CN108853853B - Detection device and robot based on thermal imaging instrument and flame detector - Google Patents

Abstract

The invention discloses a detection device and a robot based on a thermal imager and a flame detector. The detection device is arranged on the robot and includes a thermal imager, a flame detector and a steering gear, and the thermal imager and the flame detector are connected to the steering gear respectively. , the rotation of the steering gear drives the thermal imager and the flame detector to rotate. The robot includes a detection device, a chassis and a driving wheel. The detection device is provided with a mounting plate, the chassis is provided with a fixed frame, the detection device is arranged on the fixed frame through the mounting plate, and the driving wheel is installed on the chassis. By connecting the thermal imager and flame detector with the steering gear, the thermal imager and flame detector rotate with the steering gear to increase the detection range and avoid detection blind spots; by setting the detection device on the mobile robot, the robot has strong flexibility , The range of activities is wide, the detection range is increased, and there is no need to install too many fire monitoring devices, which saves costs.

Description

A detection device and robot based on a thermal imager and a flame detector

technical field

The invention relates to the field of fire detection, in particular to a detection device and a robot based on a thermal imager and a flame detector.

Background technique

With the development of the economy, more and more commodities are circulated, and more and more commodities are stored in warehouses. Due to various reasons, there are more and more fires in warehouses. It is difficult for the staff on duty to find out when a fire occurs. When it is discovered, it often causes great damage to property and even casualties due to excessive fire intensity.

At present, fire monitoring in warehouses mainly monitors key areas through flame sensors, which have low accuracy and limited detection range. At present, the technological progress of fire monitoring in the society is considerable, and there are already many fire monitoring and early warning systems with certain practicability in the society. For example, Changchun Jincheng Technology Co., Ltd. applied for it on March 21, 2016. The number is CN201620216681.X, and the publication number is CN205405786U "Intelligent Fire Monitoring and Early Warning Control System", but the cost of manpower and material resources required is still not small. At present, the society is very concerned about the warehouse line fire inspection robot based on machine vision modules. Still vacant.

Contents of the invention

The object of the present invention is to overcome the deficiencies in the prior art, and provide a detection device based on a thermal imager and a flame detector. By setting the thermal imager and the flame detector on the steering gear and rotating with the steering gear, the detection range, to avoid blind spots in detection, and to avoid setting too many monitoring devices to save costs.

Another object of the present invention is to provide a robot with the above-mentioned detection device. By installing the detection device on the robot, the robot can move quickly and flexibly, so that the detection range is wider and the detection is faster, and there is no need to install too many monitoring devices. cut costs.

The technical solution of the present invention is: a detection device based on a thermal imager and a flame detector, which is installed on a robot and includes a thermal imager, a flame detector and a steering gear, and the thermal imager and the flame detector are respectively connected to the steering gear , the rotation of the steering gear drives the thermal imager and the flame detector to rotate.

The detection device also includes a front support plate, a rear support plate, a first connector and a second connector, the front support plate and the rear support plate jointly clamp the thermal imager, the first connector is connected with the front support plate, and the second One end of the connecting piece is connected with the first connecting piece, the other end is connected with the rudder plate of the steering gear, and the flame detector is arranged in the second connecting piece.

The second connector has a storage cavity, the flame detector is accommodated in the storage cavity, the flame detector and the second connector are fixed by bolts and nuts; the upper part of the storage cavity extends upwards, and the lower direction of the storage cavity A lower installation part extends downward, the first connecting piece is fixed on the upper installation part, and the lower installation part is connected with the rudder disc of the steering gear.

The front support plate and the rear support plate are fixed by bolts and nuts, and the first connecting piece and the front support plate are fixed by bolts and nuts.

The rudder disc of the steering gear has an internal thread, and the second connecting piece is fixed with the internal thread of the rudder disc by bolts; the bottom of the steering gear is also provided with a mounting plate, and the steering gear is connected to the robot through the mounting plate.

The rotation angle of the steering gear is 0-360°, which makes the detection range larger and avoids dead angles in detection.

The robot with the above detection device includes a detection device, a chassis and a driving wheel, the detection device is provided with a mounting plate, the chassis is provided with a fixed frame, the detection device is arranged on the fixed frame through the mounting plate, and the driving wheel is installed on the chassis superior.

The chassis is provided with a nozzle positioner, the nozzle positioner is located in front of the fixed frame, one side or both sides of the fixed frame has a fixed groove, a fire extinguisher is arranged in the fixed groove, the nozzle of the fire extinguisher and the nozzle positioner Connection, the handle of the fire extinguisher is provided with a screw motor. When a fire is detected, the robot immediately rushes to the fire, the nozzle positioner is aligned with the fire point, the screw motor starts to work and presses the handle of the fire extinguisher to extinguish the fire, delaying the fire immediately, Avoid loss expansion.

The chassis is provided with a fire lamp and an alarm, and when a fire is detected, the fire lamp and the alarm are turned on quickly, so that the staff know the occurrence of a fire at the first time.

The driving wheels are four mecanum wheels, which realize the omnidirectional movement of the chassis and improve the freedom of movement of the robot.

Compared with the prior art, the present invention has the following beneficial effects:

The detection device based on the thermal imager and the flame detector of the present invention, the flame detector can identify, detect and give an early warning to tiny flames within 20 meters, which can reduce the cost of fire monitoring.

In the detection device based on a thermal imager and a flame detector of the present invention, by connecting the thermal imager and the flame detector to the steering gear, the thermal imager and the flame detector rotate with the steering gear to increase the detection range and avoid detection of existence blind spot.

In the robot with the detection device of the present invention, by installing the detection device on the mobile robot, the robot has strong flexibility and a wide range of activities, which increases the detection range and does not require too many fire monitoring devices, which saves costs.

Description of drawings

Fig. 1 is the structural representation of detection device of the present invention;

Fig. 2 is the exploded view of detection device of the present invention;

Fig. 3 is the structural representation of robot of the present invention;

Fig. 4 is an enlarged view of the screw motor of the robot of the present invention.

Chassis 1, driving wheel 2, fixed frame 3, fixed groove 31, thermal imager 4, flame detector 5, front support plate 6, rear support plate 7, first connector 8, second connector 9, storage chamber 90 , steering gear 10, mounting plate 11, fire extinguisher 12, screw motor 13, nozzle positioner 14, upper mounting part 15, lower mounting part 16.

Detailed ways

The present invention will be further described in detail below with reference to the examples, but the embodiments of the present invention are not limited thereto.

Example 1

As shown in Figures 1 and 2, a detection device based on a thermal imager and a flame detector in this embodiment includes a thermal imager 4, a flame detector 5, a steering gear 10, a front support plate 6, and a rear support plate 7 , the first connecting piece 8, the second connecting piece 9 and the mounting plate 11, the front supporting plate and the rear supporting plate jointly clamp the thermal imager, the front supporting plate and the rear supporting plate are fixed by bolts and nuts, and the first connecting piece is fixed by bolts and nuts Fixed on the front support plate, the second connecting piece has a storage cavity 90, the flame detector is accommodated in the storage cavity, the flame detector and the second connecting piece are fixed by bolts and nuts, and an upper mounting part 15 is extended upwards in the storage cavity , there is a lower installation part 16 extending downwards from the bottom of the storage chamber, the first connecting piece is fixed on the upper installation part, and the lower installation part is connected with the steering wheel of the steering gear. The steering wheel of the steering gear has internal threads, and the steering wheel of the steering gear The steering gear is fixed to the mounting plate through bolts and nuts, and the mounting plate is fixed to the chassis through bolts and nuts. The thermal imager and flame detector rotate 360 degrees left and right with the steering gear to increase the detection range and avoid blind spots in the detection.

