Building fire-fighting robot on-site multi-information acquisition system

Abstract

The utility model discloses an on-site multi-information acquisition system for a building fire-fighting robot, and relates to the technical field of fire information perception. Comprising an environment temperature detection module, a smoke concentration detection module, a building vibration detection module and an alarm signal output module. The environment temperature detection module detects the fire scene temperature through a temperature sensor; the smoke concentration detection module converts the smoke concentration into an electric signal through a smoke sensor and a divider resistor; the building vibration detection module obtains the building vibration condition through the vibration sensing element, the signal amplification circuit and the low-pass filter circuit. The alarm signal output module comprises three microcontrollers and alarm buzzing equipment, and the microcontrollers are respectively connected with the detection modules and drive the alarm buzzing equipment to give an alarm. According to the system, accurate acquisition and real-time early warning of temperature, smoke and vibration information of a fire scene are realized, and the fire rescue efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to fire information sensing technical field, concretely is a kind of building fire-fighting robot field multiple information acquisition system. BACKGROUND

[0002] With the continuous expansion of modern building scale and the improvement of structural complexity, the incidence and damage degree of building fire and major natural disasters (such as earthquake, building collapse, etc.) are also gradually rising. The traditional fire-fighting means and equipment often cause response lag due to untimely information collection or information loss when dealing with these emergencies, which further affects the rescue efficiency. Especially in sudden events such as fire, the environmental conditions inside the building are complex and changeable, which may be accompanied by high temperature, smoke, severe vibration and other unfavorable factors. These factors not only threaten the life safety of rescue personnel, but also make it difficult for traditional means to obtain accurate information. For example, the traditional smoke detection device is mostly fixed, which is difficult to accurately monitor the smoke concentration distribution of complex fire scene; the environmental temperature monitoring equipment usually responds slowly and is difficult to reflect the fire temperature change in real time; and the real-time performance of building vibration detection equipment in identifying and analyzing building structure risk is also insufficient.

[0003] Therefore, it is particularly necessary to develop an intelligent device that can comprehensively collect various important information (such as environmental temperature, smoke concentration and building vibration) at the fire scene. As a new type of intelligent rescue tool, building fire-fighting robot can replace rescue personnel to undertake dangerous tasks at disaster scene, and the perfection and optimization of its information collection function are directly related to the efficiency and accuracy of rescue. At present, some fire-fighting robots on the market have basic fire detection function, but often have problems such as single function, slow information processing speed and poor on-site adaptability. For example, interference of sensor signal, lag of collected data and imperfect coordination effect among multiple modules will affect the comprehensiveness and reliability of disaster scene information. In order to solve the above technical problems, an intelligent building fire-fighting robot information acquisition system capable of quickly and accurately collecting various information is urgently needed.

[0004] The prior art discloses a forest fire scene multiple information acquisition device and system, which comprises an environment detection device and a personnel positioning device, and the two are designed in a split type, share functions, and guarantee reliability.

[0005] The above information disclosed in the background section is only for the purpose of enhancing the understanding of the background of the present disclosure, and therefore it can include information that does not constitute the prior art known to those of ordinary skill in the art. Practical new type content

[0006] The building fire-fighting robot scene multiple information acquisition system is provided, so as to solve the problems in the background art.

[0007] To achieve the above-mentioned purpose, the practical new type provides the following technical scheme:

[0008] A building fire-fighting robot scene multiple information acquisition system, specifically comprising:

[0009] An environment temperature detection module, the environment temperature detection module comprises a temperature sensor and a first operational amplifier circuit, the temperature sensor and the first operational amplifier circuit are electrically connected, and is used for converting the environment temperature of the fire scene into an electric signal and amplifying the electric signal through the first operational amplifier circuit;

