CN207517161U - A kind of workshop Omni-mobile fire-fighting monitoring robot system - Google Patents
A kind of workshop Omni-mobile fire-fighting monitoring robot system Download PDFInfo
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- CN207517161U CN207517161U CN201721580416.0U CN201721580416U CN207517161U CN 207517161 U CN207517161 U CN 207517161U CN 201721580416 U CN201721580416 U CN 201721580416U CN 207517161 U CN207517161 U CN 207517161U
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Abstract
The utility model is related to a kind of workshop Omni-mobile fire-fighting monitoring robot system, including：Chassis drive system is formed including Omni-mobile chassis and whole audience alignment system；Omni-mobile chassis is equipped with the omni-directional wheel of any direction movement in the plane；Whole audience alignment system includes two orthogonal encoders and gyroscope；Vision collecting module is connect with robot master control；Temperature monitoring module is connect with robot master control；Communication module realizes robot master control and the connection at local PC ends；Alarm modules are connect with robot master control；Remote control module passes through wireless connection remote controler and master control；Automatic charging system, including charging pile and robot itself charging electrode.A kind of workshop Omni-mobile fire-fighting monitoring robot system disclosed in the utility model, effectively overcome more than traditional fire-fighting monitoring system by such environmental effects it is big, easily wrong report, cost height, complex process, have the shortcomings that monitoring dead angle.
Description
Technical field
The utility model is related to carry out monitoring machine in real time for electrical equipment working condition in workshop and hidden fire-fighting danger
People's related field is moved more particularly, to a kind of robot automatic path planning and to the omnidirectional that electrical equipment working condition judges
Dynamic fire-fighting monitoring robot system and method.
Background technology
With greatly developing for China's economy, as the major fields of national economy, heavy industry has also obtained considerable hair
Exhibition, the safety precaution problem of workshop internal electric equipment gradually cause the concern of people.Seek effective method to workshop inside
The fire condition of electrical equipment timely and effectively monitor and alarm, it can be ensured that the safety of people's life and property.Currently
Fire-fighting monitoring system mainly uses two schemes：First, being monitored using smoke sensor device, advantage is at low cost, installation letter
It is single；Shortcoming is to be not suitable for using in large-scale open space, and easily dust, steam, light source, vibration etc. are a variety of in environment monitored
The influence of factor, needs periodic cleaning and maintenance.Second is that the fire detection based on video image processing technology, advantage is according to fire
The picture characteristics of flame and smog with digital image processing techniques and mode identification technology, solves the detection of Code in Hazardous Special Locations
Problem, highly reliable, intelligent height；Shortcoming is that multi-channel video transmission need to expend large bandwidth, is generally communicated using wired mode
Cloth cable complex process, project cost are high.
Utility model content
The utility model mainly improves in traditional fire-fighting monitoring system greatly, easily to be reported by mistake by such environmental effects, there is prison
Control the technical problems such as dead angle, cost height, complex process.Propose it is a set of can be intelligent, small, adaptable workshop is influenced by ring
Fire-fighting monitoring robot system and method.
To achieve the above object, the utility model discloses following technical solutions：
A kind of workshop Omni-mobile fire-fighting monitoring robot system, including：
Chassis drive system is formed including Omni-mobile chassis and whole audience alignment system；The Omni-mobile chassis is equipped with
The omni-directional wheel of any direction movement in the plane；The whole audience alignment system includes two orthogonal encoders and gyroscope, in machine
It is orthogonal to give pulses travel back to robot master control mounted on encoder in the moving process of device people chassis, for recorder people flat
Horizontal axis and longitudinal axis displacement distance in face；Gyroscope is used for the angle rotated in recorder people's steering procedure, and is returned to machine
People's master control, the distance that postrotational robot is passed by by robot master control pass angle back with gyroscope and carry out operation, and projection is extremely
In the coordinate system of robot initial operation, robot present position is obtained, realize the whole audience positioning of robot；
Vision collecting module is connect with robot master control, for recording equipment image and equipment ambient enviroment, to occur
Related personnel handles hidden danger during security risk, provides accurate field condition；
Temperature monitoring module connect with robot master control, electrical equipment is pasted by being combined with vision collecting module
Label is scanned, and is read facility information, and carry out temperature detection to electrical equipment, will be measured temperature and electrical equipment is specified
Temperature, which is compared, judges its working condition；
Communication module realizes robot master control and the connection at local PC ends, is used to implement robot and local PC client informations
Interaction, matches with vision collecting module, temperature monitoring module, the device fault information detected is sent to PC ends；
Alarm modules are connect with robot master control, when finding that the whistle of catastrophe failure alarm reminds related personnel；
Remote control module, by wireless connection remote controler and master control, by manual remote control to build environment map, by environment
Map is stored to memory, becomes known environment, to realize automatic patrol when being again introduced into；It can pass through vision collecting mould simultaneously
Block obtains graphic scene；
Automatic charging system, including charging pile and robot itself charging electrode, charging pile is generated by whole audience alignment system
Charging pile coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged.