Example 2

As shown in Figures 3 and 4, the robot with the detection device in this embodiment includes a chassis 1, a driving wheel 2 and a detection device, the chassis is provided with a driving wheel, and in this embodiment, the chassis is provided with four mecanums wheels, realize the omnidirectional movement of the chassis, and improve the freedom of movement of the robot; the chassis is provided with a fixed frame 3 and a nozzle positioner 14, the mounting plate of the detection device is fixed on the fixed frame, and there are fixed grooves 31 on both sides of the fixed frame , the fixed groove is provided with a fire extinguisher 12, the nozzle positioner is positioned at the front of the fixed frame, the nozzle of the fire extinguisher is connected to the nozzle positioner, the handle of the fire extinguisher is provided with a screw motor 13; the chassis is also provided with a fire lamp and an alarm device.

Among them, the thermal imager, flame detector, driving circuit of the driving wheel, fire lights, siren, screw motor and fire extinguisher are all externally connected to the main controller of the robot, and the main controller controls its detection signal or opening and closing action. Processing and control, the main controller can adopt the same kind of controllers already in the market. When in use, the robot drives the detection device to patrol, and the thermal imager and flame detector in the detection device are constantly rotating. The main controller uses the OpenCV algorithm to process the images collected by the thermal imager and flame detector in real time. , the main controller can control the driving wheel to quickly rush to the fire point, and at the same time, the main controller controls the fire lights, alarms and screw motors to start the fire extinguisher, so as to slow down the fire and reduce losses at the first time.

As mentioned above, the present invention can be better realized. The above-mentioned embodiment is only a preferred embodiment of the present invention, and is not used to limit the scope of the present invention; Covered by the scope of protection required by the claims of the present invention.

Claims (4)

1. The robot is characterized by comprising a detection device, a chassis and a driving wheel, wherein the detection device is internally provided with a mounting plate, the chassis is provided with a fixing frame, the detection device is arranged on the fixing frame through the mounting plate, and the driving wheel is arranged on the chassis;

the detection device comprises a thermal imaging instrument, a flame detector and a steering engine, wherein the thermal imaging instrument and the flame detector are respectively connected with the steering engine, and the steering engine rotates to drive the thermal imaging instrument and the flame detector to rotate;

the detection device further comprises a front supporting plate, a rear supporting plate, a first connecting piece and a second connecting piece, the front supporting plate and the rear supporting plate jointly clamp the thermal imaging instrument, the first connecting piece is connected with the front supporting plate, one end of the second connecting piece is connected with the first connecting piece, the other end of the second connecting piece is connected with a steering wheel of the steering engine, and the flame detector is arranged in the second connecting piece;

the second connecting piece is provided with a containing cavity, the flame detector is contained in the containing cavity, and the flame detector is fixed with the second connecting piece through bolts and nuts; an upper mounting part extends upwards from the accommodating cavity, a lower mounting part extends downwards from the accommodating cavity, the first connecting piece is fixed on the upper mounting part, and the lower mounting part is connected with a rudder disc of the steering engine;

the front support plate and the rear support plate are fixed through bolts and nuts, and the first connecting piece and the front support plate are fixed through bolts and nuts;

the steering wheel of the steering engine is provided with an internal thread, and the second connecting piece is fixed with the internal thread of the steering wheel through a bolt; the bottom of the steering engine is also provided with a mounting plate, and the steering engine is connected with the robot through the mounting plate;

the rotation angle of the steering engine is 0-360 degrees;

the robot drives the detection device to patrol, the thermal imaging device and the flame detector in the detection device continuously rotate, the main controller processes images acquired by the thermal imaging device and the flame detector in real time through an OpenCV algorithm, when a fire condition is found, the main controller can control the driving wheel to quickly drive to the fire point, and meanwhile, the main controller controls the fire fighting lamp, the alarm and the screw rod motor to work, and the fire extinguisher is started.

2. The robot of claim 1, wherein the base plate is provided with a spray pipe positioner, the spray pipe positioner is positioned in front of the fixing frame, one side or two sides of the fixing frame are provided with fixing grooves, fire extinguishers are arranged in the fixing grooves, the spray pipes of the fire extinguishers are connected with the spray pipe positioner, and a screw rod motor is arranged at a handle of the fire extinguishers.

3. The robot of claim 1, wherein the chassis is provided with fire lights and alarms.

4. The robot of claim 1, wherein the drive wheels are four mecanum wheels.