[0010] A smoke concentration detection module, the smoke concentration detection module comprises a smoke sensor, a voltage dividing resistor and a low-pass filter circuit, the smoke sensor output end is electrically connected with the voltage dividing resistor, the voltage dividing resistor voltage output end is electrically connected with the low-pass filter circuit input end, and is used for converting the concentration of the smoke into an electric signal and filtering the electric signal through the low-pass filter circuit;

[0011] The building vibration detection module comprises a vibration sensing element, a first signal amplification circuit, a low-pass filter circuit and a second signal amplification circuit, the output end of the vibration sensing element is electrically connected with the input end of the first signal amplification circuit, the output end of the first signal amplification circuit is electrically connected with the input end of the low-pass filter circuit, and the input end of the second signal amplification circuit is electrically connected with the output end of the low-pass filter circuit, so as to obtain vibration data of a target building and convert the vibration data into an electric signal and amplify the electric signal through the first signal amplification circuit and the second signal amplification circuit.

[0012] The alarm signal output module comprises a microcontroller, the input end of the microcontroller is electrically connected with the output end of the ambient temperature detection module, the smoke concentration detection module and the building vibration detection module, and is used for receiving electric signals of information data collected by the three modules.

[0013] Further, the ambient temperature detection module further comprises a diode for inhibiting reverse current and protecting the temperature sensor, the anode of the diode is electrically connected with the ground end of the temperature sensor, and the cathode of the diode is grounded.

[0014] Further, the voltage signal converted by the voltage dividing resistor is output to the input end of the low-pass filter circuit, so as to filter high-frequency noise and interference in the smoke signal.

[0015] Further, the vibration sensing element converts vibration data into a vibration voltage signal, the vibration signal is specifically a vibration acceleration value of a target building, the vibration sensing element obtains the vibration acceleration value of the target building and outputs the vibration voltage signal, and the output end of the vibration sensing element is electrically connected with the input end of the first signal amplification circuit, so as to amplify the vibration voltage signal.

[0016] Further, the first signal amplification circuit comprises a chopper stabilized zero type operational amplifier, a feedback resistor and a feedback capacitor, and is used for inhibiting voltage deviation and zero drift.

[0017] Further, the alarm signal output module further comprises a display screen, the input end of the display screen is electrically connected with the output end of the microcontroller, is used for receiving information data collected by the three modules, and realizes an information collection function.

[0018] Compared with the prior art, the building vibration detection module has the advantages that:

[0019] Firstly, the system acquires temperature information of the fire scene in real time through an ambient temperature detection module. The combination of the temperature sensor, the diode and the first operational amplifier circuit can realize the collection of temperature information and protect the circuit. Secondly, the smoke concentration detection module cooperates the low-pass filter circuit and the voltage dividing resistor in the design to optimize the original signal output by the smoke sensor and further filter out high-frequency noise interference. In addition, the building vibration detection module cooperates the vibration sensing element and the two-stage signal amplification circuit and applies the low-pass filter circuit to realize the acquisition of the information of the vibration of the building. The comprehensive modules make the information collected by the whole system more comprehensive. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a whole module structure schematic diagram of the utility model;

[0021] Figure 2 It is a temperature detection circuit connection schematic diagram of the utility model;

[0022] Figure 3 It is a smoke sensing circuit schematic diagram of the utility model;

[0023] Figure 4 It is a vibration signal acquisition circuit schematic diagram of the utility model. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the utility model more clear and apparent, the following in combination with specific embodiments, the utility model is further explained in detail.

[0025] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the utility model should be understood as the usual meaning by the person skilled in the art in the field to which the utility model belongs. The "first", "second" and similar words used in the utility model do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "contain" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connection" or "connected" and similar words are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] EMBODIMENT

[0027] Please refer to Figure 1 The utility model provides a technical scheme:

[0028] The application discloses a kind of building fire-fighting robot field multiple information acquisition system, specifically includes:

[0029] The ambient temperature detection module includes a temperature sensor, a first operational amplifier circuit, and a temperature sensor. The temperature sensor and the first operational amplifier circuit are electrically connected to detect the ambient temperature of the fire scene and convert it into an electrical signal. The first operational amplifier circuit is used to amplify the electrical signal.

