Two-wheeled fire-fighting balance car with automatic fire source recognition and fire extinguishing functions

Abstract

A two-wheeled fire-fighting balance car with autonomous fire source recognition and fire extinguishing functions relates to the field of intelligent fire rescue equipment and comprises a car body, the car body comprises a first bearing plate, a second bearing plate, a third bearing plate and a base which are arranged from top to bottom, and traveling wheels are symmetrically arranged on two sides of the base. The walking wheels are installed on an output shaft of the motor, an encoder is arranged on the output shaft of the motor, a laser radar and a camera are arranged on the first bearing plate, a main controller and a draught fan are arranged on the second bearing plate, and an integrated STM32 microcontroller main control board, a 360-degree rotary table and a voice communication unit are arranged on the third bearing plate. And a power supply module is arranged on the base. According to the utility model, autonomous navigation can be realized in a fire rescue environment, a fire source can be quickly identified, and the fire extinguishing efficiency is high; the fire-fighting balance car adopts a two-wheel driving structure, has higher maneuverability, and is particularly suitable for executing a fire extinguishing task in a narrow space.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of intelligent fire rescue equipment, and specifically relates to a two-wheeled fire balance car with autonomous fire source identification and fire extinguishing functions. BACKGROUND

[0002] In the field of fire rescue, traditional manual investigation and fire extinguishing methods have high risk and low efficiency. In recent years, with the rapid development of robot technology, fire robots have gradually become an important tool for replacing manual operation in dangerous environments. However, most existing fire robots have complex structures, high costs, and limited intelligence. Therefore, it is of great significance to develop a fire balance car with simple structure, low cost, and high intelligence.

[0003] In the prior art, there are some balance car products based on microcontrollers and computing platforms, but most of these products are applied in entertainment, transportation and other fields, and there are few products specially designed and optimized for fire scenes. In addition, these products also have deficiencies in intelligent control, fire source identification, and fire extinguishing efficiency. SUMMARY

[0004] To solve the above technical problems, the utility model provides a two-wheeled fire balance car with autonomous fire source identification and fire extinguishing functions.

[0005] The utility model discloses a kind of two-wheeled fire balance car with autonomous fire source identification and fire extinguishing functions according to the utility model, including car body, the car body includes first bearing plate, second bearing plate, third bearing plate, pedestal from top to bottom, the two sides of the pedestal are symmetrically arranged walking wheel, the walking wheel is installed on the output shaft of motor and is equipped with encoder on the output shaft of motor, laser radar and camera are provided on the first bearing plate, main controller and fan are provided on the second bearing plate, the third bearing plate is provided with STM32 microcontroller, motor drive module, OLED module, fire alarm module, sensor module including smoke sensor and infrared sensor, attitude sensor, fan drive module integrated with STM32 microcontroller main board including 360 degree turntable installed with fire extinguishing module, voice communication unit, power module is provided on the pedestal;

[0006] The input end of the STM32 microcontroller is electrically connected with the sensor module, the attitude sensor and the encoder, and the output end of the STM32 microcontroller is electrically connected with the motor drive module, the OLED module, the fire alarm module, the fire extinguishing module and the fan drive module. The main controller is connected with the STM32 microcontroller through wired communication, and the main controller is electrically connected with the laser radar, the camera and the voice communication unit.

[0007] By employing the aforementioned technical solution, this utility model has the following beneficial effects:

[0008] (1) The fire balance vehicle adopts a two-wheel drive structure with high mobility, can achieve 360-degree rotation, and has high stability. When it is disturbed by external forces, it can still recover its posture, making it particularly suitable for performing firefighting tasks in narrow spaces.

[0009] (2) The fire-fighting balance vehicle can build an environmental map by combining the main controller with the existing autonomous navigation algorithm to achieve autonomous navigation; it can quickly identify the location of the fire source through the camera and infrared sensor and the fire detection range is wider. When the fire source is detected, the turntable is adjusted according to the location of the fire source to achieve autonomous fire extinguishing; in terms of fire extinguishing, the fire-fighting balance vehicle can control the fire extinguishing module through the microcontroller to extinguish the fire, which can greatly improve the efficiency of fire extinguishing.

[0010] (3) The fire-fighting balance vehicle has a simple body structure and low cost.

[0011] Furthermore, the base is provided with a plurality of screws, which pass through the aforementioned first bearing plate, second bearing plate, and third bearing plate, and the first bearing plate, second bearing plate, and third bearing plate are respectively placed on the corresponding nuts screwed onto the screws.

