. suspension type intelligent fire according to claim 1 and 2 robot, it is characterized in that: described fire extinguisher bomb is dry chemical projectile and/or foam fire-fighting bullet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203226388U CN203280940U (en) | 2013-06-06 | 2013-06-06 | Suspension type intelligent fire-fighting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203226388U CN203280940U (en) | 2013-06-06 | 2013-06-06 | Suspension type intelligent fire-fighting robot |
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| CN203280940U true CN203280940U (en) | 2013-11-13 |
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| CN2013203226388U Withdrawn - After Issue CN203280940U (en) | 2013-06-06 | 2013-06-06 | Suspension type intelligent fire-fighting robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103285540A (en) * | 2013-06-06 | 2013-09-11 | 成都慧拓自动控制技术有限公司 | Suspended type intelligent fire-fighting robot |
| CN103729908A (en) * | 2014-01-09 | 2014-04-16 | 中南大学 | Intelligent inspection device of railway tunnel and application method thereof |
| CN104548415A (en) * | 2015-01-15 | 2015-04-29 | 山东科一力电气有限公司 | Suspended intelligent mobile fire extinguishing system |
| CN104749187A (en) * | 2015-03-25 | 2015-07-01 | 武汉武大卓越科技有限责任公司 | Tunnel lining disease detection device based on infrared temperature field and gray level image |
| CN106075773A (en) * | 2016-07-25 | 2016-11-09 | 国家电网公司 | Electric power tunnel Intelligent fire-fighting robot |
| CN110354423A (en) * | 2019-07-12 | 2019-10-22 | 东南大学 | A kind of suspension type links work at selected spots with that in entire areas firefighting robot |
| CN110507927A (en) * | 2019-07-30 | 2019-11-29 | 深圳供电局有限公司 | Cable tunnel fire extinguishing system |
| CN110736510A (en) * | 2019-12-05 | 2020-01-31 | 中国农业科学院农业资源与农业区划研究所 | crop growth environment and growth condition monitoring system |
| CN111010543A (en) * | 2019-12-18 | 2020-04-14 | 深圳市荣盛智能装备有限公司 | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium |
| CN111167043A (en) * | 2018-11-09 | 2020-05-19 | 广州供电局有限公司 | Fire extinguishing system |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN112316339A (en) * | 2020-11-04 | 2021-02-05 | 邢永丽 | Movable tunnel fire-extinguishing robot |
| CN113447075A (en) * | 2021-06-10 | 2021-09-28 | 煤炭科学技术研究院有限公司 | System and method for monitoring running state of coal mine inspection robot |
-
2013
- 2013-06-06 CN CN2013203226388U patent/CN203280940U/en not_active Withdrawn - After Issue
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103285540A (en) * | 2013-06-06 | 2013-09-11 | 成都慧拓自动控制技术有限公司 | Suspended type intelligent fire-fighting robot |
| CN103729908A (en) * | 2014-01-09 | 2014-04-16 | 中南大学 | Intelligent inspection device of railway tunnel and application method thereof |
| CN104548415A (en) * | 2015-01-15 | 2015-04-29 | 山东科一力电气有限公司 | Suspended intelligent mobile fire extinguishing system |
| CN104548415B (en) * | 2015-01-15 | 2017-10-10 | 山东科一力电气有限公司 | A kind of suspension type intelligent mobile fire extinguishing system |
| CN104749187A (en) * | 2015-03-25 | 2015-07-01 | 武汉武大卓越科技有限责任公司 | Tunnel lining disease detection device based on infrared temperature field and gray level image |
| CN106075773B (en) * | 2016-07-25 | 2021-08-17 | 国家电网公司 | Intelligent fire extinguishing robot for electric power tunnel |
| CN106075773A (en) * | 2016-07-25 | 2016-11-09 | 国家电网公司 | Electric power tunnel Intelligent fire-fighting robot |
| CN111167043A (en) * | 2018-11-09 | 2020-05-19 | 广州供电局有限公司 | Fire extinguishing system |
| CN110354423A (en) * | 2019-07-12 | 2019-10-22 | 东南大学 | A kind of suspension type links work at selected spots with that in entire areas firefighting robot |
| CN110354423B (en) * | 2019-07-12 | 2021-08-20 | 东南大学溧阳研究院 | Suspension type point-surface combined fire extinguishing robot |
| CN110507927A (en) * | 2019-07-30 | 2019-11-29 | 深圳供电局有限公司 | Cable tunnel fire extinguishing system |
| CN110736510A (en) * | 2019-12-05 | 2020-01-31 | 中国农业科学院农业资源与农业区划研究所 | crop growth environment and growth condition monitoring system |
| CN111010543A (en) * | 2019-12-18 | 2020-04-14 | 深圳市荣盛智能装备有限公司 | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN111672045B (en) * | 2020-05-21 | 2021-11-30 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN112316339A (en) * | 2020-11-04 | 2021-02-05 | 邢永丽 | Movable tunnel fire-extinguishing robot |
| CN113447075A (en) * | 2021-06-10 | 2021-09-28 | 煤炭科学技术研究院有限公司 | System and method for monitoring running state of coal mine inspection robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131113 Effective date of abandoning: 20160302 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |