阅读说明：本技术 一种基于消防远程监管服务的社会单位综合管理系统 (Social unit integrated management system based on fire-fighting remote supervision service ) 是由 周详 刘志臣 孙岗岗 于 2021-08-05 设计创作，主要内容包括：本发明涉及信号装置领域,具体涉及一种基于消防远程监管服务的社会单位综合管理系统,检测组件设置在监管单元内对环境参数进行监控,并通过无线收发装置实时回传数据到上位机,当检测单元发现异常后,上位机驱动消防机器人前往异常节点进行检测,并判断着火节点附近是否还有人存在,消防机器人可以对着火点进行灭火,如果无法扑灭着火点,同时判断着火点附近没人,上位机就驱动消防机器人离开着火区域,同时通知附近消防队出动,然后密封组件对着火点所处空间进行密封,避免烟雾出来的同时,也减小对着火空间的空气供应,使得可以阻止火势的进一步蔓延。(The invention relates to the field of signal devices, in particular to a social unit comprehensive management system based on fire-fighting remote supervision service, a detection component is arranged in a supervision unit to monitor environmental parameters and return data to an upper computer in real time through a wireless transceiver, when the detection unit finds the abnormality, the upper computer drives the fire-fighting robot to go to the abnormal node for detection, and judges whether people exist near the ignition node, the fire-fighting robot can extinguish the fire at the ignition point, if the fire point cannot be put out and no person is near the fire point, the upper computer drives the fire-fighting robot to leave the fire area and informs a nearby fire brigade to move, the sealing assembly then seals the space in which the fire is located, preventing smoke from escaping, while also reducing the air supply to the space so that further spread of the fire can be prevented.)

1. A social unit integrated management system based on fire-fighting remote supervision service is characterized in that,

the fire-fighting robot monitoring system comprises a detection assembly, a fire-fighting robot and a sealing assembly, wherein the detection assembly is arranged in a supervision unit to monitor environmental parameters in the supervision unit and transmit data back to an upper computer; the fire-fighting robot is arranged in the supervision unit, receives a detection command sent by the upper computer, moves to a fire point for detection and extinguishment; the sealing assembly is arranged at an opening of the supervision unit, and the opening is sealed after the fire-fighting robot exits a fire area.

2. The fire-fighting remote supervision service-based social unit integrated management system according to claim 1,

the detection assembly comprises a smoke sensor, a temperature sensor and a humidity sensor, and the smoke sensor, the temperature sensor and the humidity sensor are arranged in the supervision unit.

3. The fire-fighting remote supervision service-based social unit integrated management system according to claim 1,

the fire-fighting robot comprises a moving mechanism, a fire extinguishing mechanism, a camera shooting mechanism and a controller, wherein the fire extinguishing mechanism is arranged on the moving mechanism, the camera shooting mechanism is arranged on the moving mechanism, and the controller is arranged on the moving mechanism and connected with the fire extinguishing mechanism and the camera shooting mechanism.

4. The fire-fighting remote supervision service-based social unit integrated management system according to claim 3,

the moving mechanism comprises a base, a supporting frame and moving wheels, the supporting frame is fixedly connected with the base and is positioned on one side of the base, and the moving wheels are rotatably connected with the base and are positioned on one side of the base.

5. The fire-fighting remote supervision service-based social unit integrated management system according to claim 4,

the moving mechanism further comprises a cooler, the cooler comprises a water tank and a plurality of second spray heads, the water tank is arranged in the base, and the second spray heads are arranged on the periphery of the supporting frame and communicated with the water tank.

6. The fire-fighting remote supervision service-based social unit integrated management system according to claim 5,

the fire extinguishing mechanism comprises a fire extinguisher, a rotating motor, a first nozzle and a connecting pipe, the fire extinguisher is arranged on the support frame, the rotating motor is fixedly connected with the support frame and is positioned on one side of the support frame, the first nozzle is fixedly connected with an output shaft of the rotating motor, and the connecting pipe is communicated with the fire extinguisher and the first nozzle.