[0012] Its beneficial effects are: rotating the nut can adjust the space between the base and the third support plate, as well as between two adjacent support plates, which greatly expands the applicability of the fire-fighting balance vehicle.

[0013] Furthermore, the top surface of the first bearing plate is provided with another nut screwed onto the screw.

[0014] Its beneficial effect is that the nuts set on the top and bottom surfaces make the first bearing plate more stable.

[0015] Furthermore, guardrails are symmetrically arranged on the first bearing plate along the front-to-back direction.

[0016] Its beneficial effect is that it prevents the device on the first load-bearing plate from falling off due to changes in the speed of the trolley when the fire-fighting balance vehicle is moving.

[0017] Furthermore, the attitude sensor employs an MPU6050 module.

[0018] Furthermore, the main controller adopts the Sunrise X3Pie computing platform.

[0019] Furthermore, the STM32 microcontroller is an STM32F103RCT6 microcontroller.

[0020] Furthermore, the motor drive module uses the AT8236 motor drive chip.

[0021] Further, the main controller is in wireless communication connection with a control terminal, and the control terminal comprises a fire control center PC control terminal and a mobile terminal carried by a fireman.

[0022] Further, the voice communication unit comprises a microphone and a loudspeaker.

[0023] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail in conjunction with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a body structure schematic diagram of a two-wheeled fire-fighting balance car with autonomous fire source identification and fire extinguishing function.

[0025] Figure 2 is a control block diagram of a two-wheeled fire-fighting balance car with autonomous fire source identification and fire extinguishing function.

[0026] Figure 3 is a schematic diagram of STM32F103RCT6 single-chip microcomputer used in a microcontroller of a two-wheeled fire-fighting balance car with autonomous fire source identification and fire extinguishing function.

[0027] REFERENCE NUMERALS

[0028] 1, first bearing plate; 2, second bearing plate; 3, third bearing plate; 4, base; 5, motor; 6, encoder; 7, walking wheel; 8, screw; 9, nut; 10, barrier rod; 11, laser radar; 12, camera; 13, main controller; 14, STM32 microcontroller main control board; 15, loudspeaker; 16, power module. DETAILED DESCRIPTION

[0029] The technical scheme of the present application will be further described in detail below in conjunction with the drawings:

[0030] A two-wheeled fire-fighting balance car with autonomous fire source identification and fire extinguishing function, comprising a car body (please refer to Figure 1 For the sake of illustrating the technical scheme, Figure 1(Some parts are omitted). The vehicle body includes a first support plate 1, a second support plate 2, a third support plate 3, and a base 4 arranged from top to bottom. The base 4 is provided with several screws 8 (for example, in this embodiment, one screw 8 is provided at each of the four corners of the base 4). After the screws 8 pass through the first support plate 1, the second support plate 2, and the third support plate 3, the first support plate 1, the second support plate 2, and the third support plate 3 are respectively placed on corresponding nuts 9 screwed onto the screws 8. In this embodiment, the corresponding nuts 9 can be rotated to move the first support plate 1, the second support plate 2, and the third support plate 3 vertically up and down, thereby changing the space between two adjacent support plates, which is beneficial for the installation and maintenance of various functional modules, and also for the installation of different models of functional modules, expanding the application range of the fire-fighting balance vehicle. Furthermore, another nut 9 screwed onto the screw 8 is provided on the top surface of the first support plate 1, making the first support plate 1 more stable. Of course, the second support plate 2 and the third support plate 3 can also be screwed onto the screws 8 simultaneously. Nuts 9 are also provided on the top surface to make the overall structure of the fire-fighting balance vehicle more robust and improve its stability when walking. Walking wheels 7 are symmetrically arranged on both sides of the base 4. The walking wheels 7 are mounted on the output shaft of the motor 5 and the output shaft of the motor 5 is equipped with an encoder 6. The first support plate 1 is symmetrically arranged with guardrails 10 in the front-rear direction. A camera 12 is installed on the front wall of the first support plate 1. A laser radar 11 is placed between the two guardrails 10 to ensure the stability of the laser radar 11 on the first support plate 1 when walking. The second support plate 2 is equipped with a main controller 13 (in this embodiment, the main controller adopts the Sunrise X3 Pie computing platform) and a fan. The third support plate 3 is equipped with an STM32 microcontroller main control board 14 integrating an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a sensor module, an MPU6050 module, and a fan drive module, as well as a 360-degree turntable and a voice communication unit. The base 4 is equipped with a power module 16. This fire-fighting balance vehicle uses a two-wheel drive structure. The motor 5 controls the speed of the walking wheels to achieve forward, backward, and 360-degree turning functions. It also has high stability and can recover its posture when disturbed by external forces. At the same time, it has high mobility and can perform fire-fighting tasks in narrow spaces.