A kind of aforementioned workshop Omni-mobile fire-fighting monitoring robot system, it is in diagonal that Omni-mobile chassis, which includes four,
The omnidirectional driving wheel of installation, the driving motor with encoder are read back umber of pulse by encoder, by robot master control by umber of pulse
Omni-directional wheel rotational angle and speed is calculated, so as to fulfill closed-loop control, according to angle and speed that omni-directional wheel rotates, gives
The rotating speed of each omni-directional wheel determines the moving direction on Omni-mobile chassis and mobile speed by the resultant force of four omni-directional wheel rotations
Degree.
A kind of aforementioned workshop Omni-mobile fire-fighting monitoring robot system, communication module is equipped with storage device, by depositing
Storage device preserves non-emergent fault message, and failure is carried out in the system free time and is reported, and realizes instant messaging and delay communication.
A kind of aforementioned workshop Omni-mobile fire-fighting monitoring robot system, alarm module is including local alarm module and far
Alarm module is held, local alarm module realizes that Field Force is reminded in whistle, and remote-end alarm module is warned failure by communication module
Report with fault message is continual is sent to distal end responsible person and waits pending.
A kind of aforementioned workshop Omni-mobile fire-fighting monitoring robot system, vision collecting module are imaged including ov7670
Head is connected with robot master control by iic bus communication protocol, acquired image is passed back robot master control, by robot master
Control processing shooting picture.
A kind of aforementioned workshop Omni-mobile fire-fighting monitoring robot system, temperature monitoring module include that LSCI-CJG is non-connects
Integrated infrared temperature transducer and GY-906 infrared temperature probes are touched, two sensors pass through iic bus and robot
Master control is communicated.
A kind of flame identification method of workshop Omni-mobile fire-fighting monitoring robot is also disclosed in the utility model, including as follows
Step：Robot master control receives the colour picture of vision collecting module acquisition, and master control is first to colour picture type 3 channel point
From secondly to the filtering of channel figure, then calculating flame specific location, finally extracts flame.
A kind of flame identification method of aforementioned workshop Omni-mobile fire-fighting monitoring robot calculates flame specific location
When, channel histogram is compared first, and red channel and yellow channels are multiple spot, and blue channel is few point, thus calculates approximation
Then the pixel of flame carries out contours extract, flame pixels point is analyzed, if the relative position of certain points is close,
These points are so classified as same group, other points are classified as same group, after grouping is completed, these groups are surrounded, Ran Houjin
Row expansion calculates, if phase mutual energy links together, you can be considered as flame.
A kind of workshop Omni-mobile fire-fighting monitoring robot system and method disclosed in the utility model, including being remotely controlled map
Scanning system, Omni-mobile chassis and a set of temperature monitoring equipment judged for electrical equipment working condition and Real-time Feedback show
The vision collecting module of field situation and communication and alarm modules composition.Traditional fire-fighting monitoring system more than effectively overcoming by
Such environmental effects are big, easily wrong report, cost height, complex process, have the shortcomings that monitoring dead angle.
Description of the drawings
Fig. 1 is the system composition figure of the utility model.
Specific embodiment
Below by the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained without making creative work, belongs to
The range of the utility model protection.