7. The fire-fighting remote supervision service-based social unit integrated management system according to claim 6,

the camera shooting mechanism comprises a cloud platform, a camera, an infrared camera and a heat insulation shell, wherein the cloud platform is connected with the support frame in a rotating mode and located on one side of the support frame, the camera and the infrared camera are arranged on the cloud platform, and the heat insulation shell covers the camera and the infrared camera.

8. The fire-fighting remote supervision service-based social unit integrated management system according to claim 1,

the sealing assembly comprises a fireproof door and a sealing strip, the fireproof door comprises a door body, a first flame-retardant layer, a cooling layer and an air inlet pipe, the door body is arranged at an opening of the monitoring unit, the first flame-retardant layer and the cooling layer are respectively arranged at two sides of the door body, the air inlet pipe is communicated with the cooling layer, and is positioned at the connection part of the door body and the cooling layer, the sealing strip comprises an inflation cavity, a one-way valve, an air cooler, an air pump, a second flame-retardant layer and a heat-insulating layer, the inflatable cavity is arranged between the door body and the monitoring unit, the heat insulation layer is arranged on the outer side of the inflatable cavity, the second flame-retardant layer is arranged on the outer side of the heat insulation layer, the one-way valve is arranged on the supervision unit, and is communicated with the inflation cavity, the air pump is communicated with the one-way valve, and the air cooler is communicated with the air pump.

Technical Field

The invention relates to the field of signal devices, in particular to a social unit comprehensive management system based on fire-fighting remote supervision service.

Background

The fire-fighting remote supervision refers to a system for detecting the environment in a building through a detection assembly and monitoring and managing in real time, and is widely used in the fire-fighting comprehensive management of social units.

The existing supervision only has a monitoring function, and the fire is difficult to prevent from spreading in time after the fire occurs, so that greater loss is easily caused.

Disclosure of Invention

The invention aims to provide a social unit comprehensive management system based on fire-fighting remote supervision service, and aims to solve the problem that the existing system is difficult to prevent fire from spreading in time.

In order to achieve the purpose, the invention provides a social unit comprehensive management system based on fire-fighting remote supervision service, which comprises a detection component, a fire-fighting robot and a sealing component, wherein the detection component is arranged in a supervision unit to monitor environmental parameters in the supervision unit and return data to an upper computer; the fire-fighting robot is arranged in the supervision unit, receives a detection command sent by the upper computer, moves to a fire point for detection and extinguishment; the sealing assembly is arranged at an opening of the supervision unit, and the opening is sealed after the fire-fighting robot exits a fire area.

Wherein, the detection component comprises a smoke sensor, a temperature sensor and a humidity sensor, and the smoke sensor, the temperature sensor and the humidity sensor are arranged in the supervision unit.

The smoke sensor can judge the smoke condition in the supervision unit, the temperature sensor can detect the temperature in the supervision unit, and the humidity sensor can detect the humidity in the supervision unit.

The fire-fighting robot comprises a moving mechanism, a fire extinguishing mechanism, a camera shooting mechanism and a controller, wherein the fire extinguishing mechanism is arranged on the moving mechanism, the camera shooting mechanism is arranged on the moving mechanism, and the controller is arranged on the moving mechanism and connected with the fire extinguishing mechanism and the camera shooting mechanism.

The moving mechanism can drive the fire-fighting robot to move based on a command issued by the upper computer, the camera shooting mechanism can detect the condition of catching fire and whether a person exists in the supervision unit, the fire extinguishing mechanism can extinguish the fire to the ignition point, and the controller can control other mechanisms.

The moving mechanism comprises a base, a supporting frame and a moving wheel, the supporting frame is fixedly connected with the base and is positioned on one side of the base, and the moving wheel is rotatably connected with the base and is positioned on one side of the base.

The base is right the support frame supports for it is more stable to remove, it can be driven by step motor to remove the wheel, step-by-step unit can be controlled by the host computer so that it can go forward towards the specified direction to remove the wheel.

The moving mechanism further comprises a cooler, the cooler comprises a water tank and a plurality of second spray heads, the water tank is arranged in the base, and the second spray heads are arranged on the periphery of the supporting frame and communicated with the water tank.