[0031] like Figure 2 As shown, the two-wheeled fire-fighting balance vehicle also includes an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a fire extinguishing module, a sensor module, an MPU6050 module, a motor 5, an encoder 6, a main controller 13, a camera 12, a lidar 11, a voice communication unit, and a fan drive module.

[0032] The STM32 microcontroller used is the STM32F103RCT6 microcontroller, and its schematic diagram is shown below.Figure 3 The MPU6050 module is a kind of attitude sensor, which integrates three-axis accelerometer and three-axis gyroscope, and an extendable digital motion processor DMP, the DMP can process the data of the accelerometer and gyroscope in real time, and transmit the real-time attitude information of the trolley to the STM32 microcontroller.

[0033] The MPU6050 module is a kind of attitude sensor, which integrates three-axis accelerometer and three-axis gyroscope, and an extendable digital motion processor DMP, the DMP can process the data of the accelerometer and gyroscope in real time, and transmit the real-time attitude information of the trolley to the STM32 microcontroller.

[0034] The motor driving module adopts AT8236 motor driving chip; the encoder 6 is used for feeding back the position, speed and acceleration information of the motor, and the microcontroller transmits the information to the STM32 microcontroller through the AT8236 motor driving chip, and the microcontroller adjusts the rotating speed of the motor 5 through the AT8236 motor driving chip using the balance control PID algorithm, and then controls the speed of the trolley, so as to realize the balance control of the fire balance car.

[0035] The sensor module includes a smoke sensor and an infrared sensor, the smoke sensor is used for detecting the smoke concentration of the fire scene, the infrared sensor is used for detecting the temperature of the fire scene and identifying the fire source position, and the sensor module transmits the information to the STM32 microcontroller, and the microcontroller transmits the information to the main controller 13 after receiving the information, and sends an alarm instruction to the fire alarm module, so that the fire source position can be quickly determined.

[0036] The OLED module includes an OLED display screen, which is used for displaying the planned route, fire position, obstacle information and real-time position information of the fire balance car.

[0037] The fire extinguishing module is installed on the 360-degree rotary table, and can realize 360-degree direction adjustment, when the fire balance car detects the fire source, the position of the fire source is identified through the infrared sensor, and then the rotary table is adjusted to turn, the STM32 microcontroller controls the fire extinguishing module to extinguish the fire source, for example, in the actual experiment, when the fire extinguishing device carries water resources, it can effectively spray 80% of the fire extinguishing water flow within 3 meters, and the success rate of fire extinguishing is improved, of course, in other embodiments of the utility model, the fire extinguishing device can carry other types of fire extinguishing resources (such as carbon dioxide).

[0038] In this embodiment, the STM32 microcontroller and the host controller 13 are connected by a USB serial port for wired communication. The host controller 13 is an X3 computing platform loaded with the ROS operating system. The computing platform can run existing autonomous navigation algorithms (such as the SLAM algorithm) to build a more accurate environment map, run existing global path planning algorithms (such as the A* algorithm) and existing local path planning algorithms (such as the TEB algorithm) to determine the optimal global path, and run existing visual recognition algorithms (such as the YOLOV5 detection algorithm) to identify fire sources and fire scenes.

[0039] The camera 12 can obtain real-time information of the fire scene and monitor the fire source. The laser radar 11 can analyze whether there is an obstacle in front and determine the turning direction according to the obstacle information, and can detect the distance of objects within a 360-degree range. The laser radar 11 and the camera 12 send the real-time information obtained by themselves to the host controller for assisting path planning and navigation.

[0040] The voice communication unit includes a microphone and a speaker 15, which can communicate with trapped personnel in real time. Firefighters can comfort and evacuate trapped personnel, and carry rescue items according to the needs of trapped personnel.

[0041] The host controller 13 communicates with the control terminal wirelessly to realize data interaction. The control terminal includes a fire center PC control terminal and a mobile terminal carried by a firefighter. During fire rescue, the fire center PC control terminal can be remotely controlled by a computer. Firefighters near the fire scene communicate with the host controller of the fire balancing vehicle wirelessly (such as Bluetooth communication) through the mobile terminal carried by themselves. With the interactive interface of the PC and the interactive interface of the mobile terminal, the camera monitored screen can be displayed in real time, and the data of fire extinguishing agent, smoke concentration, temperature, etc. can be displayed in real time.

