Movable indoor fire extinguishing device

Abstract

The utility model discloses a mobile indoor fire extinguishing device which comprises a mobile mechanism, a smoke exhaust mechanism, an adjustable fire extinguishing system, a flame identifying and positioning module and a fire source position sensing system, the adjustable fire extinguishing system comprises a rotating disc installed on the top wall of the smoke discharging mechanism, an adjusting box body installed on the top wall of the rotating disc and an adjustable mechanical arm mechanism, the rotating disc is connected with a rotating driving mechanism, and the rotating disc can be driven by the rotating driving mechanism to rotate by 360 degrees around a vertical center shaft of the rotating disc. The mobile fire extinguishing device is high in fire identification sensitivity, can realize point-to-point accurate extinguishing of indoor fire, and effectively avoids secondary water damage in an area outside a fire source.

Description

Technical Field

[0001] This utility model relates to fire extinguishing devices, specifically to an indoor fire extinguishing device. Background Technology

[0002] Currently available intelligent and automated fire extinguishing devices include automatic sprinkler systems, gas extinguishing systems, water mist extinguishing systems, foam extinguishing systems, dry powder extinguishing systems, automatic fire extinguishers (fire extinguisher systems), combined water spray and aerosol extinguishing systems, fire-fighting robots and unmanned fire extinguishing devices, and intelligent fire extinguishing systems. These systems can all automatically activate the fire extinguishing system when a fire occurs, extinguish the fire source in time, and prevent the fire from escalating.

[0003] The existing fire suppression systems mentioned above have the following main drawbacks:

[0004] (1) It cannot meet the requirements of precise point-to-point fire extinguishing and is prone to causing secondary damage to the protected object.

[0005] (2) It is impossible to extinguish fire sources in enclosed environments (cabinets and drawers of different materials) in a timely manner.

[0006] (3) Common problems include high costs, false alarms, difficulty in cleaning, and difficulty in maintenance and inspection. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a mobile indoor fire extinguishing device that integrates autonomous positioning, image recognition, and multiple functions, which can be used for the early detection and extinguishing of indoor fires.

[0008] This utility model discloses a mobile indoor fire extinguishing device, comprising:

[0009] The moving mechanism includes a base plate and casters rotatably mounted on the base plate. The rotation shafts of the casters are rotatably connected to the base plate, and the rotation shafts of each caster are respectively connected to the rotation output end of the walking drive mechanism.

[0010] A smoke exhaust mechanism is used to remove smoke encountered during the movement of the fire extinguishing device.

[0011] An adjustable fire extinguishing system includes a turntable installed on the top wall of a smoke exhaust mechanism, an adjustment box installed on the top wall of the turntable, and an adjustable robotic arm mechanism. The turntable is connected to a rotary drive mechanism, and the turntable can rotate 360 ​​degrees around the vertical central axis of the turntable under the drive of the rotary drive mechanism.

[0012] A water tank for holding water is installed inside the regulating box. The water tank has an inlet and an outlet. The inlet is connected to a water source via a water pipe, and the outlet is connected to the inlet of a water pump installed inside the regulating box via a pipe. The outlet of the water pump is connected to a nozzle via a water pipe. The nozzle is connected to the motion output end of a vertical motion drive mechanism installed inside the regulating box and can move up and down under the drive of the mechanism. The nozzle is located outside the regulating box. A camera and a temperature sensor are respectively installed on the side and top wall of the regulating box. The signal output end of the temperature sensor is connected to a computer.

[0013] The adjustable robotic arm mechanism includes a base mounted on a turntable. Two supports are vertically spaced parallel to each other on the base. A bracket is located on the outer side of one support, and a first rotary motor is mounted on the top of the bracket. A control box is located above the two supports. The rotation shaft of the first rotary motor, which is horizontally positioned, passes through and is rotatably connected to the two supports. The rotation shaft of the first rotary motor is fixedly connected to the control box. A second rotary motor is installed inside the control box, and the rotation shaft of the second rotary motor rotates in response to the rotation of the first rotary motor. Driven by the shaft, it can rotate around a plane perpendicular to the axis of rotation of the first rotary motor. The rotation axis of the second rotary motor is fixedly connected to the web of a U-shaped bracket, which can drive the entire U-shaped bracket to rotate. A frame is provided on the upper part between the left and right flanges of the U-shaped bracket. A servo motor is connected to the outer wall of one flange of the U-shaped bracket. The rotation axis of the servo motor is rotatably connected to the left and right flanges and fixedly connected to the frame. The rotation axis of the servo motor is parallel to the rotation axis of the first rotary motor. A robotic arm is connected to the top wall of the frame. The robotic arm's mechanical claw is used for grasping.