If the supervision unit catches fire, the general temperature is very high, damages easily the inner structure of fire-fighting robot, consequently sets up the shower nozzle, be provided with the water pump in the inside water tank, through the water pump with the second shower nozzle can be to the cooling of spraying water around the support frame, prevent the temperature further rise.

The fire extinguishing mechanism comprises a fire extinguisher, a rotating motor, a first nozzle and a connecting pipe, the fire extinguisher is arranged on the support frame, the rotating motor is fixedly connected with the support frame and is positioned on one side of the support frame, the first nozzle is fixedly connected with an output shaft of the rotating motor, and the connecting pipe is communicated with the fire extinguisher and the first nozzle.

Fire extinguishing materials in the fire extinguisher can be sprayed out through the connecting pipe and the first spray nozzle, and the rotating motor can drive the first spray nozzle to rotate when rotating, so that the fire extinguishing materials can be sprayed in different directions, and the fire extinguishing effect is better.

The camera shooting mechanism comprises a holder, a camera, an infrared camera and a heat insulation shell, the holder is connected with the support frame in a rotating mode and located on one side of the support frame, the camera and the infrared camera are arranged on the holder, and the heat insulation shell covers the camera and the infrared camera.

The cloud platform can drive the camera with infrared camera rotates everywhere in order to collect the environment image, the camera is used for showing normal scene, shelters from in order to avoid smog, still is provided with infrared camera and generates infrared image and whether personnel are in supervision unit in order to assist the judgement condition of catching fire and in addition, thermal-insulated shell is made by thermal-insulated glass, can be right the camera with infrared camera protects, avoids high temperature to lead to damaging.

Wherein the sealing component comprises a fireproof door and a sealing strip, the fireproof door comprises a door body, a first flame-retardant layer, a cooling layer and an air inlet pipe, the door body is arranged at an opening of the monitoring unit, the first flame-retardant layer and the cooling layer are respectively arranged at two sides of the door body, the air inlet pipe is communicated with the cooling layer, and is positioned at the connection part of the door body and the cooling layer, the sealing strip comprises an inflation cavity, a one-way valve, an air cooler, an air pump, a second flame-retardant layer and a heat-insulating layer, the inflatable cavity is arranged between the door body and the monitoring unit, the heat insulation layer is arranged on the outer side of the inflatable cavity, the second flame-retardant layer is arranged on the outer side of the heat insulation layer, the one-way valve is arranged on the supervision unit, and is communicated with the inflation cavity, the air pump is communicated with the one-way valve, and the air cooler is communicated with the air pump.

The first flame-retardant layer can prevent the burning of the door body, the temperature of the door body is taken away through the air inlet pipe, the burning caused by overhigh temperature is avoided, the sealing strip is arranged between the door body and the supervision unit, and the first flame-retardant layer is mainly used for sealing gaps between the supervision unit and the door body.

According to the social unit comprehensive management system based on the fire-fighting remote supervision service, the supervision units can be buildings such as enterprises and residential buildings, the number of the detection components can be multiple, the detection components are arranged in the supervision units to monitor environmental parameters, data are transmitted back to an upper computer in real time through the wireless transceiver, and at the moment, the fire-fighting robot is arranged in the supervision units to stand by. When the detection unit finds the abnormality, the upper computer can drive the fire-fighting robot to go to an abnormal node for detection, to determine whether the fire is abnormal or not, and to judge whether people exist near the fire node or not, and the fire-fighting robot can extinguish the fire at the fire point, if the fire condition is not serious, the fire-fighting robot can be directly put out, if the fire point cannot be put out and people are not near the fire point, the upper computer can drive the fire-fighting robot to leave the fire area, meanwhile, the fire fighting team is informed to go out to extinguish the fire, after the fire fighting robot leaves, the sealing assembly seals the space where the fire point is located, so that the air supply to the fire space is reduced while smoke is prevented from coming out, the fire can be prevented from further spreading, so that the loss can be reduced, and the problem that the existing system is difficult to prevent the fire from spreading in time is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a block diagram of a social unit integrated management system based on fire-fighting remote supervision service according to the present invention;