[0030] Temperature sensor (IC Temperature Sensor) is an electronic device that integrates temperature detection and signal processing on a single chip. They usually have an analog output that can provide accurate temperature measurement and is easy to interface with microcontrollers or other digital systems. Analog output temperature sensors output an analog voltage signal proportional to temperature, which can be directly connected to an analog input port for measurement. They can be used in portable devices and electric vehicles to monitor battery temperature and prevent overheating or overcooling. For example, the SA90R4C model has a maximum detection temperature of 900 A common analog output temperature sensor outputs an RS485 voltage signal.

[0031] The ground terminal of the temperature sensor is electrically connected to the positive terminal of diode D1. One of the main functions of the diode is to prevent reverse polarity of the power supply. When the power supply of SA90R4C is connected incorrectly, the diode can limit the flow direction of current to prevent current from flowing back into the sensor, thereby protecting the sensor from damage.

[0032] In this case, the diode is usually connected in series with the ground pin. When the power supply is connected in reverse polarity, the diode blocks current due to reverse bias, providing protection. In complex electromagnetic environments such as railway control systems or industrial scenarios, the ground line may be affected by external electromagnetic interference. The diode can reduce the impact of electromagnetic interference signals on SA90R4C to some extent, providing a cleaner reference ground potential for the sensor.

[0033] The ambient temperature detection module includes a temperature sensor, wherein the temperature sensor detects the ambient temperature of the fire scene and outputs a corresponding voltage signal at the output terminal. The output terminal of the temperature sensor is electrically connected to the input terminal of the first operational amplifier circuit for amplifying the temperature electrical signal. The first operational amplifier circuit includes an integrated operational amplifier A1, resistors R3, R4, and R10. The output terminal of the temperature sensor is electrically connected to resistor R4 and then connected to the positive input terminal of integrated operational amplifier A1. The output terminal of integrated operational amplifier A1 is electrically connected to the negative input terminal of integrated operational amplifier A1 through feedback resistor R10. The negative input terminal of integrated operational amplifier A1 is grounded through resistor R3.

[0034] The smoke concentration detection module comprises a smoke sensor, a voltage dividing resistor and a low-pass filter circuit, the output end of the smoke sensor is electrically connected with the voltage dividing resistor, the voltage output end of the voltage dividing resistor is electrically connected with the input end of the low-pass filter circuit, and is used for converting the concentration of smoke into an electric signal.

[0035] The voltage dividing resistor converts the resistance value change of the smoke sensor into a voltage signal, and electrically connects the output end of the converted voltage signal with the input end of the low-pass filter circuit, and is used for removing high-frequency noise and interference in the smoke signal.

[0036] The smoke sensor is specifically an MQ-2 smoke sensor, and the MQ-2 is a resistance type smoke sensor based on a conductive material. When the smoke concentration increases, the sensitive material in the MQ-2 reacts with the gas in the smoke, causing the resistance value to change. The VCC and GND ports of the MQ-2 sensor are electrically connected to the positive and negative poles of a power supply (+5V or +12V DC power supply), and the signal output end of the MQ-2 is electrically connected to the subsequent voltage dividing resistor R11.

[0037] The voltage dividing resistor converts the impedance signal output by the MQ-2 into a voltage signal, and outputs a stable DC voltage through voltage division, which represents the smoke concentration. Specifically, the size of the voltage value represents the smoke concentration.

[0038] The low-pass filter circuit is an active first-order low-pass filter circuit, which specifically comprises an RC network and an integrated operational amplifier A2, and specifically comprises resistors R7, R8 and R9, a capacitor C4 and the integrated operational amplifier A2.

