An intelligent fire inspection robot detection system for laser gas leak detection

Abstract

The utility model discloses an intelligent fire inspection robot detection system for laser detection of gas leakage, including an electric-controlled crawler chassis, a control device, a laser gas detector, a servo motor and a fire extinguishing device. The utility model is driven by the electric-controlled crawler chassis to move in the inspection area, and the second visual sensor box ranging radar ensures the safety during movement. The fan blows the surrounding air into the detection box, and the laser gas detector inside the detection box analyzes and detects. The flame sensor can detect the fire in time, and realize intelligent inspection operations. A mechanical arm with a mechanical gripper is set on one side of the main control box. Through the control device and the first visual sensor and the second visual sensor, the functions of opening and closing doors and transferring materials can be realized at the inspection site, further improving the functionality of the inspection robot.

Description

Technical Field

[0001] The utility model relates to the technical field of gas detection, in particular to an intelligent fire inspection robot detection system for detecting gas leakage with laser. Background Art

[0002] With the rapid development of industry, the petrochemical industry plays an increasingly important role in the industrial field. It is inevitable that the production and transportation of oil and other products will produce flammable and explosive gases and toxic and harmful gases. These gases pose a great safety hazard. If they are not detected and treated in time, the dangers they bring will be unpredictable. For this reason, technicians have developed detection instruments to detect whether gas leaks, and to reduce the intensity of manual labor, they have developed intelligent fire inspection robots.

[0003] For example, a linear laser gas detector is proposed in the public technology, which is provided with a laser reflection plate, a laser transmitter and receiver, and a detection controller. The laser transmitter and receiver emits a laser beam with the same absorption frequency as the gas to be measured. The laser beam passes through the measured area and reaches the laser emission plate. The laser reflection plate reflects the laser beam back to the laser transmitter and receiver. The controller compares the emitted beam with the reflected beam, and determines whether there is a leakage of the gas to be measured in the measured area by the laser attenuation degree, and determines the concentration of the gas to be measured in the measured area at the same time. Another example is a fire inspection robot proposed in the prior art; the robot includes a support plate, and an electric control mechanism and a fire fighting mechanism are placed above the support plate. The device can be applied to different fire types by carbon dioxide fire extinguishing and clean water fire extinguishing, and can extinguish the fire as soon as it is discovered, and can effectively slow down the speed of fire spread before the firefighters arrive.

[0004] The fire inspection robot is combined with a laser gas detector to form a detection system. It can detect gas leaks, report fires, and extinguish fires on the spot. However, there are still some materials that can be rescued at the fire scene. The existing fire inspection robots do not have this function. It is necessary to improve the structure of the fire inspection robot to further improve its functionality. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes an intelligent fire inspection robot detection system for detecting gas leakage with laser.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an intelligent fire inspection robot detection system for laser detection of gas leakage, comprising an electrically controlled crawler chassis, a control device, a laser gas detector, a servo motor and a fire extinguishing device, wherein the fire extinguishing device is composed of a first fire extinguishing box, a second fire extinguishing box, a spraying device and a spraying pipe, the upper wall of the electrically controlled crawler chassis is fixedly connected to a battery compartment, a power supply structure for power supply is arranged inside the battery compartment, a distance measuring structure for detecting the distance of surrounding obstacles to facilitate safe passage is arranged on the outer wall of the battery compartment, and a fixing frame, a second fire extinguishing box, a spraying device and a spraying pipe are fixedly connected to the upper wall of the electrically controlled crawler chassis from bottom to top in sequence. A main control box, wherein the control device is arranged inside the main control box, a mechanical arm is arranged on the outer wall of the main control box, an end of the mechanical arm away from the main control box is fixedly connected to a connecting seat, a side of the connecting seat away from the mechanical arm is provided with a clamping structure for clamping objects, a detection box is rotatably connected to the top of the main control box through a servo motor, the laser gas detector is arranged inside the detection box, a side wall of the detection box intersecting with the top is provided with an air intake structure for sucking external gas into the detection box for detection by the laser gas detector, and a second visual sensor and a flame sensor are arranged in sequence on the outer wall of the detection box and on one side of the air intake structure.