FIG. 2 is a block diagram of the fire fighting robot of the present invention;

FIG. 3 is a side view of the fire fighting robot of the present invention;

FIG. 4 is a schematic cross-sectional view of FIG. 2;

FIG. 5 is a block diagram of the detection assembly, seal assembly and supervisory unit of the present invention;

FIG. 6 is a second block diagram of the sensing assembly, sealing assembly and supervisory unit of the present invention;

FIG. 7 is a schematic cross-sectional view of FIG. 5;

FIG. 8 is a schematic sectional view of the sealing tape of the present invention;

FIG. 9 is a block diagram of the detection assembly of the present invention;

fig. 10 is a block diagram of the controller of the present invention.

1-detection component, 2-fire-fighting robot, 3-sealing component, 4-supervision unit, 11-smoke sensor, 12-temperature sensor, 13-humidity sensor, 21-moving mechanism, 22-fire-extinguishing mechanism, 23-camera mechanism, 24-controller, 31-fire-proof door, 32-sealing strip, 211-base, 212-support frame, 213-moving wheel, 214-cooler, 221-fire extinguisher, 222-rotating motor, 223-first nozzle, 224-connecting pipe, 231-holder, 232-camera, 233-infrared camera, 234-heat-insulating shell, 235-temperature sensor, 241-wireless unit, 242-driving unit, 243-positioning unit, 311-door body, 311-fire-extinguishing unit, 23-camera, 24-controller, 32-sealing strip, 211-base, 212-support frame, 213-moving wheel, 235-cooler, 221-fire extinguisher, 222-rotating motor, 223-first nozzle, 224-connecting pipe, 231-holder, 232-camera, 233-infrared camera, 234-heat-insulating shell, 235-temperature sensor, 241-wireless unit, 242-driving unit, 243-positioning unit, 311-door body, 4-monitoring unit, and the like, 312-a first flame-retardant layer, 313-a cooling layer, 314-an air inlet pipe, 321-an air inflation cavity, 322-a one-way valve, 323-an air cooler, 324-an air pump, 325-a second flame-retardant layer, 326-a heat insulation layer, 2141-a water tank, 2142-a second spray head, 3231-a heat exchange pipe, 3232-a refrigerator and 3233-a cooling shell.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 to 10, the present invention provides a social unit integrated management system based on fire-fighting remote monitoring service:

the fire-fighting robot monitoring system comprises a detection component 1, a fire-fighting robot 2 and a sealing component 3, wherein the detection component 1 is arranged in a supervision unit 4 to monitor environmental parameters in the supervision unit 4 and return data to an upper computer; the fire-fighting robot 2 is arranged in the supervision unit 4, receives a detection command sent by the upper computer, moves to a fire point for detection and extinguishment; the sealing assembly 3 is disposed at an opening of the supervision unit 4, and seals the opening after the fire fighting robot 2 exits the fire area.

In this embodiment, the monitoring unit 4 may be a building such as an enterprise, a residential building, or the like, a plurality of detection assemblies 1 may be provided, and are arranged in the monitoring unit 4 to monitor environmental parameters, and transmit data back to an upper computer in real time through a wireless transceiver, where the fire-fighting robot 2 is arranged in the monitoring unit 4 to stand by. When the detection unit finds the abnormality, the upper computer can drive the fire-fighting robot 2 to go to an abnormal node for detection, to determine whether there is an abnormality, and to determine whether there are any more people in the vicinity of the ignition node, and the fire fighting robot 2 can extinguish the fire at the ignition point, if the fire condition is not serious, the fire-fighting robot can be directly put out, if the fire point cannot be put out and meanwhile, when no person is near the fire point, the upper computer can drive the fire-fighting robot 2 to leave the fire area, meanwhile, the fire fighting team is informed to go out to extinguish the fire, after the fire fighting robot 2 leaves, the sealing component 3 seals the space where the fire is located, thereby avoiding smoke and reducing the air supply to the fire space, the fire can be prevented from further spreading, so that the loss can be reduced, and the problem that the existing system is difficult to prevent the fire from spreading in time is solved.

