CN101461986A

CN101461986A - Robot, fire-extinguishing system and extinguishment method

Info

Publication number: CN101461986A
Application number: CNA2008102473199A
Authority: CN
Inventors: 丁国锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-12-29
Filing date: 2008-12-29
Publication date: 2009-06-24
Anticipated expiration: 2028-12-29
Also published as: CN101461986B

Abstract

The invention provides a robot, a fire-extinguishing system and a fire-extinguishing method. A body of the robot is provided with a mobile module, a first control module and a fire-extinguishing module, wherein the mobile module is connected with a rail and used for driving the body of the robot to move along the rail; the rail is arranged inside a preset place which comprises at least one fire-extinguishing subarea; the first control module is connected with the mobile module and used for driving the body of the robot to move to the fire occurrence subarea of the preset place by controlling the mobile module; and the fire-extinguishing module is used for executing fire-extinguishing operation after the body of the robot moves to the fire occurrence subarea. The invention can realize quick, long-distance, wide-range and automatically controlled fire-extinguishing.

Description

Robot, fire extinguishing system and extinguishing method

Technical field

The present invention relates to the security against fire technical field, relate in particular to a kind of robot, fire extinguishing system and extinguishing method.

Background technology

Place fire incidents such as traffic tunnel, hypogee or the underground space take place frequently, and usually cause the loss of a large amount of personnel, property, the difficulty of above-mentioned place fire attack is: the generation of fire and the complexity of development are very big, personnel are difficult near the fire generation area, conventional fire-fighting system is difficult to put to good use, even can adopt conventional fire-fighting system, the application cost in above-mentioned place also can be very high, or the like.

There is the technology of utilizing fire-fighting robot to be put out a fire in the very difficult place of above-mentioned fire attack in the prior art.The existing abroad history for many years of fire-fighting robot, the fire-fighting robot that exists can be deep into the central area of fire at present, and the operator of fire-fighting robot can carry out remote control outside hundred meters.For the very difficult place of above-mentioned fire attack, utilize the fire-fighting robot disaster relief of putting out a fire, be a kind of flexible, effective, safe method.

In realizing process of the present invention, the inventor finds that there are the following problems at least in the prior art:

The fire-fighting robot that exists in the prior art, major part all are to walk on the ground by crawler belt, and its translational speed is slow, can't be in the disaster relief process fast near fire location, in addition its can to control distance short, can't realize long distance, on a large scale with from the fire extinguishing of main control.

Summary of the invention

The embodiment of the invention provides a kind of robot, fire extinguishing system and extinguishing method, can realize quick, long distance, fire extinguishing on a large scale.

For achieving the above object, on the one hand, the embodiment of the invention provides a kind of robot, and the body of described robot is provided with:

Mobile module is connected with track, and the body that is used to drive described robot moves along described track, and described track is arranged in the default place, and described default place comprises at least one fire extinguishing subregion;

First control module is connected with described mobile module, is used for by controlling described mobile module, makes the body of described robot move to the fire generation subregion in described default place;

Fire suppression module is used for after the body of described robot moves to described fire generation subregion, carries out the fire extinguishing operation.

Also be provided with on the body of described robot:

Second control module is connected with described mobile module, is used for after the body of described robot moves to described fire generation subregion, by controlling described mobile module, the body of described robot is controlled in the described fire generation subregion.

Also be provided with on the body of described robot:

Communication module is connected with described first control module, is used to receive the positional information of fire generation subregion;

Described first control module is used for when described communication module receives the positional information of described fire generation subregion, positional information according to described fire generation subregion, by controlling described mobile module, make the body of described robot move to described fire generation subregion.

Also be provided with on the body of described robot:

The subregion detection module, be connected with described first control module, second control module and described fire suppression module, be used at the body of described robot when described track moves, whether the positional information that detects current fire extinguishing subregion is identical with the positional information of described fire generation subregion, and when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, generates and show that the body of described robot moves to the testing result of described fire generation subregion.

Described fire suppression module comprises: injection portion is used for the ejecting extinguishing medium;

Also be provided with on the body of described robot:

The attitude control module is connected with described injection portion, is used to control described injection portion and adjusts the fire extinguishing posture.

Also be provided with on the body of described robot:

Imageing sensor, be arranged at described injection portion front end, and the optical axis of described imageing sensor is parallel to the axis of described injection portion, is used to absorb the image of described fire occurrence positions, and the image of described fire occurrence positions is used for the adjustment of described injection portion fire extinguishing attitude.

Also be provided with on the body of described robot:

Optical sensor is connected with described attitude control module, is arranged at described injection portion front end, and the optical axis of described optical sensor is parallel to the axis of described injection portion, is used to obtain the light radiation intensity of described fire occurrence positions;

Described attitude control module is used for the light radiation intensity according to described fire occurrence positions, controls described injection portion and adjusts the fire extinguishing posture, and it is maximum that the light radiation intensity that described optical sensor is got access to reaches.

Also be provided with on the body of described robot:

Docking port is connected with described fire suppression module, is used to receive outside firing-fighting medium and supplies with the firing-fighting medium that subsystem provides, and offer described fire suppression module.

Also be provided with on the body of described robot:

The interface detecting module, be connected with described second control module, be used for after the body of described robot moves to described fire generation subregion, survey described firing-fighting medium and supply with the position of the firing-fighting medium pipe joint of subsystem, behind the position of detecting described firing-fighting medium pipe joint, generate control information;

Described second control module is used for according to described control information, by controlling described mobile module, makes described robot body stop to move;

The butt joint control module is connected with described docking port, is used for described robot body and stops to control described docking port and docking with described firing-fighting medium pipe joint when mobile.

Also be provided with on the body of described robot:

The firing-fighting medium monitoring modular is connected with described communication module with described docking port, is used for pressure or the flow of monitoring stream through the firing-fighting medium of described docking port, generates testing result, and sends to outside central RACS by described communication module.

On the other hand, the embodiment of the invention also provides a kind of fire extinguishing system, comprising:

Be arranged at the track in default place, described default place comprises at least one fire extinguishing subregion;

Robot is connected with described track, is used for moving along described track, and after moving to the fire generation subregion in described default place, carries out the fire extinguishing operation.

Described fire extinguishing system also comprises:

The fire positioning subsystem is connected with described robot, is used to survey the fire in described default place, determines the positional information of fire generation subregion;

The body of described robot is provided with:

Mobile module is connected with described track, and the body that is used to drive described robot moves along described track;

Communication module is connected with described fire positioning subsystem, is used to receive the positional information of described fire generation subregion;

First control module, be connected with described mobile module with described communication module, be used for when described communication module receives the positional information of described fire generation subregion, positional information according to described fire generation subregion, by controlling described mobile module, make the body of described robot move to described fire generation subregion;

Also be provided with on the body of described robot:

Described fire extinguishing system also comprises:

At least one subregion identification module is arranged in the described fire extinguishing subregion, and is corresponding one by one with described fire extinguishing subregion, is used to identify the positional information of current fire extinguishing subregion;

Described subregion detection module is used at the body of described robot when described track moves, whether the positional information that detects the current fire extinguishing subregion that identifies in the described subregion identification module is identical with the positional information of described fire generation subregion, and when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, generates and show that the body of described robot moves to the testing result of described fire generation subregion.

Also be provided with on the body of described robot:

The attitude control module is connected with described injection portion, is used to adjust the fire extinguishing posture of described injection portion.