[0014] A housing is fixed to the front wall of the frame, and a forward and backward moving mechanism is installed inside the housing. The motion output end of the forward and backward moving mechanism is fixedly connected to a suction cup, and the suction cup can move back and forth under the drive of the motion output end of the forward and backward moving mechanism.

[0015] The flame recognition and positioning module includes a control box installed at the rear of the base plate. A depth camera and an infrared thermal imager are installed on the top of the control box. The control system module and power supply of the depth camera, infrared thermal imager, and camera are installed inside the control box and connected to a computer.

[0016] A fire source location detection system, comprising a smoke sensor installed on the roof, the smoke sensor being used for smoke alarm in the early stages of a fire and connected to a computer.

[0017] The advantages of this utility model are:

[0018] (1) The mobile fire extinguishing device has high fire identification sensitivity and can accurately extinguish indoor fires point by point, effectively avoiding secondary water damage to areas outside the fire source.

[0019] (2) Adjustable function: The fire extinguishing device can accurately extinguish fire sources at different heights and directions through the turntable and slide rail; the suction cups and mechanical claws on the robotic arm can work according to objects of different materials and forms, and can extinguish fire sources in the closed area at an early stage.

[0020] (3) The indoor environment is narrow and complex, especially when there is a fire, visibility is poor. This device is equipped with guide wheels and a smoke exhaust system to ensure high efficiency during movement. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a perspective view of the mobile fire extinguishing device of this utility model;

[0023] Figure 2 for Figure 1 A schematic diagram of the robotic arm structure shown. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the technical solutions disclosed herein, but the technical solutions disclosed herein may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the technical solutions disclosed herein, and not all embodiments.

[0026] As shown in the attached drawing, a portable indoor fire extinguishing device of this utility model includes:

[0027] The moving mechanism may include a base plate and casters 12 mounted on the base plate. The rotation shafts of the casters are rotatably connected to the base plate. The rotation shafts of each caster are respectively connected to the rotation output end of a walking drive mechanism. The walking drive mechanism may include a walking drive motor mounted on the base plate. The motor shaft of the walking drive motor is fixedly connected to the rotation shafts of the casters.

[0028] Smoke extraction mechanism 2, used to remove smoke encountered during the movement of the fire extinguishing device; may include a smoke extraction box installed on the base plate, with multiple openings on the side wall of the smoke extraction box, filter screens arranged at the multiple openings, and a fan placed inside the smoke extraction box. When the fan is working, air blows from the inside to the outside through the openings on the smoke extraction box, dispersing the smoke in front of the device as the mobile fire extinguishing device moves, and in conjunction with the filter screens, removing smoke along the movement route and preventing burning materials from splashing and damaging the mobile fire extinguishing device.

[0029] An adjustable fire extinguishing system includes a turntable 4 mounted on the top wall of a smoke exhaust mechanism, an adjustment box 5 mounted on the top wall of the turntable, and an adjustable robotic arm mechanism A. The rotation of the turntable 4 drives the adjustment box to rotate at a certain angle. The turntable is connected to a rotation drive mechanism, and under the drive of the rotation drive mechanism, the turntable can rotate 360 ​​degrees around its vertical central axis. The rotation drive mechanism may include a rotary motor mounted on the top wall of the smoke exhaust mechanism, with the motor shaft of the vertically oriented rotary motor fixedly connected to the bottom wall of the turntable.

[0030] A water tank for holding water is installed inside the regulating box. The water tank has an inlet and an outlet. The inlet is connected to a water source via a water pipe, and the outlet is connected to the inlet of a water pump installed inside the regulating box via a pipe. The outlet of the water pump is connected to a nozzle via a water pipe. The nozzle is connected to the motion output end of a vertical motion drive mechanism installed inside the regulating box and can move up and down under the drive of the mechanism. The nozzle is located outside the regulating box. A camera 6 and a temperature sensor 8 are respectively installed on the side and top wall of the regulating box 5. The signal output end of the temperature sensor is connected to a computer, and its operation is independent of the position adjustment of the nozzle 7.