[0007] As a further description of the above technical solution:

[0008] The power supply structure is a battery pack, and the battery pack is arranged inside the battery compartment.

[0009] As a further description of the above technical solution:

[0010] The ranging structure includes multiple groups of ranging radars, and the multiple groups of ranging radars are all arranged on the outer wall of the battery compartment and face the front, back, left and right of the battery compartment respectively.

[0011] As a further description of the above technical solution:

[0012] The spraying device is arranged on a side of the main control box away from the robotic arm, the first fire extinguishing box and the second fire extinguishing box are both arranged inside the fixed frame, the first fire extinguishing box and the second fire extinguishing box are respectively connected to the inlet end of the spraying device through a group of connecting pipes, and the outlet end of the spraying device is fixedly connected with a spraying pipe.

[0013] As a further description of the above technical solution:

[0014] The clamping structure includes a first visual sensor and a mechanical clamping claw, and the first visual sensor and the mechanical clamping claw are both arranged on a side of the connecting base away from the mechanical arm.

[0015] As a further description of the above technical solution:

[0016] The air inlet structure is a fan, and an air inlet hole that penetrates inside and outside is arranged on the side wall of the detection box and is located on the side of the second visual sensor away from the flame sensor. The air inlet hole is connected to the air inlet of the laser gas detector, and the fan is rotatably connected to the inner wall of the air inlet hole.

[0017] The utility model has the following beneficial effects:

[0018] 1. Compared with the existing technology, the intelligent fire inspection robot detection system for laser detection of gas leaks is driven by an electric-controlled crawler chassis and moves in the inspection area. The second visual sensor box and ranging radar ensure safety during movement. The fan blows the surrounding air into the detection box, and the laser gas detector inside the detection box analyzes and detects. The flame sensor can detect fire in time, realizing intelligent inspection operations.

[0019] 2. Compared with the existing technology, the intelligent fire inspection robot detection system for laser detection of gas leaks is equipped with a mechanical arm with a mechanical gripper on one side of the main control box. Through the control device in conjunction with the first visual sensor and the second visual sensor, it can realize the functions of opening and closing doors and transferring materials at the inspection site, further improving the functionality of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of an intelligent fire inspection robot detection system for laser gas leakage detection proposed by the utility model;

[0021] Figure 2 The utility model proposes a laser detection gas leak intelligent fire inspection robot detection system Figure 1 A partial enlarged view of the middle A;

[0022] Figure 3 This is a partial cross-sectional view of the internal structure of the battery compartment of an intelligent fire inspection robot detection system for laser gas leakage detection proposed by the utility model;

[0023] Figure 4 This is a schematic diagram of the end surface structure of a detection box of an intelligent fire inspection robot detection system for laser gas leakage detection proposed by the utility model.

[0024] Legend:

[0025] 1. Electric-controlled crawler chassis; 2. Battery compartment; 3. Distance-finding radar; 4. Fixed bracket; 5. First fire extinguisher box; 6. Second fire extinguisher box; 7. Main control box; 8. Detection box; 9. Spraying device; 10. Spraying pipe; 11. Connecting pipe; 12. Mechanical arm; 13. Connecting seat; 14. First visual sensor; 15. Mechanical gripper; 16. Battery pack; 17. Air inlet; 18. Second visual sensor; 19. Flame sensor; 20. Fan. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Reference Figures 1 to 4 The utility model provides an intelligent fire inspection robot detection system for laser detection of gas leakage: comprising an electric-controlled crawler chassis 1, a control device, a laser gas detector, a servo motor and a fire extinguishing device. A battery compartment 2 is fixedly connected to the upper wall of the electric-controlled crawler chassis 1. The laser gas detector is consistent with the existing technology on the market. By comparing the emitted light beam with the reflected light beam, the laser attenuation degree is used to determine whether there is a leak of the gas to be detected in the detected area.