Also be provided with on the body of described robot:

Imageing sensor is connected with described attitude control module, is arranged at described injection portion front end, and the optical axis of described imageing sensor is parallel to the axis of described injection portion, is used to absorb the image of described fire occurrence positions;

Described attitude control module is used for the image according to described fire occurrence positions, controls described injection portion and adjusts the fire extinguishing posture, makes described fire occurrence positions be in the center of described image.

Also be provided with on the body of described robot:

Described fire extinguishing system also comprises:

Central authorities' RACS, be connected with described robot with described fire positioning subsystem, be used for when the breaking out of fire of described default place, obtain the positional information of described fire generation subregion, positional information according to described fire generation subregion generates start-up control information, and described start-up control information is used to control described robot and moves.

Also be provided with on the body of described robot:

Imageing sensor is arranged at described injection portion front end, and the optical axis of described imageing sensor is parallel to the axis of described injection portion, is connected with described communication module, is used to absorb the image of described fire occurrence positions;

Described communication module is used for the image of described fire occurrence positions is sent to described central RACS, and receives the attitude control information that described central RACS sends;

Described attitude control module is connected with described communication module, is used for according to described attitude control information, controls described injection portion and adjusts the fire extinguishing posture.

Described fire extinguishing system also comprises:

Firing-fighting medium is supplied with subsystem, is connected with described robot, is used for providing firing-fighting medium to described robot;

Described firing-fighting medium is supplied with subsystem and comprised: firing-fighting medium provides module, firing-fighting medium conveyance conduit and firing-fighting medium pipe joint;

Described robot also comprises:

Docking port is connected with described firing-fighting medium pipe joint with described fire suppression module, is used to receive described firing-fighting medium and supplies with the firing-fighting medium that subsystem provides, and offer described fire suppression module.

Also be provided with on the body of described robot:

The firing-fighting medium monitoring modular is connected with described communication module with described docking port, is used for pressure or the flow of monitoring stream through the firing-fighting medium of described docking port, generates testing result, and sends to described central RACS by described communication module.

Also be provided with on the body of described robot:

Described second control module is used for according to described control information, by controlling described mobile module, makes the body of described robot stop to move;

The butt joint control module is connected with described docking port, is used for body in described robot and stops to control described docking port and docking with described firing-fighting medium pipe joint when mobile.

Described interface detecting module comprises a mechanical touch switch;

Described firing-fighting medium pipe joint has a contact, and described contact is used for depressing described mechanical touch switch when the body of described robot moves on the described contact;

Described interface detecting module is used for moving to described fire generation subregion at the body of described robot, and described mechanical touch switch generates control information when being depressed.

Described docking port is the connecting pipe of both ends open, and an end of described connecting pipe is connected with described fire suppression module, and the other end is connected with described firing-fighting medium pipe joint;

Described firing-fighting medium pipe joint comprises receiving port and valve;

Described receiving port is connected with described firing-fighting medium conveyance conduit, is used to receive described connecting pipe;

Described valve is connected with described receiving port, is used for sealing described receiving port when closing, and stops the firing-fighting medium output in the described firing-fighting medium conveyance conduit; When described connecting pipe is inserted described receiving port, under the effect of described connecting pipe, open, make described firing-fighting medium conveyance conduit be communicated with described connecting pipe.

Described valve comprises at least one blade, has elastomeric element on the described blade, is in closure state under the effect of described elastomeric element; When described connecting pipe was inserted described receiving port, described blade was opened under the effect of described connecting pipe.

Described firing-fighting medium pipe joint also comprises:

Elastic tube is positioned at the top of described receiving port, is used for locking described connecting pipe when described connecting pipe is inserted described receiving port.

Described fire extinguishing system also comprises:

The power supply subsystem is connected with described robot, is used for the power supply to described robot;

Described track comprises trolley line, and described power supply subsystem is powered to described robot by described trolley line.

On the one hand, the embodiment of the invention also provides a kind of extinguishing method, may further comprise the steps again:

Move along the fire generation subregion of track to described default place that is arranged at default place, described default place comprises at least one fire extinguishing subregion;

After moving to described fire generation subregion, carry out the fire extinguishing operation.

Also comprise before the described execution fire extinguishing operation:

The image of picked-up fire occurrence positions;

According to the image of described fire occurrence positions, control injection portion adjusts the fire extinguishing posture, makes described fire occurrence positions be in the center of described image.

Also comprise before the described execution fire extinguishing operation:

Obtain the light radiation intensity of fire occurrence positions;

According to the light radiation intensity of described fire occurrence positions, control injection portion adjusts the fire extinguishing posture, makes the light radiation intensity of described fire occurrence positions reach maximum.

Also comprise before the described execution fire extinguishing operation:

The image of picked-up fire occurrence positions, and send to central RACS;

Receive the attitude control information that described central RACS sends;

According to described attitude control information, control injection portion adjusts the fire extinguishing posture.

Also comprise before the described execution fire extinguishing operation:

Detect the firing-fighting medium pipe joint position of described fire generation subregion;

When detecting described firing-fighting medium pipe joint position, stop to move, and dock with described firing-fighting medium pipe joint;

Receive the firing-fighting medium that described firing-fighting medium pipe joint provides.

The embodiment of the invention has following beneficial effect:

Robot moves on trapped orbit, can arrive the fire generation area fast, and according to the setting of described track, realizes long distance, fire extinguishing on a large scale;

Robot can not carry firing-fighting medium, but by docking with the firing-fighting medium pipeline that is arranged at default place, receive the firing-fighting medium that described firing-fighting medium pipeline is carried, thereby reduced the volume and weight of robot, improve translational speed, avoided the under-supply situation of firing-fighting medium to take place simultaneously;

In addition, provide electric power by the trolley line on the track for robot, robot can not carry battery or diesel oil equal power device, when reducing the robot volume and weight, has also avoided battery or diesel oil etc. when temperature is too high, the situation of blasting;

Can adjust the fire extinguishing posture of robot, realize fire extinguishing accurately and rapidly.

Description of drawings

Fig. 1 is the robot construction schematic diagram of first embodiment of the invention;

Fig. 2 is the robot construction schematic diagram of second embodiment of the invention;

Fig. 3 is the robot construction schematic diagram of third embodiment of the invention;

Fig. 4 is the robot construction schematic diagram of fourth embodiment of the invention;

Fig. 5 is the robot construction schematic diagram of fifth embodiment of the invention;

Fig. 6 is the structural representation of the fire extinguishing system of sixth embodiment of the invention;

Fig. 7 is the structural representation of the fire extinguishing system of seventh embodiment of the invention;

Fig. 8 is the structural representation of the fire extinguishing system of eighth embodiment of the invention;

Fig. 9 is the structural representation of the fire extinguishing system of ninth embodiment of the invention;

Figure 10 A is the docking port of the embodiment of the invention and the structural representation of firing-fighting medium pipe joint;

Structural representation when Figure 10 B is a valve closing on the firing-fighting medium pipe joint of the embodiment of the invention;

Structural representation when Figure 10 C is a valve opening on the firing-fighting medium pipe joint of the embodiment of the invention;

Figure 11 is the firing-fighting medium pipeline configuration schematic diagram of the embodiment of the invention;

Figure 12 is the structural representation of the fire extinguishing system of tenth embodiment of the invention;

Figure 13 is the structural representation of the fire extinguishing system of eleventh embodiment of the invention;

Figure 14 is the structural representation of the fire extinguishing system of twelveth embodiment of the invention;

Figure 15 is the robot construction schematic diagram of the embodiment of the invention;

Figure 16 is the schematic flow sheet of the extinguishing method of thriteenth embodiment of the invention;

Figure 17 is the schematic flow sheet of the extinguishing method of fourteenth embodiment of the invention;

Figure 18 is the schematic flow sheet of the extinguishing method of fifteenth embodiment of the invention.