[0042] In specific implementation, the power module 16 is powered by a battery. According to the size of the output voltage, a corresponding existing voltage reduction circuit is arranged to realize the power supply of the above-mentioned various modules. For example: the output voltage is 12V, which is directly input into the motor driving chip to drive the motor; 12V voltage is reduced to 5V through a voltage reduction circuit (in this embodiment, we use a voltage reduction chip RT8289GSP) for power supply of the above-mentioned various modules.

[0043] When the fire-fighting balance car is working, the laser radar 11 and the camera 12 monitor the surrounding environment in real time, the preset environment map and the planned travel route are displayed on the OLED display screen through the main controller 13 to determine the optimal global path; the microcontroller judges the current smoke concentration according to the information transmitted by the smoke sensor, and when the smoke concentration is too high, the fan driving module drives the fan to disperse the smoke to prevent affecting the detection; when the fire source is identified, the fire-fighting balance car can monitor the fire scene in real time through the camera 12, accurately identify the fire source position through the infrared sensor, and immediately issue an alarm once the fire source or trapped personnel is found; when the fire extinguishing operation is performed, the microcontroller starts the fire extinguishing module to extinguish the fire at the fire source position after the fire-fighting balance car reaches the fire source position; after completing the fire extinguishing operation, the fire-fighting balance car will return to the starting point along the path; when the main controller 13 of the fire-fighting balance car and the control terminal have communication failure, the fire-fighting balance car will stop immediately and return to the starting point along the path.

[0044] Of course, in other embodiments of the present application, four telescopic rods can be provided between the base and the third bearing plate and between the adjacent two bearing plates to replace the screw rod and the nut; a baffle can be provided on the first bearing plate to replace the barrier rod.

[0045] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and other modifications or equivalent replacements of the technical solutions of the present application made by those skilled in the art should be covered in the scope of the claims of the present application as long as they do not deviate from the design and scope of the technical solutions of the present application.

Claims

1. A two-wheeled fire-fighting balance car with autonomous fire source identification and fire extinguishing function, characterized in that: The vehicle body includes a first support plate (1), a second support plate (2), a third support plate (3), and a base (4) arranged from top to bottom. The base (4) has symmetrically arranged wheels (7) on both sides. The wheels (7) are mounted on the output shaft of a motor (5), and an encoder (6) is provided on the output shaft of the motor (5). The first support plate (1) is equipped with a laser radar (11) and a camera (12). The second support plate (2) is equipped with a main controller (13) and a fan. The third support plate (3) is equipped with an STM32 microcontroller main control board (14) integrating an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a sensor module including a smoke sensor and an infrared sensor, an attitude sensor, and a fan drive module, as well as a 360-degree turntable with a fire extinguishing module and a voice communication unit. The base (4) is equipped with a power module (16). The input terminal of the STM32 microcontroller is electrically connected to the sensor module, attitude sensor, and encoder. The output terminal of the STM32 microcontroller is electrically connected to the motor drive module, OLED module, fire alarm module, fire extinguishing module, and fan drive module. The main controller (13) is connected to the STM32 microcontroller via wired communication. The main controller (13) is electrically connected to the lidar (11), camera (12), and voice communication unit.

2. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The base (4) is provided with a plurality of screws (8), which pass through the aforementioned first bearing plate (1), second bearing plate (2), and third bearing plate (3). The first bearing plate (1), second bearing plate (2), and third bearing plate (3) are respectively placed on the corresponding nuts (9) screwed onto the screws (8).

3. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 2, characterized in that: The top surface of the first bearing plate (1) is provided with another nut (9) screwed onto the screw (8).

4. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The first bearing plate (1) is symmetrically provided with railings (10) along the front-back direction.

5. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The attitude sensor uses an MPU6050 module.

6. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The main controller (13) adopts the Sunrise X3Pie computing platform.

7. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The STM32 microcontroller used is the STM32F103RCT6 single-chip microcomputer. 8.The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function of claim 1, wherein: The motor drive module uses the AT8236 motor drive chip. 9.The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function of claim 1, wherein: The main controller (13) is wirelessly connected to the control terminal, which includes a PC control terminal in the fire protection center and a mobile terminal carried by firefighters.

10. The two-wheeled fire extinguishing balance car with autonomous fire source identification and extinguishing function according to claim 1, characterized in that: The voice communication unit includes a microphone and a speaker (15).

Images