[0031] In one embodiment of this utility model, a slide rail groove is formed vertically on the front wall of the housing. The up-and-down movement driving mechanism is a crank-slider mechanism. The slide rail of the crank-slider mechanism is fixed in the slide rail groove. The nozzle is connected to the slider of the crank-slider mechanism through a bracket. More preferably, guide grooves are fixed in the slide rail grooves on the left and right sides of the slide rail, and pulleys are installed at the left and right ends of the bracket. The pulleys are respectively set in the guide grooves on the corresponding sides and can move up and down along the guide grooves.

[0032] The motor of the crank-slider mechanism drives the crank-slider to move linearly, which in turn drives the nozzle to move up and down, thereby adjusting the height of the nozzle and reducing friction. The water tank has a water inlet. After the device arrives at the site, the water inlet of the water tank is connected to a water pipe. The tank contains a water pump to provide water to the nozzle and extinguish the fire.

[0033] The adjustable robotic arm mechanism includes a base 24 mounted on a turntable 4. Two supports 21 are vertically spaced parallel to each other on the base. A support 23 is located on the outer side of one support. A first rotary motor 22 is mounted on the top of the support. A control box is located above the two supports. The rotating shaft of the first rotary motor, which is horizontally positioned, passes through and is rotatably connected to the two supports. The rotating shaft of the first rotary motor is fixedly connected to the control box 20. A second rotary motor is installed inside the control box 20. The rotating shaft of the second rotary motor, driven by the rotating shaft of the first rotary motor, can rotate around... The first rotary motor rotates in a plane perpendicular to its axis. The second rotary motor's rotation axis is fixedly connected to the web of a U-shaped bracket 19, enabling the entire U-shaped bracket to rotate. A frame 17 is provided on the upper part between the left and right flanges of the U-shaped bracket 19. A servo motor 18 is connected to the outer wall of one flange of the U-shaped bracket. The rotation axis of the servo motor 18 is rotatably connected to the left and right flanges and fixedly connected to the frame. The rotation axis of the servo motor 18 is parallel to the rotation axis of the first rotary motor. A robotic arm 16 is connected to the top wall of the frame, and the robotic claw 15 of the robotic arm is used for grasping. The robotic arm can use an existing structure.

[0034] A housing 14 is fixed to the front wall of the frame 17. A forward and backward moving mechanism is installed inside the housing. The motion output end of the forward and backward moving mechanism is fixedly connected to the suction cup. The suction cup can move back and forth under the drive of the motion output end of the forward and backward moving mechanism. The forward and backward moving mechanism can be a crank-slider mechanism installed inside the housing. The slider of the crank-slider mechanism serves as the motion output end and is fixedly connected to the support frame connected to the suction cup. The forward and backward moving mechanism can also be an existing structure such as a linear motor. The suction cup is attracted by moving forward through the motion output end of the forward and backward moving mechanism. The mechanical gripper and the suction cup can rotate 90° by a servo motor at the top of the U-shaped bracket, realizing the switching between two working states of the mechanical gripper and the suction cup.

[0035] The flame identification and positioning module includes a control box 11 installed at the rear of the base plate. A depth camera 10 and an infrared thermal imager 9 are mounted on the top of the control box. The depth camera and infrared thermal imager work together to achieve rapid flame identification and positioning using the captured images. The infrared thermal imager is primarily used in smoke-covered and dark environments. Simultaneously, a temperature sensor assists in detecting the temperature of the ignition point. The control system module and power supply for the depth camera 10, infrared thermal imager 9, and camera 6 are housed within the control box 11 and connected to a computer. This module is used for identifying the fire source, receiving and sending signals, automatic positioning, implementing robotic arm functions, and issuing fire extinguishing commands.

[0036] A fire source location sensing system includes a smoke sensor installed on the roof. The smoke sensor is used for smoke alarm in the early stage of a fire and is connected to a computer. Preferably, the smoke sensor and the computer are connected by a wired connection to receive signals, which improves the stability of information transmission.

[0037] Preferably, multiple guide wheel mechanisms 1 are rotatably connected to the four sides of the base plate, which automatically position the device when it is started and passively turn and support it when encountering obstacles during the fire extinguishing process.