The specific embodiment

Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.

Be illustrated in figure 1 as the robot construction schematic diagram of first embodiment of the invention, the body of described robot 100 is provided with:

Mobile module 101 is connected with track, and the body that is used to drive described robot 100 moves along described track, and described track is arranged in the default place, and described default place comprises at least one fire extinguishing subregion;

First control module 102 is connected with described mobile module 101, is used for by controlling described mobile module 101, makes the body of described robot 100 move to the fire generation subregion in described default place;

Fire suppression module 103 is connected with described first control module 102, is used for after the body of described robot 100 moves to described fire generation subregion, carries out the fire extinguishing operation.

Described default place can be divided according to the fire extinguishing covering power of described robot 100 subregion of putting out a fire, and when the fire extinguishing covering power of for example described robot 100 is 50 meters, then can divide described default place according to 50 meters one fire extinguishing subregion.

Above-mentioned body is the agent structure of described robot 100, is the carrier of other modules;

Above-mentioned mobile module 101 generally comprises mobile drive motors and wheel (or other carriages) two parts, and wheel moves under the driving of mobile drive motors, and mobile drive motors is generally direct current (servo) motor or stepper motor; Described first control module 102 adopts PWM (Pulse WidthModulator usually, pulsewidth modulation) control signal, direction control signal are controlled just commentaries on classics, counter-rotating or the acceleration and deceleration commentaries on classics of described mobile drive motors, thereby control the moving direction and the translational speed of described robot 100.

Because above-mentioned robot 100 moves along described track, its speed will be much larger than the track-type robot that leans on of the prior art, and therefore, described robot 100 can arrive fire generation subregion fast, carries out the fire extinguishing operation; The displacement of described robot 100 can be decided by the length of described track, and at the long enough of described track setting, when coverage is enough big, 100 in described robot can realize long distance, put out a fire on a large scale.

After described robot 100 moves to described fire generation subregion, described robot 100 can be controlled in the described fire generation subregion, for example, controlling described robot 100 stops, supplying with subsystem with the firing-fighting medium of outside docks, receive firing-fighting medium, described fire generation subregion is carried out the fire extinguishing operation; Certainly, also can described robot 100 be controlled at described fire generation subregion, for example, when carrying firing-fighting medium in described robot 100, control described robot 100 when current fire generation subregion is carried out the fire extinguishing operation, move to next fire generation subregion.

Be illustrated in figure 2 as the robot construction schematic diagram of second embodiment of the invention, on the basis of above-mentioned first embodiment, also be provided with on the body of described robot 100:

Second control module 104 is connected with described mobile module 101, is used for after the body of described robot 100 moves to described fire generation subregion, by controlling described mobile module 101, the body of described robot 100 is controlled in the described fire generation subregion.

The body of described robot 100 is controlled in the described fire generation subregion can be following several situations: can control described robot 100 and stop in the described fire generation subregion, perhaps control described robot 100 and in described fire generation subregion, slowly move, or control described robot 100 and in described fire generation subregion, move around.

Above-mentioned robot 100 needs at first to determine which fire extinguishing subregion is a fire generation subregion in the default place, and described robot 100 can determine described fire generation subregion in several ways, describes for example below before carrying out the fire extinguishing operation.

First kind of definite fire generation partitioned method is: described robot 100 can be similar to the mode of patrol police's patrol, under non-fire extinguishing state, on described track, move around, whether and to survey current fire extinguishing subregion in moving process be fire generation subregion (surveying by self-contained detection sensor etc.), when described current fire extinguishing subregion is fire generation subregion, carry out the fire extinguishing operation;

In said method,, therefore, can produce the problem of waste robot power resource because described robot always is in mobile status under non-fire extinguishing state.

Second kind of definite fire generation partitioned method is: move after described robot 100 receives outside fire alarm information, detection of fires in moving process is determined fire generation subregion;

Described robot 100 is when non-fire extinguishing state, remain static, after receiving outside fire alarm information, on described track, move, whether and to survey current fire extinguishing subregion in moving process be fire generation subregion (surveying by self-contained detection sensor etc.), when described current fire extinguishing subregion is fire generation subregion, carry out the fire extinguishing operation.

Because whether the robot 100 in above-mentioned two kinds of methods all need survey current fire extinguishing subregion in moving process be fire generation subregion, therefore, when default place distance is big, possibly can't arrive fire generation subregion fast, above-mentioned two kinds of robots 100 are only applicable to the fire extinguishing in short distance place; Certainly can reach faster translational speed and simultaneously accurately during detection of fires generation subregion, also can be used for growing fire extinguishing in described robot 100 apart from the place.

The third determines that fire generation partitioned method is: after described robot 100 receives the positional information of fire generation subregion, move quickly into described fire generation subregion, carry out the fire extinguishing operation, as shown in Figure 2, also be provided with on the body of described robot 100:

Communication module 105 is connected with described first control module 102, is used to receive the positional information of fire generation subregion;

Described first control module 102 is used for when described communication module 105 receives the positional information of described fire generation subregion, positional information according to described fire generation subregion, by controlling described mobile module 101, make the body of described robot 100 move to described fire generation subregion.

In addition, whether described robot 100 can identical with the positional information of the described fire generation subregion that receives by the positional information that detects the current fire extinguishing subregion that moves to, determine that whether current fire extinguishing subregion is fire generation subregion, therefore, also is provided with on the body of described robot 100:

Subregion detection module 106, be connected with described fire suppression module 103 with described first control module 102, second control module 104, be used at the body of described robot 100 when described track moves, whether the positional information that detects current fire extinguishing subregion is identical with the positional information of described fire generation subregion, and when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, generates and show that the body of described robot 100 moves to the testing result of described fire generation subregion.

Described first control module 102 by controlling described mobile module 101, makes the body of described robot 100 move to described fire generation subregion according to described testing result;

Described second control module 104 is according to described testing result, by controlling described mobile module 101, the body of described robot 100 is controlled in the described fire generation subregion;

Described fire suppression module 103 is carried out the fire extinguishing operation according to described testing result to described current fire extinguishing subregion.

By the robot that the foregoing description provides, the positional information of the outside fire generation subregion that provides is provided, described robot 100 can move quickly into described fire generation subregion, carries out the fire extinguishing operation; Because described robot 100 can move quickly into described fire generation subregion, therefore, described robot 100 can satisfy long distance, intensity of a fire development speed special place etc. are carried out the requirement of quick extinguishing faster.

Generally, described robot 100 puts out a fire by the ejecting extinguishing medium, therefore, be illustrated in figure 3 as the structural representation of the fire extinguishing system of third embodiment of the invention, on the basis of above-mentioned second embodiment, described fire suppression module 103 comprises: injection portion 1031 is used for the ejecting extinguishing medium;

After described robot 100 arrives fire generation subregion, can be by adjusting the fire extinguishing posture of described injection portion 1031, make described injection portion 1031 aim at the fire occurrence positions, to carry out the fire extinguishing operation fast and effectively, therefore, also be provided with on the body of described robot 100:

Attitude control module 107 is connected with described injection portion 1031, is used to control described injection portion 1031 and adjusts the fire extinguishing postures, make described injection portion 1031 spray to the flame part, thereby the building structure protection building structure that perhaps sprays to the fire periphery is not damaged.