[0028] like Figure 3 As shown, in order to power the robot, a power supply structure for powering is provided inside the battery compartment 2, and the power supply structure is a battery pack 16, which is arranged inside the battery compartment 2. The battery pack 16 is a common rechargeable battery on the market, which can be used by the robot to realize wireless inspection operations;

[0029] like Figure 1 , Figure 2 As shown, in order to ensure the safety of the robot during inspection and movement, the outer wall of the battery compartment 2 is provided with a distance measuring structure for detecting the distance of surrounding obstacles to facilitate safe passage, and the distance measuring structure includes multiple groups of ranging radars 3, which are all arranged on the outer wall of the battery compartment 2 and face the front, back, left and right of the battery compartment 2 respectively. The multiple groups of ranging radars 3 are used to detect surrounding obstacles when the robot is inspecting and moving, and the control device avoids obstacles according to the detection information to avoid collision;

[0030] like Figure 1 , Figure 2 As shown, in order to improve the functionality of the inspection robot, the upper wall of the battery compartment 2 is fixedly connected with a fixing frame 4 and a main control box 7 from bottom to top in sequence, the control device is arranged inside the main control box 7, and a mechanical arm 12 is arranged on the outer wall of the main control box 7. The end of the mechanical arm 12 away from the main control box 7 is fixedly connected with a connecting seat 13, and a clamping structure for clamping objects is arranged on the side of the connecting seat 13 away from the mechanical arm 12. The clamping structure includes a first visual sensor 14 and a mechanical gripper 15. The first visual sensor 14 and the mechanical gripper 15 are both arranged on the side of the connecting seat 13 away from the mechanical arm 12. By controlling the mechanical arm 12 and the mechanical gripper 15 through the control device, actions such as opening and closing doors, clamping materials and transferring can be realized, thereby improving the functionality of the fire inspection robot at the inspection site;

[0031] like Figure 1 As shown, the fire extinguishing device is composed of a first fire extinguishing box 5, a second fire extinguishing box 6, a spraying device 9 and a spraying pipe 10. The spraying device 9 is arranged on the side of the main control box 7 away from the mechanical arm 12. The first fire extinguishing box 5 and the second fire extinguishing box 6 are both arranged inside the fixed frame 4. The first fire extinguishing box 5 and the second fire extinguishing box 6 are respectively connected to the inlet end of the spraying device 9 through a group of connecting pipes 11. The outlet end of the spraying device 9 is fixedly connected with the spraying pipe 10. Different compressed fire extinguishing media can be stored in the first fire extinguishing box 5 and the second fire extinguishing box 6. The opening and closing are controlled by the spraying device 9. When extinguishing a fire, the fire extinguishing medium is sprayed from the spraying pipe 10 to the flame to extinguish the fire;

[0032] like Figure 1 , Figure 4 As shown, in order to detect gas on site and find fire, a detection box 8 is connected to the top of the main control box 7 by a servo motor, and a laser gas detector is arranged inside the detection box 8. A side wall where the detection box 8 intersects with the top is provided with an air intake structure for sucking external gas into the detection box 8 for detection by the laser gas detector. A second visual sensor 18 and a flame sensor 19 are sequentially arranged on the outer wall of the detection box 8 and located on one side of the air intake structure. The air intake structure is a fan 20. An air intake hole 17 that is through-and-through is arranged on the side wall of the detection box 8 and located on the side of the second visual sensor 18 away from the flame sensor 19. The air intake hole 17 is connected to the air inlet of the laser gas detector, and the fan 20 is rotatably connected to the inner wall of the air intake hole 17. The flame sensor 19 is used to detect fire, and the fan 20 blows ambient air into the detection box 8 to detect and analyze the gas through the laser gas detector.