[0039] Specifically, the voltage signal output by the MQ-2 is electrically connected to the positive input end of the integrated operational amplifier A2 through the resistor R9, and is grounded through the capacitor C5 at the positive input end of the integrated operational amplifier A2. The output end of the integrated operational amplifier A2 is electrically connected to the negative input end of the integrated operational amplifier A2 through the resistor R7, one end of the resistor R8 is grounded, and the other end is electrically connected to the negative input end of the integrated operational amplifier A2.

[0040] The building vibration detection module comprises a vibration sensing element, a first signal amplification circuit, a low-pass filter circuit and a second signal amplification circuit, the output end of the vibration sensing element is electrically connected with the input end of the first signal amplification circuit, the output end of the first signal amplification circuit is electrically connected with the input end of the low-pass filter circuit, and the input end of the second signal amplification circuit is electrically connected with the output end of the low-pass filter circuit, which is used for converting the vibration data of the target building into an electric signal and amplifying the electric signal through the first signal amplification circuit and the second signal amplification circuit.

[0041] The vibration sensing element is selected as a vibration pickup, which converts the vibration signal into a chemical, mechanical or (most commonly) electrical signal, and the strength of the obtained signal is proportional to the detected vibration amount. The vibration pickup is very suitable for collecting the vibration characteristics of the building. Specifically, the 891-4 type vibration pickup (horizontal and vertical) of the Institute of Engineering Mechanics of the China Earthquake Administration is selected, which belongs to a moving coil reciprocating vibration pickup, can convert the vibration signal into a voltage signal, and is mainly used for measuring the displacement, velocity and acceleration of ground and structure pulsation or engineering vibration. There are four grades of acceleration, small speed, medium speed and large speed, and users can select the corresponding parameters by selecting the corresponding grade through the micro-dial switch on the vibration pickup. The vibration pickup has the advantages of small size, light weight, convenient use, large dynamic range and multi-use, and the spring sheet of the vibration pickup is not easy to damage, and is widely used in practical engineering.

[0042] The vibration sensing element converts the vibration data into a vibration voltage signal, and the vibration signal is specifically a vibration acceleration value of the target building. The vibration sensing element acquires the vibration acceleration value of the target building and outputs a vibration voltage signal. The output end of the vibration sensing element is electrically connected to the input end of the first signal amplification circuit, which is used to amplify the vibration voltage signal.

[0043] The first signal amplification circuit includes a chopper stabilized zero type operational amplifier, a feedback resistor and a feedback capacitor, which are used to suppress voltage offset and zero drift.

[0044] The 891-4 type vibration pickup outputs a micro-voltage level voltage signal, which needs to be amplified by an amplifier to improve the measurement accuracy. However, amplification can easily cause voltage offset and zero drift. The input offset voltage can be zeroed, but its drift is difficult to eliminate. Therefore, the first signal amplification circuit selects a TLC2652 chopper stabilized zero type operational amplifier. The chopper stabilized zero working mode makes TLC2652 have excellent DC characteristics, so that the influence of offset voltage and its drift, common mode voltage, low frequency noise and power supply voltage change on the operational amplifier is reduced to a minimum. TLC2652 is very suitable for amplifying weak signals. At the same time, two feedback capacitors are connected in parallel to perform phase lead compensation to prevent self-oscillation.

[0045] The input end of the second signal amplification circuit is electrically connected to the output end of the low-pass filter circuit, and the second signal amplification circuit is specifically a common-shooting amplification circuit, which amplifies the filtered signal.