[0038] Preferably, two indicator lights 3 are installed on the smoke exhaust mechanism, using different colors to indicate fire warnings and warning cancellations. The control system module for the indicator lights 3 is housed in the control box 11 and connected to a computer.

[0039] Preferably, the controllers of the walking drive mechanism, fan, rotary drive mechanism, water pump, up-and-down motion drive mechanism, first rotary motor, second rotary motor, servo motor, robot arm, and forward-and-backward movement mechanism are respectively connected to a computer.

[0040] The working process of this device can be described as follows:

[0041] The first step is to place the portable fire extinguishing equipment inside the house and input the interior spatial layout information into the computer to create a room map;

[0042] The second step involves a smoke sensor (8) detecting the smoke concentration in real time, a temperature sensor (8) detecting the temperature in real time, and an infrared thermal imager (9) monitoring temperature changes in real time. The smoke sensor transmits the measured smoke concentration values, the temperature sensor (8) transmits the measured temperature values, and the infrared thermal imager (9) transmit the real-time measured temperature values ​​to a computer. If any one of these values ​​exceeds a set safety threshold, a fire is detected. The computer outputs a signal to a depth camera (10), which captures a depth image of the fire source at its specific spatial location. The depth image is then analyzed to determine the location of the fire source. The three-dimensional spatial information is transmitted to the computer; the computer plans the route of the mobile fire extinguishing device based on the three-dimensional spatial location information of the fire source. During the movement of the mobile fire extinguishing device, the camera 6 and the depth camera 10 take pictures of the structural layout at the fire point and transmit the pictures back to the computer. The computer, based on the image processing library (OpenCV, Pillow, NumPy) and scientific computing library in Python of the Windows system, processes the image data (such as reading, displaying, converting, enhancing, and analyzing) and outputs it to determine the structural characteristics and spatial conditions of the fire source location.

[0043] Third, after the mobile fire extinguishing device reaches the end of the planned path, the computer outputs a control signal to stop the mobile fire extinguishing device. Based on the structural characteristics and spatial conditions of the fire source location (to determine whether to activate the suction cups or the robotic gripper in the robotic arm, or both; for example, if the fire source is inside a cabinet and the cabinet door can be opened, the suction cups are used to directly open the cabinet door; if the fire source is in a drawer with a handle, the robotic gripper is used to grasp the handle and pull it open), the computer outputs instructions. If the fire point is in a relatively enclosed space such as inside a cabinet or drawer, the suction cups are activated and moved to the designated position to work; otherwise, the robotic arm is activated and moved to the designated position to work, or the robotic arm and suction cups are activated alternately and moved to the designated position to work on complex structural targets. Simultaneously, the computer starts the water pump connected to the nozzle 7 and adjusts the nozzle position through output position adjustment instructions so that the nozzle 7 faces the fire source and sprays water to accurately extinguish the fire.

[0044] Fourth, the computer makes a judgment based on the real-time signals output by the smoke sensor, temperature sensor 8, and infrared thermal imager 9. If the smoke concentration, temperature value, and data output by the infrared thermal imager are all within the set safety threshold, it indicates that the fire is extinguished. The computer transmits a signal to the control system of the signal light, causing the signal light to turn blue, prompting the staff to clear the alarm. The mobile fire extinguishing device returns along the original route, the water tank is refilled and the battery is charged, and fire early warning monitoring continues.