The core of the utility model is to improve in traditional fire-fighting monitoring system greatly, easily to be reported by mistake by such environmental effects, is deposited
In technical problems such as monitoring dead angle, cost height, complex process.Propose it is a set of can be intelligent, influenced by ring small, adaptable
Workshop fire-fighting monitoring robot system and method.
Refer to Fig. 1.A kind of workshop Omni-mobile fire-fighting monitoring robot system disclosed in the utility model, including：
Chassis drive system is formed including Omni-mobile chassis and whole audience alignment system；The Omni-mobile chassis is equipped with
The omni-directional wheel of any direction movement, Omni-mobile chassis can realize the translation of planar any direction in the plane, effectively
Monitoring dead angle is eliminated, is combined with whole audience alignment system, and is reduced during patrol using local paths planning algorithm
Traveling time, substantially reduces the patrol time, and monitoring efficiency greatly improves；The whole audience alignment system includes two orthogonal codings
Device and gyroscope, it is orthogonal to give pulses travel back to robot master control mounted on encoder in robot chassis moving process, it is used for
Recorder people planar horizontal axis and longitudinal axis displacement distance；Gyroscope is used for the angle rotated in recorder people's steering procedure
Degree, and robot master control is returned to, the distance that postrotational robot is passed by by robot master control passes angle back with gyroscope
Operation is carried out, is projected in the coordinate system run to robot initial, is obtained robot present position, realize robot
The whole audience positions；
Vision collecting module connect the acquisition, it can be achieved that current device context situation with robot master control, is finding fire
Available photo site during fire occurs for calamity hidden danger, facilitates related personnel's timely processing fire behavior or eliminates fire hazard, carries
For accurate field condition；, as the eyes of monitoring personnel, more dangerous region can be also remotely controlled under remote control mode
Exploration reduces unnecessary casualties, and provides accurately live foundation for effective processing security risk.
Temperature monitoring module connect with robot master control, electrical equipment is pasted by being combined with vision collecting module
Label is scanned, and is read facility information, and carry out temperature detection to electrical equipment, will be measured temperature and electrical equipment is specified
Temperature, which is compared, judges its working condition.Its working condition is divided into：It is normal operating conditions, abnormal working position, serious
Malfunction.Reaction action can be automatically selected for more than working condition machine people, such as recording equipment number, temperature, work shape
State, ready-made picture, device coordinate, reaction is with record, prompting, panic alarm to processing device security hidden danger.Temperature monitoring mould
Block can accurate collecting device specific location temperature, compared with operating temperature ratings, judge equipment working state, into line number
According to record, safety instruction or emergency alarm.System at regular intervals analyzes and processes institute's gathered data, is aided with artificial assistance, can have
The False Rate of reduction system is imitated, increases system stability.Self-protection function can be realized by temperature monitoring module robot, it is real
When monitoring robot ambient temperature, avoid making itself to be damaged due to environment temperature is excessively high, make robot in high temperature ring
Self-insurance is realized under border, improves the stability of system operation.
Communication module for the key that robot is interacted with local PC client informations, realizes robot master control and local PC ends
Connection, is used to implement robot and is interacted with local PC client informations, match, will examine with vision collecting module, temperature monitoring module
The device fault information measured is sent to PC ends；Communication module is in time robot and PC ends directly into row information and the biography of figure ticket
It is defeated.Communication module has certain storage capacity, is combined using instant send with delay transmission, for that may cause, safety is hidden
The catastrophe failure of trouble uses instant sending mode, and will be stored in internal fault message and picture cycle generation to PC ends, carries
The personnel that wake up handle hidden fire-fighting danger；It when the irregular operating of discovering device and equipment free time not running, is sent using delay, temporarily first
When its information is recorded, stored information is sent to PC ends when the system is idle, information processing is done for PC ends and waits
Treat that related personnel is handled.
Alarm modules are connect with robot master control, when finding that the whistle of catastrophe failure alarm reminds related personnel；
Remote control module, by wireless connection remote controler and master control, by artificial distant in circumstances not known or during emergency
Control, by manual remote control to build environment map, environmental map is stored to memory, becomes known environment, is again introduced into
When to realize automatic patrol；Can graphic scene be obtained by vision collecting module simultaneously；
Automatic charging system, including charging pile and robot itself charging electrode, charging pile is generated by whole audience alignment system
Charging pile coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged, and is solved
The problem of robot cruise duration is short.