Described injection portion 1031 can comprise two parts: the fire gun (or fire extinguishing big gun) and the fire gun that are used for the ejecting extinguishing medium turn round drive motors such as drive motors, fire gun pitching drive motors, and described drive motors adopts direct current (servo) motor or stepper motor usually; Described attitude adjusting module 106 drives described fire gun and adjusts attitude by the described drive motors of control.

Described robot 100 can control described injection portion 1031 by several different methods and adjust the fire extinguishing attitudes, illustrates below.

The method of the first kind of described injection of control portion 1031 adjustment fire extinguishing attitude is as follows:

As shown in Figure 3, also be provided with on the body of described robot 100:

Imageing sensor 108 is connected with described attitude control module 107, is arranged at described injection portion 1031 front ends, and the optical axis of described imageing sensor 108 is parallel to the axis of described injection portion 1031, is used to absorb the image of described fire occurrence positions;

Described attitude control module 107 is used for the image according to described fire occurrence positions, controls described injection portion 1031 and adjusts the fire extinguishing postures, makes described fire occurrence positions be in the center of described image.

Because the optical axis of described imageing sensor 108 is parallel to the axis of described injection portion 1031, therefore, when described fire occurrence positions was in the center of described image, described injection portion 1031 was over against described fire occurrence positions.

Described imageing sensor 108 can be Near Infrared CCD (Charge Coupled Device, CCD) video camera, thermal infrared imager, colourful CCD video camera and/or black-white CCD video camera.

The method of the second kind of described injection of control portion 1031 adjustment fire extinguishing attitude is as follows:

As shown in Figure 3, described imageing sensor 108 can also be optical sensor 108, described radiation sensor 107 is connected with described attitude control module 107, be arranged at described injection portion 1031 front ends, and 108 optical axises of described optical sensor are parallel to the axis of described injection portion 1031, are used to obtain the light radiation intensity of described fire occurrence positions;

Described attitude control module 107 is used for the light radiation intensity according to described fire occurrence positions, control described injection portion 1031 and adjust the fire extinguishing postures, it is maximum that the light radiation intensity that described optical sensor 108 is got access to reaches, when light radiation intensity is maximum, show that described optical sensor 108 (be described injection portion 1031) is over against described fire occurrence positions.

Described optical sensor 108 can be infrared ray sensor or UV sensor.

The third controls method that described injection portion 1031 adjusts the fire extinguishing attitudes as shown in Figure 4, and Fig. 4 is the robot construction schematic diagram of fourth embodiment of the invention, on the basis of above-mentioned second embodiment, is provided with equally on the body of described robot 100:

Imageing sensor 108 is arranged at described injection portion 1031 front ends, and the optical axis of described imageing sensor 108 is parallel to the axis of described injection portion 1031, is connected with described communication module 105, is used to absorb the image of described fire occurrence positions;

Described communication module 105 is connected with described attitude control module 107, is used for the image of described fire occurrence positions is sent to outside central RACS, and receives the attitude control information that described central RACS sends;

Described attitude control module 107 is used for according to described attitude control information, controls described injection portion 1031 and adjusts the fire extinguishing attitudes.

The robot that provides by the foregoing description three and embodiment four, can obtain the relative position information of described injection portion 1031 and described fire occurrence positions by self-contained sensor (imageing sensor 108 or optical sensor 108), thereby adjust the fire extinguishing posture of injection portion 1031, make described injection portion 1031 aim at the fire occurrence positions, carry out the fire extinguishing operation quickly and efficiently.

Robot 100 in the foregoing description can self-contained firing-fighting medium, carries out the fire extinguishing operation; But because described robot 100 finite volumes, therefore, its entrained firing-fighting medium is also limited, the under-supply situation of firing-fighting medium may appear in fire extinguishing procedure, in addition, described robot 100 self-contained firing-fighting mediums also can increase the weight of described robot 100, thereby influence the translational speed of described robot 100.

Therefore, be illustrated in figure 5 as the robot construction schematic diagram of fifth embodiment of the invention, on the basis of above-mentioned second embodiment, also be provided with on the body of described robot 100:

Docking port 109 is connected with described fire suppression module 103, is used to receive outside firing-fighting medium and supplies with the firing-fighting medium that subsystem provides, and offer described fire suppression module 103.

Described docking port 109 can dock with the firing-fighting medium pipe joint that firing-fighting medium in defaulting in fire generation subregion is supplied with subsystem, receives the firing-fighting medium that described firing-fighting medium supply subsystem provides.

Therefore, also be provided with on the body of robot 100 as described in Figure 5:

Interface detecting module 110, be connected with described second control module 104, be used for after the body of described robot 100 moves to described fire generation subregion, survey described firing-fighting medium and supply with the position of the firing-fighting medium pipe joint of subsystem, behind the position of detecting described firing-fighting medium pipe joint, generate control information;

Described second control module 104 is used for according to described control information, by controlling described mobile module 101, makes the body of described robot 100 stop to move;

Butt joint control module 111 is connected with described docking port 109, and the body that is used for described robot 100 stops to control described docking port 109 and docking with described firing-fighting medium pipe joint when mobile.

In addition, also be provided with on the body of described robot 100:

Firing-fighting medium monitoring modular 112, be connected with described communication module 105 with described docking port 109, be used for pressure or the flow of monitoring stream, generate testing result, and send to outside central RACS by described communication module 105 through the firing-fighting medium of described docking port 109.

The robot that provides by the foregoing description need not self-contained firing-fighting medium, has therefore reduced volume, in addition, has also avoided the under-supply problem of firing-fighting medium in fire extinguishing procedure.

Be illustrated in figure 6 as the structural representation of the fire extinguishing system of sixth embodiment of the invention, described fire extinguishing system comprises robot 100 and track 200;

Described track 200 is arranged in the default place, and described default place comprises at least one fire extinguishing subregion;

Described robot 100 is connected with described track 200, is used for moving along described track 200, and after moving to the fire generation subregion in described default place, carries out the fire extinguishing operation.

Described default place can be divided according to the fire extinguishing covering power of described robot 100.

The fire extinguishing system that provides by the foregoing description, because above-mentioned robot 100 moves along described track 200, its speed will be much larger than of the prior art by the track-type robot, therefore, described robot 100 can arrive fire generation subregion fast, carries out the fire extinguishing operation; The displacement of described robot 100 can be decided by the length of described track 200, and at the long enough of described track 200 settings, when coverage is enough big, 100 in described robot can realize long distance, put out a fire on a large scale.