Further, the detection assembly 1 comprises a smoke sensor 11, a temperature sensor 12 and a humidity sensor 13, wherein the smoke sensor 11, the temperature sensor 12 and the humidity sensor 13 are arranged in the supervision unit 4.

In this embodiment, the smoke sensor 11 may determine a smoke condition in the monitoring unit 4, the temperature sensor 12 may detect a temperature in the monitoring unit 4, and the humidity sensor 13 may detect a humidity in the monitoring unit 4, so as to conveniently and comprehensively determine a fire condition and reduce a misjudgment rate.

Further, the fire-fighting robot 2 comprises a moving mechanism 21, a fire-fighting mechanism 22, a camera 23 and a controller 24, wherein the fire-fighting mechanism 22 is arranged on the moving mechanism 21, the camera 23 is arranged on the moving mechanism 21, and the controller 24 is arranged on the moving mechanism 21 and connected with the fire-fighting mechanism 22 and the camera 23. The moving mechanism 21 comprises a base 211, a supporting frame 212 and a moving wheel 213, wherein the supporting frame 212 is fixedly connected with the base 211 and is positioned on one side of the base 211, and the moving wheel 213 is rotatably connected with the base 211 and is positioned on one side of the base 211. The moving mechanism 21 includes a cooler 214, the cooler 214 includes a water tank 2141 and a plurality of second spray heads 2142, the water tank 2141 is disposed in the base 211, and the plurality of second spray heads 2142 are disposed around the supporting frame 212 and are communicated with the water tank 2141. The fire extinguishing mechanism 22 comprises a fire extinguisher 221, a rotating motor 222, a first spray nozzle 223 and a connecting pipe 224, the fire extinguisher 221 is arranged on the support frame 212, the rotating motor 222 is fixedly connected with the support frame 212 and is positioned at one side of the support frame 212, the first spray nozzle 223 is fixedly connected with an output shaft of the rotating motor 222, and the connecting pipe 224 is communicated with the fire extinguisher 221 and the first spray nozzle 223.

In this embodiment, the moving mechanism 21 may drive the fire-fighting robot 2 to move based on a command issued by an upper computer, the camera 23 may detect a fire condition and whether a person is present in the supervisory unit 4, the fire-extinguishing mechanism 22 may extinguish a fire, and the controller 24 may control other mechanisms; the base 211 supports the supporting frame 212 so that the movement is more stable, the moving wheel 213 can be driven by a stepping motor, and the stepping single machine can be controlled by an upper computer so that the moving wheel 213 can advance in a designated direction; if the supervision unit 4 is on fire, the temperature is generally high, and the internal structure of the fire-fighting robot 2 is easily damaged, so the second spray nozzle 2142 is arranged, the water pump is arranged in the water tank 2141, and the water pump and the second spray nozzle 2142 can spray water to the periphery of the support frame 212 to reduce the temperature, so that the temperature is prevented from further increasing, and the activity capability of the fire-fighting robot 2 in a high-temperature environment is improved. The liquid carbon dioxide is put in the fire extinguisher 221, and can be sprayed out through the connecting pipe 224 and the first spray nozzle 223, and the rotating motor 222 can drive the first spray nozzle 223 to rotate when rotating, so that the liquid carbon dioxide can be sprayed in different directions, and the fire extinguishing effect is better.

Further, the camera mechanism 23 includes a holder 231, a camera 232, an infrared camera 233 and a heat insulation shell 234, the holder 231 is rotatably connected to the support frame 212 and is located on one side of the support frame 212, the camera 232 and the infrared camera 233 are disposed on the holder 231, and the heat insulation shell 234 covers the camera 232 and the infrared camera 233.

In this embodiment, cloud platform 231 can drive camera 232 with infrared camera 233 rotates everywhere in order to collect the environment image, camera 232 is used for showing normal scene, avoids smog to shelter from, still is provided with infrared camera 233 and generates infrared image and whether the supplementary condition of catching fire and personnel in addition are in supervision unit 4 in order to assist the judgement, thermal-insulated shell 234 is made by thermal-insulated glass, can be right camera 232 with infrared camera 233 protects, avoids high temperature to lead to damaging.