[0033] Working principle: The battery pack 16 is a common rechargeable battery on the market, which can be used by the robot to perform wireless inspection operations. Multiple sets of ranging radars 3 are used to detect surrounding obstacles when the robot is moving for inspection. The control device avoids obstacles and collisions based on the detection information. The control device controls the mechanical arm 12 and the mechanical gripper 15 to achieve actions such as opening and closing doors, clamping materials and transferring them, thereby improving the functionality of the fire inspection robot at the inspection site. Different compressed fire extinguishing media can be stored in the first fire extinguishing box 5 and the second fire extinguishing box 6, and the opening and closing are controlled by the spraying device 9. When extinguishing a fire, the fire extinguishing medium is sprayed from the spraying pipe 10 to the flame to extinguish the fire. The flame sensor 19 is used to detect the fire situation, and the fan 20 blows the surrounding air into the detection box 8. The gas is detected and analyzed by the laser gas detector. The emitted light beam is compared with the reflected light beam, and the laser attenuation degree is used to determine whether there is a leak of the gas to be measured in the measured area.

[0034] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent fire inspection robot detection system for laser gas leakage detection, characterized in that: The invention comprises an electric-controlled crawler chassis (1), a control device, a laser gas detector, a servo motor and a fire extinguishing device, wherein the fire extinguishing device comprises a first fire extinguishing box (5), a second fire extinguishing box (6), a spraying device (9) and a spraying pipe (10), the upper wall of the electric-controlled crawler chassis (1) is fixedly connected to a battery compartment (2), a power supply structure for powering is arranged inside the battery compartment (2), a distance measuring structure for detecting the distance of surrounding obstacles to facilitate safe passage is arranged on the outer wall of the battery compartment (2), a fixing frame (4) and a main control box (7) are fixedly connected to the upper wall of the battery compartment (2) in sequence from bottom to top, the control device is arranged inside the main control box (7), and the main control box (7) is arranged outside the main control box (7). A mechanical arm (12) is arranged on the wall, one end of the mechanical arm (12) away from the main control box (7) is fixedly connected to a connection seat (13), a side of the connection seat (13) away from the mechanical arm (12) is provided with a clamping structure for clamping an object, the top of the main control box (7) is rotatably connected to a detection box (8) via a servo motor, the laser gas detector is arranged inside the detection box (8), a side wall of the detection box (8) intersecting with the top is provided with an air intake structure for sucking external gas into the detection box (8) for detection by the laser gas detector, and a second visual sensor (18) and a flame sensor (19) are arranged in sequence on the outer wall of the detection box (8) and located on one side of the air intake structure.

2. According to claim 1, the intelligent fire inspection robot detection system for laser gas leakage detection is characterized by: The power supply structure is a battery pack (16), and the battery pack (16) is arranged inside the battery compartment (2).

3. The intelligent fire inspection robot detection system for laser gas leakage detection according to claim 1 is characterized in that: The distance measuring structure comprises a plurality of groups of distance measuring radars (3), wherein the plurality of groups of distance measuring radars (3) are arranged on the outer wall of the battery compartment (2) and face the front, back, left and right of the battery compartment (2) respectively.

4. The intelligent fire inspection robot detection system for laser gas leakage detection according to claim 1 is characterized in that: The spraying device (9) is arranged on a side of the main control box (7) away from the mechanical arm (12); the first fire extinguishing box (5) and the second fire extinguishing box (6) are both arranged inside the fixed frame (4); the first fire extinguishing box (5) and the second fire extinguishing box (6) are respectively connected to the inlet end of the spraying device (9) through a group of connecting pipes (11); and the outlet end of the spraying device (9) is fixedly connected to a spraying pipe (10).

5. The intelligent fire inspection robot detection system for laser gas leakage detection according to claim 1 is characterized by: The clamping structure comprises a first visual sensor (14) and a mechanical clamping claw (15), wherein the first visual sensor (14) and the mechanical clamping claw (15) are both arranged on a side of the connecting seat (13) away from the mechanical arm (12).

6. The intelligent fire inspection robot detection system for laser gas leakage detection according to claim 1 is characterized by: The air inlet structure is a fan (20), and an air inlet hole (17) that penetrates inside and outside is provided on a side wall of the detection box (8) and is located on a side of the second visual sensor (18) away from the flame sensor (19); the air inlet hole (17) is communicated with an air inlet of the laser gas detector, and the fan (20) is rotatably connected to the inner wall of the air inlet hole (17).

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