First kind of definite fire generation partitioned method is: described robot 100 can be similar to the mode of patrol police's patrol, under non-fire extinguishing state, on described track 200, move around, whether and to survey current fire extinguishing subregion in moving process be fire generation subregion (surveying by self-contained detection sensor etc.), when described current fire extinguishing subregion is fire generation subregion, stop to move or slowly moving, carry out the fire extinguishing operation;

Second kind of definite fire generation partitioned method is: described robot 100 moves after receiving outside fire alarm information, and detection of fires in moving process is determined fire generation subregion;

At this moment, described fire extinguishing system also comprises fire alarm subsystem (figure does not show), is connected with described robot 100, is used to survey the fire in described default place, when detecting the breaking out of fire of described default place, sends fire alarm information to described robot 100;

Described robot 100 is when non-fire extinguishing state, remain static, after receiving warning message, on described track 200, move, whether and to survey current fire extinguishing subregion in moving process be fire generation subregion (surveying by self-contained detection sensor etc.), when described current fire extinguishing subregion is fire generation subregion, stop to move or slowly moving, carry out the fire extinguishing operation.

Because whether the robot 100 in above-mentioned two kinds of methods all need survey current fire extinguishing subregion in moving process be fire generation subregion, therefore, when default place distance is big, possibly can't arrive fire generation subregion fast, above-mentioned two kinds of fire extinguishing systems are only applicable to the fire extinguishing in short distance place; Certainly can reach faster translational speed and simultaneously accurately during detection of fires generation subregion, described fire extinguishing system also can be used for growing the fire extinguishing apart from the place in described robot 100.

The third determines that fire generation partitioned method is: after described robot 100 receives the positional information of fire generation subregion, move quickly into described fire generation subregion, carry out the fire extinguishing operation, as shown in Figure 7;

Be illustrated in figure 7 as the robot construction schematic diagram of seventh embodiment of the invention, on the basis of above-mentioned the 6th embodiment, described fire extinguishing system also comprises:

Fire positioning subsystem 300 is connected with described robot 100, is used to survey the fire in described default place, determines the positional information of fire generation subregion, and the positional information of described fire generation subregion is sent to described robot 100;

Described fire positioning subsystem 300 can adopt fire image detection device, heat detector, flame detector and/or smoke detector, and above-mentioned detector is arranged in the described default place, with fire and the definite fire generation subregion of surveying default place; When described fire positioning subsystem 300 adopted flame detector and/or smoke detector, described fire positioning subsystem 300 can be determined the positional information of fire generation subregion; When described fire positioning subsystem 300 adopts fire image detection device and/or profile fiber heat detector, described fire positioning subsystem 300 not only can be determined the positional information of fire generation subregion, can also determine the specifying information of concrete fire occurrence positions.

The body of described robot 100 is provided with:

Mobile module 101 is connected with described track 200, and the body that is used to drive described robot 100 moves along described track 200;

Communication module 105 is connected with described fire positioning subsystem 300, is used to receive the positional information of described fire generation subregion;

First control module 102, be connected with described mobile module 101 with described communication module 105, be used for when described communication module 105 receives the positional information of described fire generation subregion, positional information according to described fire generation subregion, by controlling described mobile module 101, make the body of described robot 100 move to described fire generation subregion;

Fire suppression module 103 is used for after the body of described robot moves to described fire generation subregion, carries out the fire extinguishing operation.

Above-mentioned robot 100 is under the control of described first control module 102, after moving to described fire generation subregion, can stop in the described fire generation subregion, perhaps slowly move in described fire generation subregion, or move around in described fire generation subregion, the body that is about to described robot 100 is controlled in the described fire generation subregion, then described fire generation subregion is carried out the fire extinguishing operation, therefore, as shown in Figure 7, also be provided with on the body of described robot 100:

Subregion detection module 106, be connected with described fire suppression module 103 with described first control module 102, second control module 104, be used at the body of described robot 100 when described track 200 moves, whether the positional information that detects current fire extinguishing subregion is identical with the positional information of described fire generation subregion, and when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, generates and show that the body of described robot 100 moves to the testing result of described fire generation subregion.

Described first control module 102 is according to described testing result, by controlling described mobile module 101, the body of described robot 100 is controlled in the described fire generation subregion;

In the foregoing description, can in each fire extinguishing subregion in described default place, a sign be set, be used to show the positional information of current fire extinguishing subregion, whether so that the current fire extinguishing subregion that moves to is judged by described robot 100 is fire generation subregion, as shown in Figure 7, described fire extinguishing system also comprises:

Subregion identification module 400 is arranged in the described fire extinguishing subregion, and is corresponding one by one with described fire extinguishing subregion, is used to identify the positional information of current fire extinguishing subregion;

Described subregion detection module 106 is used at the body of described robot 100 when described track 200 moves, whether the positional information that detects the current fire extinguishing subregion of sign in the described subregion identification module 400 is identical with the positional information of described fire generation subregion, and when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, generates and show that the body of described robot 100 moves to the testing result of described fire generation subregion.

Described subregion identification module 400 can be the radio frequency bar code, the positional information of the current fire extinguishing subregion of record in the described radio frequency bar code, described radio frequency bar code can be arranged on the described track 200 or other positions in described default place, described robot 100 is on described track 200 when mobile, receive the signal of described radio frequency bar code, and judge whether the positional information of the current fire extinguishing subregion that writes down in the described radio frequency bar code is identical with the positional information of described fire generation subregion.

The fire extinguishing system that provides by the foregoing description, the positional information of the fire generation subregion that provides according to described fire positioning subsystem 300, described robot 100 can move quickly into described fire generation subregion, carries out the fire extinguishing operation; Because described robot 100 can move quickly into described fire generation subregion, therefore, described fire extinguishing system can satisfy special place etc. carries out the requirement of quick extinguishing faster to long distance, intensity of a fire development speed.

Generally, described robot 100 puts out a fire by the ejecting extinguishing medium, and therefore, as shown in Figure 8, on the basis of above-mentioned the 7th embodiment, described fire suppression module 103 comprises: injection portion 1031 is used for the ejecting extinguishing medium;

Attitude control module 107 is connected with described injection portion 1031, is used to adjust the fire extinguishing posture of described injection portion 1031, make described injection portion 1031 spray to the flame part, thereby the building structure protection building structure that perhaps sprays to the fire periphery is not damaged.

Described robot 100 can adjust the fire extinguishing posture of described injection portion 1031 by several different methods, illustrates below.

The method of the fire extinguishing posture of the first kind of described injection of adjustment portion 1031 is as follows:

Also be provided with on the body of described robot 100:

The method of the fire extinguishing posture of the second kind of described injection of adjustment portion 1031 is as follows:

As shown in Figure 8, described imageing sensor 108 also can be optical sensor 108, described optical sensor 108, be connected with described attitude control module 107, be arranged at described injection portion 1031 front ends, and 108 optical axises of described optical sensor are parallel to the axis of described injection portion 1031, are used to obtain the light radiation intensity of described fire occurrence positions;

Described optical sensor 108 can be infrared ray sensor or UV sensor.

Robot 100 in the foregoing description, can obtain the relative position information of described injection portion 1031 and described fire occurrence positions by self-contained sensor (imageing sensor 108 or optical sensor 108), thereby adjust the fire extinguishing posture of injection portion 1031, make described injection portion 1031 aim at the fire occurrence positions, carry out the fire extinguishing operation quickly and efficiently.