Further, the camera mechanism 23 further includes a temperature sensor 235, and the temperature sensor 235 is disposed in the heat insulation shell 234.

In this embodiment, the temperature sensor 235 may detect the temperature inside the heat insulation shell 234, and when the threshold temperature is reached, the fire-fighting robot 2 needs to be driven away, so as to avoid the damage to the fire-fighting robot 2.

Further, the controller 24 includes a wireless unit 241, a driving unit 242, and a positioning unit 243, the driving unit 242 is connected to the rotation motor 222 and the pan/tilt head 231, and the wireless unit 241 and the positioning unit 243 are connected to the driving unit 242.

In this embodiment, the wireless unit 241 is configured to communicate with an upper computer through a wireless network, the driving unit 242 may drive each motor to move according to a command issued by the upper computer, and the positioning unit 243 may position the position of the fire-fighting robot 2, so as to control the movement of the fire-fighting robot 2.

Further, the sealing assembly 3 includes a fireproof door 31 and a sealing strip 32, the fireproof door 31 includes a door 311, a first flame-retardant layer 312, a cooling layer 313 and an air inlet pipe 314, the door 311 is disposed at an opening of the monitoring unit 4, the first flame-retardant layer 312 and the cooling layer 313 are respectively disposed at two sides of the door 311, the air inlet pipe 314 is communicated with the cooling layer 313 and is located at a joint of the door 311 and the cooling layer 313, the sealing strip 32 includes an air-filled cavity 321, a one-way valve 322, an air cooler 323, an air pump 324, a second flame-retardant layer 325 and a heat-insulating layer 326, the air-filled cavity 321 is disposed between the door 311 and the monitoring unit 4, the heat-insulating layer 326 is disposed at an outer side of the air-filled cavity 321, the second flame-retardant layer 325 is disposed at an outer side of the heat-insulating layer 326, the one-way valve 322 is disposed on the monitoring unit 4 and is communicated with the air-filled cavity 321, the air pump 324 is in communication with the one-way valve 322, and the air cooler 323 is in communication with the air pump 324.

In the present embodiment, the door 311 may be any unit that can close the monitoring unit 4, such as a door or a window of the monitoring unit 4. The first flame-retardant layer 312 can be made of magnesium hydroxide or aluminum hydroxide, and can prevent the burning of the door body 311, the cooling layer 313 is made of a plurality of gas channels, the temperature of the door body 311 can be taken away through the gas inlet pipe 314, the burning caused by the overhigh temperature is avoided, and the sealing strip 32 is arranged between the door body 311 and the monitoring unit 4 and is mainly used for sealing a gap between the monitoring unit 4 and the door body 311. The concrete mode is that air pump 324 starts, through check valve 322 to aerify in the inflation cavity 321, inflation cavity 321 inflation seals the gap, insulating layer 326 is made by the asbestos, and it is right to reduce the heat conduction inflation cavity 321 protects, the fire-retardant layer 325 of second can prevent the combustion of inflation cavity 321, reinforcing protecting effect still is provided with the relief pressure valve at the opposite side of inflation cavity 321, makes after the air pressure reaches a definite value in inflation cavity 321, can open the relief pressure valve, the high temperature air of discharge to can dispel the heat better.

Further, the air cooler 323 comprises a heat exchange tube 3231, a refrigerator 3232 and a cooling housing 3233, the cooling housing 3233 is disposed at one side of the air pump 324, the heat exchange tube 3231 is communicated with the air pump 324 and is located in the cooling housing 3233, and the refrigerator 3232 is disposed in the cooling housing 3233.

In this embodiment, in order to enhance the cooling effect, the heat exchanging pipe 3231 may be disposed such that the air pump 324 sucks the external air and then passes through the heat exchanging pipe 3231, the air is cooled by the refrigerator 3232 in the cooling housing 3233 to lower the temperature of the air, and then the door 311 and the air-filled cavity 321 can be better cooled.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.