Omni-mobile chassis in the utility model can realize any direction in the plane using omni-directional wheel moving algorithm
Movement, be combined with whole audience alignment system, can inside workshop the moment determine itself current location, in workshop occur fire
Calamity or institute's monitoring device label are damaged, and when can not accurately read label information, still can accurately determine that position occurs for hidden fire-fighting danger；
The mobile path planning for using local paths planning algorithm, point-to-point being used between institute's monitoring device on chassis, makes robot
Between each equipment of workshop, one is found from initial point to terminal, the optimal or rational path of energy avoidance completely.
In a kind of embodiment of the utility model, Omni-mobile chassis includes four omnidirectional's drivings in diagonal installation
Wheel, the driving motor with encoder are read back umber of pulse by encoder, umber of pulse are calculated omni-directional wheel by robot master control
Rotational angle and speed so as to fulfill closed-loop control, according to angle and speed that omni-directional wheel rotates, give each omni-directional wheel
Rotating speed is determined the moving direction and movement speed on Omni-mobile chassis by the resultant force of four omni-directional wheel rotations.
In a kind of embodiment of the utility model, communication module is equipped with storage device, will be non-emergent by storage device
Fault message preserves, and failure is carried out in the system free time and is reported, and realizes instant messaging and delay communication.
In a kind of embodiment of the utility model, alarm module includes local alarm module and remote-end alarm module, when
It was found that local alarm module blows a whistle remind Field Force's processing immediately during catastrophe failure, and remote-end alarm module is by communicating mould
Block is sent to fault warning and fault message are continual distal end responsible person and waits pending.
In a kind of embodiment of the utility model, vision collecting module includes ov7670 cameras, is led to by iic bus
Letter agreement is connected with robot master control, passes acquired image back robot master control, and shooting picture is handled by robot master control.
In a kind of embodiment of the utility model, temperature monitoring module includes the non-contact integrated infrareds of LSCI-CJG and surveys
Temperature sensor and GY-906 infrared temperature probes, two sensors are communicated by iic bus with robot master control.
A kind of flame identification method of workshop Omni-mobile fire-fighting monitoring robot disclosed in the utility model, including as follows
Step：Robot master control receives the colour picture of vision collecting module acquisition, and master control is first to colour picture type 3 channel point
From secondly to the filtering of channel figure, then calculating flame specific location, finally extracts flame.
When calculating flame specific location, channel histogram is compared first, and red channel and yellow channels are multiple spot, and blue is logical
Road is few point, thus calculates the pixel of approximate flame, then carries out contours extract, flame pixels point is analyzed, such as
The relative position of the certain points of fruit is close, then these points are classified as same group, other points are classified as same group, after grouping is completed,
These groups are surrounded, then carry out expansion calculating, if phase mutual energy links together, you can be considered as flame.
The above is only the preferred embodiment of the utility model, rather than its limitations；Although it should be pointed out that with reference to upper
Each embodiment is stated the utility model is described in detail, it will be understood by those of ordinary skill in the art that, it still can be with
It modifies to the technical solution recorded in the various embodiments described above or which part or all technical features is equally replaced
It changes；And these modifications and replacement, the essence of corresponding technical solution is not made to be detached from various embodiments of the utility model technical solution
Range.