Therefore, be illustrated in figure 9 as the structural representation of the fire extinguishing system of ninth embodiment of the invention, on the basis of above-mentioned the 7th embodiment, described fire extinguishing system also comprises:

Firing-fighting medium is supplied with subsystem 500, is connected with described robot 100, is used for providing firing-fighting medium to described robot 100; Described firing-fighting medium is supplied with subsystem 500 and comprised: firing-fighting medium provides module 501, firing-fighting medium conveyance conduit 502 and firing-fighting medium pipe joint 503;

Also be provided with on the body of described robot 100:

Docking port 109 is connected with described firing-fighting medium pipe joint 503 with described fire suppression module 103, is used to receive described firing-fighting medium and supplies with the firing-fighting medium that subsystem provides, and offer described fire suppression module 103;

Described firing-fighting medium conveyance conduit 502 can be a flexible pipe, one end of described flexible pipe provides module 501 to be connected with described firing-fighting medium, before described robot 100 moves, be docked on the docking port 109 of described robot 100 by the other end of described firing-fighting medium pipe joint 503 with described flexible pipe, described robot 100 carries described flexible pipe and moves; When described robot 100 carries out the fire extinguishing operation, described firing-fighting medium is supplied with subsystem 500 and is supplied with firing-fighting medium by described flexible pipe to described robot 100, this moment, described robot 100 need not self-contained firing-fighting medium, therefore reduced volume, in addition, also avoided the under-supply problem of firing-fighting medium in fire extinguishing procedure; Yet the distance that described robot 100 moves will be subjected to the restriction of hose length, not reach when requiring at hose length, can't put out a fire normally, in addition, carry described flexible pipe and will move, and also can influence the translational speed of described robot 100.

In addition, described firing-fighting medium conveyance conduit 502 can be set in advance in described default place, in each fire extinguishing subregion in described default place, at least one firing-fighting medium pipe joint 503 is set, after described robot 100 moves to described fire extinguishing subregion, dock with described firing-fighting medium pipe joint 503, the described robot 100 in butt joint back receives the firing-fighting medium that described firing-fighting medium conveyance conduit 502 is carried.

Described firing-fighting medium conveyance conduit 502 be arranged at described track near so that described robot 100 when mobile in orbit, can detect the position of described firing-fighting medium pipe joint 503, dock with described firing-fighting medium pipe joint 503;

Described firing-fighting medium is generally water, water adds foam mixing liquid etc., and described firing-fighting medium is supplied with subsystem 500 and by equipment such as pressure pump, proportioner (being that above-mentioned firing-fighting medium provides module 501) firing-fighting medium is transported in the firing-fighting medium conveyance conduit 502.The coverage that firing-fighting medium is supplied with subsystem 500 depends on that firing-fighting medium provides the pressure capacity of module 501, the transport condition of firing-fighting medium conveyance conduit 502 etc., and generally its fire extinguishing covering power can reach several kms; The shortcoming that above-mentioned firing-fighting medium is supplied with subsystem 500 existence is that water consumption is very big, often will be equipped with bigger tank or huge tanks;

Can adopt CAFS (compressed-air foam) firing-fighting medium to supply with subsystem in the embodiment of the invention, the characteristics of this kind system be water consumption seldom, but obvious to the protective action of the putting out a fire to save life and property of fire, building; When adopting the CAFS system, CAFS provides module can divide into groups to be provided with, and a cover is set about 1000～2000 meters, lays certain distance to tunnel or both sides, guard plot.

According to the difference of firing-fighting medium, the structure of described injection portion 1031 is also different, and for example when needs spray CAFS, described injection portion 1031 is that a smooth jet pipe gets final product, and when the needs water spray, described injection portion 1031 need be sprayer unit.

As shown in Figure 9, also be provided with on the body of described robot 100:

Interface detecting module 110, be connected with described second control module 104, be used for after the body of described robot 100 moves to described fire generation subregion, survey the position of described firing-fighting medium pipe joint 503, behind the position of detecting described firing-fighting medium pipe joint 503, generate control information;

Butt joint control module 111 is connected with described docking port 109, is used for body in described robot 100 and stops to control described docking port 109 and docking with described firing-fighting medium pipe joint 503 when mobile.

Described robot 100 can detect the position of described firing-fighting medium pipe joint 503 in several ways, for example: described interface detecting module 110 can comprise a mechanical touch switch (figure does not show), described firing-fighting medium pipe joint 503 has a contact (figure does not show), described contact is used for depressing described mechanical touch switch when the body of described robot 100 moves on the described contact; Described interface detecting module 110 moves to described fire generation subregion at the body of described robot 100, and described mechanical touch switch generates control information when being depressed.

In addition, described docking port 109 and described firing-fighting medium pipe joint 503 can adopt multiple docking mode, for example, be depicted as the docking port of the embodiment of the invention and the structural representation of firing-fighting medium pipe joint as Figure 10 A, described docking port 109 is the connecting pipe 109 of both ends open, one end of described connecting pipe 109 is connected with described fire suppression module 103, and the other end is connected with described firing-fighting medium pipe joint 503;

Described firing-fighting medium pipe joint 503 comprises receiving port 5031 and valve 5032;

Described receiving port 5031 is connected with described firing-fighting medium conveyance conduit 502, is used to receive described connecting pipe 109;

Described valve 5032 is connected with described receiving port 5031, is used for sealing when closing described receiving port 5031, stops the firing-fighting medium output in the described firing-fighting medium conveyance conduit 502; When described connecting pipe 109 is inserted described receiving port 5031, under the effect of described connecting pipe 109, open, described connecting pipe 109 is communicated with described firing-fighting medium conveyance conduit 502.

Structural representation when being depicted as the valve closing on the firing-fighting medium pipe joint of the embodiment of the invention as Figure 10 B, described valve 5032 can be the cone of being made up of three blade A, have elastomeric element (figure does not show) on described three blade A and, under the effect of described elastomeric element, be in closure state as spring; When described connecting pipe 109 was inserted described receiving port 5031, described three blade A opened under the effect of described connecting pipe 109, make described connecting pipe 109 be communicated with described firing-fighting medium conveyance conduit 502; When described docking port was extracted out from described medium pipeline interface 503, described valve recovered to close under the effect of elastomeric element, the structural representation when being depicted as the valve opening on the firing-fighting medium pipe joint of the embodiment of the invention as Figure 10 C.Certainly, described valve 5032 also can be other structures, describes in detail no longer one by one at this.

In addition, for can rapid abutting joint, described connecting pipe 109 can be the pipeline of pyramidal structure for the top.

Described firing-fighting medium pipe joint 503 also comprises:

Elastic tube 5033 is positioned at the top of described receiving port 5031, is used for locking described connecting pipe 109 when described connecting pipe 109 is inserted described receiving port 5031.

Described elastic tube 5033 utilizes its elasticity to lock described connecting pipe 109, prevents in fire extinguishing procedure, and described connecting pipe 109 comes off from described receiving port 5031;

Preferably, more firm in order to make that described elastic tube 5033 and described connecting pipe 109 lock, described elastic tube 5033 can be the slightly recessed structure in middle part.

Generally also has a by-pass valve control in the above-mentioned injection portion 1031, be used for docking and finishing and the attitude adjustment of putting out a fire is opened after finishing supplying with subsystem with described firing-fighting medium, provide firing-fighting medium to described injection portion 1031, described by-pass valve control can adopt electric gate valve, magnetic valve or drench valve etc., and the big young pathbreaker of valve selects according to kind, pressure and the flow of firing-fighting medium.

Be the firing-fighting medium pipeline configuration schematic diagram of the embodiment of the invention as shown in figure 11, in the present embodiment, subregion identification module 400 is a radio frequency bar code, be arranged at the both sides of firing-fighting medium pipe joint 503, described firing-fighting medium pipe joint 503 is provided with a contact of protruding, described robot 100 detects described radio frequency bar code in moving process, when the positional information of the positional information of the fire extinguishing subregion that writes down in detecting described radio frequency bar code and described fire generation subregion is identical, can slowly move, in the time of above slowly moving to described contact, stop to move, dock with described firing-fighting medium pipe joint 503.