[0046] The small voltage signal from the 891-4 type oscillator is electrically connected to the positive input terminal of the TLC2652 chip through resistor R5. The output terminal of the TLC2652 chip is fed back to the negative input terminal of the TLC2652 chip through resistor R6. The negative input terminal of the TLC2652 chip is simultaneously grounded through resistor R12 to amplify the signal. The feedback capacitors C1 and C2 connected in parallel on the CLAMP pin can perform phase lead compensation to prevent self-oscillation. The CXA and CXB pins of the TLC2652 chip are electrically connected to capacitors C3 and C4, respectively, and are also electrically connected to the negative power supply terminal through capacitors C3 and C4. Capacitors C3 and C4 are mainly used for bias current compensation and noise reduction to improve the chip's performance in high-precision analog signal processing. The output of the TLC2652 chip is electrically connected to the input of the low-pass filter to filter the signal after the first stage of amplification. The input of the second signal amplifier circuit is electrically connected to the output of the low-pass filter circuit. The second signal amplifier circuit consists of a transistor Q1, a load resistor R13, and a base resistor R9.

[0047] An alarm signal output module includes a microcontroller. The input terminal of the microcontroller is electrically connected to the output terminals of the ambient temperature detection module, the smoke concentration detection module, and the building vibration detection module, and is used to receive electrical signals from the information data collected by the three modules.

[0048] The alarm signal output module also includes a display screen. The input terminal of the display screen is electrically connected to the output terminal of the microcontroller and is used to receive and display the information data collected by the three modules to realize the information collection function.

[0049] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0050] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution.

[0051] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, and may be located in one place, or distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment of the present application according to actual needs.

[0052] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A building fire robot field multi-information collection system, characterized in that, Specifically comprising: The ambient temperature detection module comprises a temperature sensor and a first operational amplifier circuit, which are electrically connected, for converting the ambient temperature of the fire scene into an electric signal and amplifying the electric signal through the first operational amplifier circuit. The smoke concentration detection module comprises a smoke sensor, a voltage dividing resistor and a low-pass filter circuit, the output end of the smoke sensor is electrically connected with the voltage dividing resistor, the voltage output end of the voltage dividing resistor is electrically connected with the input end of the low-pass filter circuit, for converting the concentration of smoke into an electric signal and filtering the electric signal through the low-pass filter circuit. The building vibration detection module comprises a vibration sensing element, a first signal amplification circuit, a low-pass filter circuit and a second signal amplification circuit, the output end of the vibration sensing element is electrically connected with the input end of the first signal amplification circuit, the output end of the first signal amplification circuit is electrically connected with the input end of the low-pass filter circuit, and the input end of the second signal amplification circuit is electrically connected with the output end of the low-pass filter circuit, for converting the vibration data of the target building into an electric signal and amplifying the electric signal through the first signal amplification circuit and the second signal amplification circuit. The alarm signal output module comprises a microcontroller, the input end of the microcontroller is electrically connected with the output ends of the ambient temperature detection module, the smoke concentration detection module and the building vibration detection module, for receiving the electric signals of the information data collected by the three modules.

2. The system according to claim 1, characterized in that: The ambient temperature detection module further comprises a diode for inhibiting reverse current and protecting the temperature sensor, the anode of the diode is electrically connected with the ground end of the temperature sensor, and the cathode of the diode is grounded, wherein the temperature sensor detects the ambient temperature of the fire scene and outputs a corresponding voltage signal at the output end, the output end of the temperature sensor is electrically connected with the input end of the first operational amplifier circuit, for amplifying the temperature electric signal.

3. The system according to claim 1, characterized in that: The voltage dividing resistor converts the resistance value change of the smoke sensor into a voltage signal and outputs the converted voltage signal to the input end of the low-pass filter circuit, for high-frequency noise and interference in the smoke signal.

4. The system according to claim 1, characterized in that: The vibration sensing element converts vibration data into a vibration voltage signal, the vibration signal is specifically a vibration acceleration value of the target building, the vibration sensing element acquires the vibration acceleration value of the target building and outputs a vibration voltage signal, and the output end of the vibration sensing element is electrically connected with the input end of the first signal amplification circuit, for amplifying the vibration voltage signal.

5. The system according to claim 4, characterized in that: The first signal amplification circuit comprises a chopping stable zero operational amplifier, a feedback resistor and a feedback capacitor, for inhibiting voltage deviation and zero drift.

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