Claims (6)
1. a kind of workshop Omni-mobile fire-fighting monitoring robot system, which is characterized in that including：
Chassis drive system is formed including Omni-mobile chassis and whole audience alignment system；The Omni-mobile chassis is equipped with flat
The omni-directional wheel that any direction moves on face；The whole audience alignment system includes two orthogonal encoders and gyroscope, in robot
It is orthogonal to give pulses travel back to robot master control mounted on encoder in the moving process of chassis, for recorder people planar
Horizontal axis and longitudinal axis displacement distance；Gyroscope is used for the angle rotated in recorder people's steering procedure, and is returned to robot master
Control, the distance that postrotational robot is passed by by robot master control pass angle back with gyroscope and carry out operation, project to machine
In the coordinate system of people's initial launch, robot present position is obtained, realize the whole audience positioning of robot；
Vision collecting module is connect with robot master control, for recording equipment image and equipment ambient enviroment, for safety occurs
Related personnel handles hidden danger during hidden danger, provides accurate field condition；
Temperature monitoring module connect with robot master control, is labelled by being combined with vision collecting module to electrical equipment
It is scanned, reads facility information, and temperature detection is carried out to electrical equipment, temperature and electrical equipment rated temperature will be measured
It is compared and judges its working condition；
Communication module, realization robot master control and the connection at local PC ends, are used to implement robot and are interacted with local PC client informations,
It is matched with vision collecting module, temperature monitoring module, the device fault information detected is sent to PC ends；
Alarm modules are connect with robot master control, when finding that the whistle of catastrophe failure alarm reminds related personnel；
Remote control module, by wireless connection remote controler and master control, by manual remote control to build environment map, by environmental map
It stores to memory, becomes known environment, to realize automatic patrol when being again introduced into；It can be obtained simultaneously by vision collecting module
Take graphic scene；
Automatic charging system, including charging pile and robot itself charging electrode, charging pile is generated by whole audience alignment system and charged
Stake coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged.
2. a kind of workshop Omni-mobile fire-fighting monitoring robot system according to claim 1, which is characterized in that described complete
Include four omnidirectional driving wheels in diagonal installation, the driving motors with encoder to mobile chassis, read back by encoder
By robot master control omni-directional wheel rotational angle and speed is calculated in umber of pulse by umber of pulse, so as to fulfill closed-loop control, according to
The angle and speed of omni-directional wheel rotation give the rotating speed of each omni-directional wheel, and omnidirectional is determined by the resultant force of four omni-directional wheel rotations
The moving direction and movement speed of mobile chassis.
3. a kind of workshop Omni-mobile fire-fighting monitoring robot system according to claim 1, which is characterized in that described logical
It interrogates module and is equipped with storage device, preserved non-emergent fault message by storage device, failure is carried out in the system free time and is reported,
Realize instant messaging and delay communication.
A kind of 4. workshop Omni-mobile fire-fighting monitoring robot system according to claim 1, which is characterized in that the police
Module is reported to include local alarm modules and distal end alarm modules, local alarm modules realize that Field Force is reminded in whistle, and distal end is alert
Module is reported by communication module, distal end responsible person is sent to fault warning and fault message are continual and waits pending.
5. a kind of workshop Omni-mobile fire-fighting monitoring robot system according to claim 1, which is characterized in that described to regard
Feel that acquisition module includes ov7670 cameras, be connected by iic bus communication protocol and robot master control, by acquired image biography
Robot master control is returned, by robot master control processing shooting picture.
A kind of 6. workshop Omni-mobile fire-fighting monitoring robot system according to claim 1, which is characterized in that the temperature
It spends monitoring modular and includes the non-contact integrated infrared temperature transducers of LSCI-CJG and GY-906 infrared temperature probes, two biographies
Sensor is communicated by iic bus with robot master control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721580416.0U CN207517161U (en) | 2017-11-23 | 2017-11-23 | A kind of workshop Omni-mobile fire-fighting monitoring robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721580416.0U CN207517161U (en) | 2017-11-23 | 2017-11-23 | A kind of workshop Omni-mobile fire-fighting monitoring robot system |
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| Publication Number | Publication Date |
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| CN207517161U true CN207517161U (en) | 2018-06-19 |
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| CN201721580416.0U Expired - Fee Related CN207517161U (en) | 2017-11-23 | 2017-11-23 | A kind of workshop Omni-mobile fire-fighting monitoring robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798812A (en) * | 2017-11-23 | 2018-03-13 | 太原工业学院 | A kind of factory building Omni-mobile fire-fighting monitoring robot system and method |
-
2017
- 2017-11-23 CN CN201721580416.0U patent/CN207517161U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798812A (en) * | 2017-11-23 | 2018-03-13 | 太原工业学院 | A kind of factory building Omni-mobile fire-fighting monitoring robot system and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 Termination date: 20181123 |