Robot 100 in the foregoing description can self-contained battery, diesel engine etc. is as power resource, but self-contained power resource can increase the volume and weight of robot 100 on the one hand, thereby reduce the translational speed of described robot 100, in addition on the one hand, adopt power supplies such as battery, diesel engine also can bring potential safety hazard, because environment temperature raises after the default place breaking out of fire, battery, diesel engine etc. very likely cause burning even explosion caused, may also need regularly charging or regular replenishment fuel oil in addition.

Be the structural representation of the fire extinguishing system of tenth embodiment of the invention as shown in figure 12, on the basis of above-mentioned the 7th embodiment, described fire extinguishing system also comprises:

Power supply subsystem 600 is connected with described robot 100, is used for 100 power supplies to described robot.

Described power supply subsystem 600 can adopt multiple mode to be connected with described robot 100 and to 100 power supplies of described robot, for example, adopt the mode of connecting line, perhaps, on described track 200 trolley line 201 is set; Described power supply subsystem 600 is powered to described robot 100 by described trolley line 201.

Described trolley line 201 contacts with described robot 100, provides electric power to described

robot

100, and 100 in described robot needn't self-contained power resource, has reduced volume and weight, simultaneously, and the potential safety hazard of also having avoided battery or diesel oil etc. to exist.

Track 200 in the adjacent fire extinguishing subregion is continuous uninterrupted, and the track 200 in the position range of 100 initial positions, the 1～2m of distance robot can be installed with other continuous orbital spacing certain distance.Under the normal condition, only to 201 energisings of the trolley line in the described initial position scope, so that provide basic follow-up work voltage to robot 100, trolley line 201 on other track is in off-position, when breaking out of fire, all trolley lines 201 are connected power supply, so that robot 100 moves and works.

Robot 100 in the foregoing description can grow distance and move on described track 200, can realize moving from main control, the identification of fire generation district location, operations such as identification of firing-fighting medium pipe joint and the butt joint of firing-fighting medium pipe joint, do not need external control, certainly, described fire extinguishing system also can comprise a Long-distance Control subsystem, be connected with described robot 100 by wired or wireless mode, the described robot 100 of Long-distance Control moves or puts out a fire, and can receive the work state information that described robot 100 feeds back, with the duty of the described robot 100 of real-time monitoring, prevent that described robot 100 from meeting accident in fire extinguishing procedure.

Be the structural representation of the fire extinguishing system of eleventh embodiment of the invention as shown in figure 13, on the basis of above-mentioned the 7th embodiment, described fire extinguishing system also comprises:

Central authorities' RACS 700, be connected with described robot 100 with described fire positioning subsystem 300, be used for when the breaking out of fire of described default place, obtain the positional information of described fire generation subregion, positional information according to described fire generation subregion generates start-up control information, and described start-up control information is used to control described robot 100 and moves.

In addition, described fire extinguishing system can also comprise:

Firing-fighting medium is supplied with subsystem 500, is connected with described robot 100 with described central RACS 700, is used under the control of described central RACS 700, provides firing-fighting medium to described robot 100;

It is identical with firing-fighting medium supply subsystem among above-mentioned the 9th embodiment that described firing-fighting medium is supplied with subsystem 500, is not described in detail at this.

Also be provided with on the body of described robot 100:

Firing-fighting medium monitoring modular 112, be connected with described communication module 105 with described docking port 109, be used for pressure or the flow of monitoring stream, generate testing result, and send to central RACS 700 by described communication module 105 through the firing-fighting medium of described docking port 109.

Described robot 100 can also be by described communication module 105 to a series of activities status informations such as described central RACS 700 its motions of feedback, fire extinguishing, pipeline butt joint, locking, medium injection.

Certainly, above-mentioned firing-fighting medium monitoring modular 112 also can be arranged at described firing-fighting medium and supply with subsystem 500 ends, be used to monitor described firing-fighting medium and supply with parameters such as the pressure of firing-fighting medium of subsystem 500 ends or flow, described firing-fighting medium is supplied with subsystem 500 monitoring result is sent to central RACS 700.

Simultaneously, described fire extinguishing system can also comprise:

Power supply subsystem 600 is connected with described robot 100 with described central RACS 700, is used under the control of described central RACS 700, to 100 power supplies of described robot.

Above-mentioned power supply subsystem 600 can also be to central RACS 700 its work state informations of feedback.

Described track 200 comprises trolley line 201; Described power supply subsystem 600 is connected with described robot 100 by described trolley line 201, is used for when described trolley line 101 is connected, to 100 power supplies of described robot.

Described trolley line 201 can be in off-position when flat, in case described central RACS 700 detects fire, controls the power supply that described power supply subsystem 600 is connected described trolley line 201 immediately, is 100 power supplies of described robot.In daily use, described central RACS 700 can be made regular check on described trolley line 201, to the test of powering of described robot 100.

Be the structural representation of the fire extinguishing system of twelveth embodiment of the invention as shown in figure 14, on the basis of fire extinguishing system shown in Figure 10, described fire suppression module 103 comprises: injection portion 1031 is used for the ejecting extinguishing medium;

Also be provided with on the body of described robot 100:

Described communication module 105 is used for the image of described fire occurrence positions is sent to described central RACS 700, and receives the attitude control information that described central RACS 700 sends;

Attitude control module 112 is connected with described communication module 105, is used for according to described attitude control information, controls described injection portion 1031 and adjusts the fire extinguishing postures.

In the foregoing description, on-the-spot image information can take place by described imageing sensor 108 picked-up fire in described robot 100, and sending to described central RACS 700, the fire fighter can be according to described image information, controls described injection portion 1031 and adjusts the fire extinguishing postures.

Certainly, when described fire positioning subsystem 300 adopts the fire image detection device, described fire positioning subsystem 300 also can obtain the image scene of fire occurrence positions, and sending to described central RACS 700, the fire fighter can directly control described robot 100 and put out a fire and adjust the fire extinguishing posture; The artificial stance adjustment that moves, puts out a fire of controlling robot makes fire-fighting efficiency higher.

Be the robot construction schematic diagram of the embodiment of the invention as shown in figure 15, described robot 100 moves on the track 200 that has trolley line 201, described mobile module 101 comprises two wheels, described firing-fighting medium pipeline 501 is arranged between described two tracks 200, also be provided with imageing sensor 108 in the injection portion 1031 of described robot 100, described imageing sensor 108 is a camera, described imageing sensor 108 can absorb the image of fire occurrence positions, with the fire extinguishing attitude that is used to adjust described injection portion 1031 or send to central RACS 700.

Take place when larger at fire; described central RACS can also be controlled many robots 100 and move to described fire generation subregion simultaneously; implement wider protection; described central RACS 700 is by image scene or other ambient parameters of the fire generation subregion of described

fire positioning subsystem

300 or 100 transmissions of described robot; show in the image that at the scene fire takes place larger or monitors described ambient parameter when exceeding predetermined threshold value; can enable many described robots 100 and carry out the fire extinguishing operation, described ambient parameter comprises the temperature of described fire generation subregion; humidity etc.