[0045] The embodiments of this utility model are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A portable indoor fire extinguishing device, characterized in that... include: The moving mechanism includes a base plate and casters rotatably mounted on the base plate. The rotation shafts of the casters are rotatably connected to the base plate, and the rotation shafts of each caster are respectively connected to the rotation output end of the walking drive mechanism. A smoke exhaust mechanism is used to remove smoke encountered during the movement of the fire extinguishing device. An adjustable fire extinguishing system includes a turntable (4) installed on the top wall of the smoke exhaust mechanism, an adjustment box (5) installed on the top wall of the turntable, and an adjustable robotic arm mechanism (A). The turntable is connected to a rotary drive mechanism, and the turntable can rotate 360 ​​degrees around the vertical central axis of the turntable under the drive of the rotary drive mechanism. A water tank for holding water is installed inside the regulating box. The water tank has an inlet and an outlet. The inlet can be connected to a water source through a water pipe. The outlet is connected to the inlet of a water pump installed inside the regulating box through a pipe. The outlet of the water pump is connected to a nozzle through a water pipe. The nozzle is connected to the motion output end of a vertical motion drive mechanism installed inside the regulating box and can move up and down under the drive of the vertical motion drive mechanism. The nozzle is located outside the regulating box. The camera (6) and the temperature sensor (8) are respectively installed on the side and top wall of the regulating box (5). The signal output end of the temperature sensor is connected to the computer. The adjustable robotic arm mechanism includes a base (24) mounted on a turntable (4). Two supports (21) are arranged parallel to each other vertically on the base. A support (23) is provided on the outer side of one support. A first rotary motor (22) is mounted on the top of the support. A control box is located above the two supports. The rotating shaft of the first rotary motor, arranged horizontally, passes through the two supports and is rotatably connected to them. The rotating shaft of the first rotary motor is fixedly connected to the control box (20). A second rotary motor is installed inside the control box. The rotating shaft of the second rotary motor is located on the upper part of the first rotary motor. Driven by the rotating shaft, it can rotate around a plane perpendicular to the axis of the first rotating motor. The rotating shaft of the second rotating motor is fixedly connected to the web of a U-shaped bracket (19) and can drive the entire U-shaped bracket to rotate. A frame (17) is provided on the upper part between the left and right flanges of the U-shaped bracket. A servo motor (18) is connected to the outer wall of one flange of the U-shaped bracket. The rotating shaft of the servo motor is rotatably connected to the left and right flanges and fixedly connected to the frame. The rotating shaft of the servo motor is parallel to the rotating shaft of the first rotating motor. A robot arm (16) is connected to the top wall of the frame. The mechanical claw (15) of the robot arm is used for gripping. A housing (14) is fixed on the front wall of the frame (17), and a front-back moving mechanism is installed inside the housing. The motion output end of the front-back moving mechanism is fixedly connected to the suction cup. The suction cup can move back and forth under the drive of the motion output end of the front-back moving mechanism. The flame identification and positioning module includes a control box (11) installed at the rear of the base plate. A depth camera (10) and an infrared thermal imager (9) are installed on the top of the control box. The control system module and power supply of the depth camera (10), infrared thermal imager, and camera are installed in the control box and connected to a computer. A fire source location detection system, comprising a smoke sensor installed on the roof, the smoke sensor being used for smoke alarm in the early stages of a fire and connected to a computer.

2. The portable indoor fire extinguishing device according to claim 1, characterized in that: The smoke exhaust mechanism includes a smoke exhaust box mounted on a base plate, with multiple openings on the side wall of the smoke exhaust box, filter screens arranged at the multiple openings, and a fan placed inside the smoke exhaust box.

3. The mobile indoor fire extinguishing device according to claim 1 or 2, characterized in that: A slide rail groove is formed vertically on the front wall of the adjustment box. The up-and-down movement drive mechanism is a crank-slider mechanism. The slide rail of the crank-slider mechanism is fixed in the slide rail groove. The nozzle is connected to the slider of the crank-slider mechanism through a bracket.

4. The mobile indoor fire extinguishing device according to claim 3, characterized in that: Guide grooves are fixed in the slide rail grooves on the left and right sides of the slide rail, and pulleys are installed at the left and right ends of the bracket. The pulleys are respectively set in the guide grooves on the corresponding sides and can move up and down along the guide grooves.

5. The mobile indoor fire extinguishing device according to claim 3, characterized in that: Multiple guide wheel mechanisms are rotatably connected to the four side walls of the base plate.

6. The mobile indoor fire extinguishing device according to claim 3, characterized in that: Two indicator lights are installed on the smoke exhaust mechanism, and the control system module for the indicator lights is installed in the control box and connected to the computer.

7. The mobile indoor fire extinguishing device according to claim 3, characterized in that: The controllers for the walking drive mechanism, fan, rotary drive mechanism, water pump, up-and-down motion drive mechanism, first rotary motor, second rotary motor, servo motor, robotic arm, and forward-and-backward movement mechanism are all connected to a computer.

8. The portable indoor fire extinguishing device according to claim 7, characterized in that: The smoke sensor is connected to the computer via a wired connection to receive signals.

Images