Central RACS 700 in the foregoing description, it is the scheduling of whole fire extinguishing system, commander and control centre, with described fire positioning subsystem 300, described robot 100, described power supply subsystem 600, firing-fighting medium is supplied with subsystem 500 and is connected, central authorities' RACS 700 obtains the positional information of fire generation subregion, to described robot 100 start-up control information, control described power supply subsystem 600 to 100 power supplies of described robot, and after described robot 100 and described firing-fighting medium are supplied with subsystem 500 and are docked, supply with subsystem 500 to described firing-fighting medium and send control command, control described firing-fighting medium supply subsystem 500 and provide firing-fighting medium to described robot 100, and receive the work state information of above-mentioned each module feedback, the duty of diagnosis fire extinguishing system, image information or other ambient parameter of supervision conflagration area.

Be the schematic flow sheet of the extinguishing method of thriteenth embodiment of the invention as shown in figure 16, said method comprising the steps of:

Step 161 moves along the fire generation subregion of track to described default place that is arranged at default place, and described default place comprises at least one fire extinguishing subregion;

Step 162 after moving to described fire generation subregion, is carried out the fire extinguishing operation.

By the extinguishing method that the foregoing description provides, because above-mentioned robot moves along described track, its speed will be much larger than the track-type robot that leans on of the prior art, and therefore, described robot can arrive fire generation subregion fast, carries out the fire extinguishing operation; The displacement of described robot can be decided by the length of described track, and at the long enough of described track setting, when coverage is enough big, described robot then can realize long distance, put out a fire on a large scale.

Be the schematic flow sheet of the extinguishing method of fourteenth embodiment of the invention as shown in figure 17, said method comprising the steps of:

Step 171 moves along the fire generation subregion of track to described default place that is arranged at default place, and described default place comprises at least one fire extinguishing subregion;

Step 172 after moving to described fire generation subregion, detects the firing-fighting medium pipe joint position of described fire generation subregion;

Step 173 when detecting described firing-fighting medium pipe joint position, stops to move, and docks with described firing-fighting medium pipe joint;

Step 174 is adjusted the fire extinguishing posture of described injection portion;

Step 175 receives the firing-fighting medium that described firing-fighting medium pipe joint provides;

Step 176 is carried out the fire extinguishing operation to the described fire generation subregion of stating.

The method of the fire extinguishing posture of the described injection of adjustment portion is specially in the described step 174: the image of picked-up fire occurrence positions; According to the image of described fire occurrence positions, control injection portion adjusts the fire extinguishing posture, makes described fire occurrence positions be in the center of described image.

Perhaps, the method for the fire extinguishing posture of the described injection of adjustment portion is specially in the described step 174: the light radiation intensity that obtains described fire occurrence positions; According to the light radiation intensity of described fire occurrence positions, control described injection portion and adjust the fire extinguishing posture, make the light radiation intensity of described fire occurrence positions reach maximum.

The extinguishing method that provides by the foregoing description, robot can grow distance and move on described track, can realize that mobile, firing-fighting medium pipe joint is discerned and the firing-fighting medium pipe joint docks, adjusts operations such as fire extinguishing attitude from main control, not need external control.

Be the schematic flow sheet of the extinguishing method of fifteenth embodiment of the invention as shown in figure 18, said method comprising the steps of:

Step 181 receives the start-up control information that central RACS sends, the positional information of carrying fire generation subregion in the described start-up control information;

Step 182 according to described start-up control information, moves along described track;

Step 183, when described track moves, whether the positional information that detects current fire extinguishing subregion is identical with the positional information of described fire generation subregion;

Step 184 when the positional information of the positional information of described current fire extinguishing subregion and described fire generation subregion is identical, stops to move;

Step 185, the image of picked-up fire occurrence positions, and send to described central RACS;

Step 186 receives the attitude control information that described central RACS sends;

Step 187, according to described attitude control information, control injection portion adjusts the fire extinguishing posture;

Step 188 is carried out the fire extinguishing operation to described current fire extinguishing subregion.

The extinguishing method that provides by the foregoing description, on-the-spot image information can take place by described imageing sensor picked-up fire in described robot, and send to described central RACS, the fire fighter can be according to the image information at described scene, control described injection portion and adjust the fire extinguishing posture, make fire-fighting efficiency higher.

The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims

1. a robot is characterized in that, the body of described robot is provided with:

2. robot according to claim 1 is characterized in that, also is provided with on the body of described robot:

3. robot according to claim 2 is characterized in that, also is provided with on the body of described robot:

4. robot according to claim 3 is characterized in that, also is provided with on the body of described robot:

5. robot according to claim 3 is characterized in that:

Also be provided with on the body of described robot:

6. robot according to claim 5 is characterized in that, also is provided with on the body of described robot:

7. robot according to claim 5 is characterized in that:

Also be provided with on the body of described robot:

8. robot according to claim 3 is characterized in that, also is provided with on the body of described robot:

9. robot according to claim 8 is characterized in that, also is provided with on the body of described robot:

10. robot according to claim 8 is characterized in that, also is provided with on the body of described robot:

11. a fire extinguishing system is characterized in that, comprising:

12. fire extinguishing system according to claim 11 is characterized in that, also comprises:

The body of described robot is provided with:

13. robot according to claim 12 is characterized in that, also is provided with on the body of described robot:

14. fire extinguishing system according to claim 13 is characterized in that, also is provided with on the body of described robot:

15. fire extinguishing system according to claim 14 is characterized in that, also comprises:

16. fire extinguishing system according to claim 13 is characterized in that:

Also be provided with on the body of described robot:

17. fire extinguishing system according to claim 16 is characterized in that:

Also be provided with on the body of described robot:

18. fire extinguishing system according to claim 16 is characterized in that:

Also be provided with on the body of described robot:

19. fire extinguishing system according to claim 16 is characterized in that, also comprises:

20. fire extinguishing system according to claim 19 is characterized in that, also is provided with on the body of described robot:

21. according to claim 13 or 19 described fire extinguishing systems, it is characterized in that, also comprise:

Described robot also comprises:

22. fire extinguishing system according to claim 21 is characterized in that, also is provided with on the body of described robot:

23. fire extinguishing system according to claim 22 is characterized in that, also is provided with on the body of described robot:

24. fire extinguishing system according to claim 23 is characterized in that:

Described interface detecting module comprises a mechanical touch switch;

25. fire extinguishing system according to claim 23 is characterized in that:

Described firing-fighting medium pipe joint comprises receiving port and valve;

26 fire extinguishing systems according to claim 25 is characterized in that:

27. fire extinguishing system according to claim 25 is characterized in that, described firing-fighting medium pipe joint also comprises:

28. according to claim 13 or 19 described fire extinguishing systems, it is characterized in that, also comprise:

29. an extinguishing method is characterized in that, may further comprise the steps:

30. extinguishing method according to claim 29 is characterized in that, also comprises before the described execution fire extinguishing operation:

The image of picked-up fire occurrence positions;

31. fire extinguishing system according to claim 29 is characterized in that, also comprises before the described execution fire extinguishing operation:

Obtain the light radiation intensity of fire occurrence positions;

32. fire extinguishing system according to claim 29 is characterized in that, also comprises before the described execution fire extinguishing operation:

The image of picked-up fire occurrence positions, and send to central RACS;

Receive the attitude control information that described central RACS sends;

33. extinguishing method according to claim 29 is characterized in that, also comprises before the described execution fire extinguishing operation: