阅读说明：本技术 一种消防救援便携式激光破拆系统及控制方法 (Portable laser forcible entry system for fire rescue and control method ) 是由 姜一桐 杨昀 阮桢 张磊 王喆 顾邵飞 王贵军 于 2020-12-31 设计创作，主要内容包括：本发明公开了一种消防救援便携式激光破拆系统,包括支架,激光破拆机构,安全模块和控制模块；激光破拆机构,安全模块,控制模块在使用时均可固定在支架上；控制模块控制连接安全模块,控制安全模块进行作业范围的锁定；控制模块控制连接激光破拆机构,控制激光破拆机构的开关、破拆路径动作与角度调整。本方案通过激光雷达与摄像头的协同配合能够准确的锁定作业范围、严格按照规划路径进行破拆动作、破拆区域电子围栏现场配置,提高了系统的安全性；且本激光破坏系统可进行远距离破拆作业,能够运用于消防救援领域,具有适用性强的特点。(The invention discloses a portable laser forcible entry system for fire rescue, which comprises a bracket, a laser forcible entry mechanism, a safety module and a control module, wherein the bracket is fixedly connected with the laser forcible entry mechanism; the laser forcible entry mechanism, the safety module and the control module can be fixed on the bracket when in use; the control module is in control connection with the safety module and controls the safety module to lock the operation range; the control module is connected with the laser forcible entry mechanism in a control mode and controls the opening and closing of the laser forcible entry mechanism, the forcible entry path action and the angle adjustment. According to the scheme, the working range can be accurately locked through the cooperative matching of the laser radar and the camera, the forcible entry action and the forcible entry area electronic fence field configuration can be strictly carried out according to the planned path, and the safety of the system is improved; the laser damage system can be used for long-distance breaking and dismantling operation, can be applied to the field of fire rescue, and has the characteristic of strong applicability.)

1. A portable laser forcible entry system for fire rescue is characterized by comprising a bracket, a laser forcible entry mechanism, a safety module and a control module; the laser forcible entry mechanism, the safety module and the control module are all arranged on the bracket; the control module is in control connection with the safety module and controls the safety module to lock the operation range through the control module; the control module is in control connection with the laser forcible entry mechanism, and the control module is used for controlling the opening and closing of the laser forcible entry mechanism and adjusting the angle.

2. A fire rescue portable laser demolition system as recited in claim 1, wherein the bracket is provided with an adjustment handle, and the bracket is extended and retracted by rotating the adjustment handle.

3. A fire rescue portable laser demolition system as recited in claim 1, wherein the control module comprises a plurality of control cabinets and a plurality of controllers; the control cabinets are symmetrically arranged on the tripod; the controllers are respectively arranged in the control cabinets.

4. A fire rescue portable laser demolition system as recited in claim 3, wherein a mounting panel is disposed above the plurality of control cabinets.

5. The laser destruction system according to claim 1, wherein the laser breaking mechanism includes a laser transmitter, an operating panel and a multi-axis pan-tilt;

the operation panel is arranged on the installation panel and is connected with the control module for data interaction;

the bottom end of the multi-shaft holder is additionally provided with a placing seat and is connected with the mounting panel through the placing seat; the multi-axis pan-tilt is a rectangular frame; the bottom end shaft can rotate at a certain angle relative to the placing seat; the upper shaft can swing up and down at a certain angle relative to the shafts on the two sides;

the laser transmitter is installed on a top shaft of the multi-shaft holder, and the laser transmitter can swing up and down through the multi-shaft holder.

6. A fire rescue portable laser forcible entry system as claimed in claim 5, wherein a biometric identification module is provided on the laser transmitter; the biological identification module is connected with the control module, and the fingerprint identified by the biological identification module is verified through the control module.

7. A fire rescue portable laser demolition system as recited in claim 1, wherein the safety module comprises a laser radar, a motor, a camera, a GPS signal receiver and two multi-axis pan/tilt heads;

the laser radar is arranged on the mounting panel through the multi-axis cradle head and can rotate in multiple directions through the multi-axis cradle head;

the motor is arranged on the mounting panel and is respectively connected with the laser radar drive and the control module; the motor drives the laser radar to rotate through the control module;

the camera is arranged below the mounting panel through the multi-axis tripod head, and can move in multiple directions through the multi-axis tripod head; the camera is connected with the control module for data transmission; the camera is matched with the laser radar for use, so that abnormity monitoring can be performed;

the GPS signal receiver is arranged in the control cabinet and is connected with the controller; the GPS signal receiver is matched with the laser radar for use, so that the locking of the laser radar to the operation fence can be assisted.

8. A control method for a fire rescue portable laser demolition system is characterized by comprising the following steps:

(1) setting parameters through an operation panel, sending the parameters and an opening instruction to a control module together after the parameters are set;

(2) the control module drives the motor to drive the laser radar to move within a range after receiving an instruction of the operation panel, and a demolition operation area and a safety fence are determined;

(3) the identity information is transmitted to the control module for verification through a biological recognition module on the laser transmitter; after the verification is passed, the laser transmitter is unlocked;

(4) and the laser transmitter swings to the operation range locked by the laser radar according to the instruction given by the control module and performs demolition operation.

Technical Field

The invention relates to the technical field of breaking and dismantling, in particular to a laser destruction system and a control method.

Background

At present, fire rescue teams at home and abroad generally use hydraulic, pneumatic, electric and other hand-held breaking tools or engineering machinery for high-strength breaking operation, and complete the breaking operation of a target member by contact type operation methods such as shearing, expanding, chiseling, sawing, drilling and the like.

The equipment cannot fully meet the requirement of the breaking and dismantling performance of large-scale metal components such as steel-structured buildings, mail ships, trains and the like due to the limitation of the close-range operation characteristics and the equipment efficacy, and certain danger is easily formed for the field operation safety of rescue workers due to the irregular release of the breaking and dismantling stress in contact type breaking and dismantling.

The laser cutting is a non-contact, high-precision, high-quality and high-efficiency cutting method and is widely applied to the industrial fields of automobiles, ships and the like.

The fiber laser has the characteristics of slow light path attenuation, small energy loss, high photoelectric conversion rate, compact structure of a laser generator and the like, has outstanding advantages in the aspects of cutting materials and cutting efficiency, and particularly can realize host-actuator separation through a flexible structure of the fiber guide light path, thereby providing technical conditions for remote cutting.

The application research of Chinese high-energy laser reaches the international leading level, the laser cutting technology becomes the second country mastering the core technology of the fiber laser in the myriawatt level all over the world, and the laser cutting technology has mature application in the military field.

With the continuous and deep advance of the military and civil fusion development strategy, the laser cutting technology is widely applied. However, the technical field of fire fighting dismantling equipment based on the laser cutting technology is still blank at home and abroad at present.

Therefore, the fire fighting dismantling equipment based on the laser cutting technology is urgently needed.

Disclosure of Invention

Aiming at the technical problem of low applicability of the existing laser cutting technology, the invention aims to provide a portable laser breaking system for fire rescue, and on the basis, a control method is also provided.

In order to achieve the aim, the laser destruction system provided by the invention comprises a bracket, a laser breaking and dismantling mechanism, a safety module and a control module; the laser forcible entry mechanism, the safety module and the control module are all arranged on the bracket; the control module is in control connection with the safety module and controls the safety module to lock the operation range through the control module; the control module is in control connection with the laser forcible entry mechanism, and the control module is used for controlling the opening and closing of the laser forcible entry mechanism and adjusting the angle.

Furthermore, the support is provided with an adjusting handle, and the support is stretched by rotating the adjusting handle.

Furthermore, the control module comprises a plurality of control cabinets and a plurality of controllers; the control cabinets are symmetrically arranged on the tripod; the controllers are respectively arranged in the control cabinets.

Furthermore, an installation panel is arranged above the control cabinets.

Further, the laser breaking and dismantling mechanism comprises a laser transmitter, an operation panel and a multi-axis holder;

the operation panel is arranged on the installation panel and is connected with the control module for data interaction;

the bottom end of the multi-shaft holder is additionally provided with a placing seat and is connected with the mounting panel through the placing seat; the multi-axis pan-tilt is a rectangular frame; the bottom end shaft can rotate at a certain angle relative to the placing seat; the upper shaft can swing up and down at a certain angle relative to the shafts on the two sides;

the laser transmitter is arranged on a top shaft of the multi-shaft holder and can swing up and down through the multi-shaft holder;

furthermore, a biological identification module is arranged on the laser transmitter; the biological identification module is connected with the control module, and the fingerprint identified by the biological identification module is verified through the control module.

Further, the safety module comprises a laser radar, a motor, a camera, a GPS signal receiver and two multi-axis holders;

the laser radar is arranged on the mounting panel through the multi-axis cradle head and can rotate in multiple directions through the multi-axis cradle head;

the motor is arranged on the mounting panel and is respectively connected with the laser radar drive and the control module; the motor drives the laser radar to rotate through the control module;

the camera is arranged below the mounting panel through the multi-axis tripod head, and can move in multiple directions through the multi-axis tripod head; the camera is connected with the control module for data transmission; the camera is matched with the laser radar for use, so that abnormity monitoring can be performed;

the GPS signal receiver is arranged in the control cabinet and is connected with the controller; the GPS signal receiver is matched with the laser radar for use, so that the locking of the laser radar to the operation fence can be assisted.

In order to achieve the above object, the present invention provides a control method for a portable laser demolition system for fire rescue, including:

(1) setting parameters through an operation panel, sending the parameters and an opening instruction to a control module together after the parameters are set;

(2) the control module drives the motor to drive the laser radar to move within a range after receiving an instruction of the operation panel, and a demolition operation area and a safety fence are determined;

(3) the identity information is transmitted to the control module for verification through a biological recognition module on the laser transmitter; after the verification is passed, the laser transmitter is unlocked;

(4) and the laser transmitter swings to the operation range locked by the laser radar according to the instruction given by the control module and performs demolition operation.

According to the fire rescue portable laser forcible entry system and the control method, the operation range can be accurately locked through the matching of the laser radar and the camera, the laser destruction system can perform remote forcible entry operation, can be applied to the fire field, and has the characteristic of strong applicability.

Drawings

The invention is further described below in conjunction with the appended drawings and the detailed description.

FIG. 1 is a schematic diagram of the structure of a stent in the present laser damage system;

FIG. 2 is a schematic front view of the laser damage system;

FIG. 3 is a right side view of the present laser damage system configuration;

FIG. 4 is a left side view of the present laser damage system configuration;

FIG. 5 is a rear view of the structure of the present laser damage system.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

The utility model provides a broken system of tearing open of laser which includes the support, and the broken mechanism of tearing open of laser, safety module, control module.

The laser forcible entry mechanism, the safety module and the control module are all arranged on the bracket; the control module is in control connection with the safety module and controls the safety module to lock the operation range, so that the accuracy of the operation range can be ensured; and after the range is locked, the laser forcible entry mechanism is started to perform forcible entry operation within the range.

Referring to fig. 1, the support 100 is a support and mounting assembly of a laser demolition system.

In this scheme, support 100 preferred is the tripod, and the tripod has fine stability, and broken system of tearing open of laser is lived to fixed support that can be stable.

Secondly, all be equipped with adjustment handle (not marking in the picture) on every support on the tripod, can contract the length of tripod through rotatory adjustment handle, and then adjust about the height of whole tripod, increased the suitability of device.

The technical scheme of the adjusting handle is not limited, and the tripod can be adjusted in height.

The following is a composition scheme of the laser breaking mechanism, the safety module and the control module, and particularly refers to fig. 2-5.

The control module is disposed above the rack 100, and includes two control cabinets 200 and a plurality of controllers (not shown).

The two control cabinets 200 are symmetrically arranged on the support 10, and built-in cavities are formed inside the two control cabinets 200 and used for placing controllers; the controller is used for driving and controlling the safety module.

The number of the control cabinets 200 is not limited and can be determined according to actual conditions.

An installation panel 300 is arranged above the control cabinet 200, and a laser breaking and dismantling mechanism is arranged on the installation panel 300.

The laser breaking and dismantling mechanism comprises a laser transmitter 800, a multi-axis cradle head 810 and an operation panel 400;

the operation panel 400 is used to send instructions and obtain information; which is provided on the mounting panel 300.

The operation panel 400 is connected with the control module, and the operation panel 400 controls the initial point position of the laser break beam and the specific actions of the whole laser break period such as the break path setting (straight line, circular and rectangular), the break cutting speed control, the break area central point position acquisition and the like in the operation interface

In addition, the operation panel 400 can also acquire data of the laser breaking and dismantling system in the control module during working, and an operator can adjust the working ranges of the safety module and the laser breaking and dismantling mechanism according to the data acquired on the operation panel.

The multi-axis tripod head 810 is fixed on the installation panel 300 through the mounting seat 813, wherein the multi-axis tripod head 810 is a rectangular frame, and the bottom end shaft 812 can rotate at a certain angle relative to the mounting seat 813; the upper shaft 811 can swing up and down at a certain angle relative to the shafts on the two sides.

Laser emitter 800 is installed on the top axle 811 of multiaxis cloud platform 810, and after laser emitter 800 received control module's instruction, accessible multiaxis cloud platform 810 carried out corresponding swing from top to bottom according to the instruction and confirmed the position of breaking open, and broken laser beam of breaking open can shine arbitrary corner in the locking range through the swing, has improved the broken efficiency of tearing open the system of laser.

Secondly, the laser demolition equipment has high power, so strict management is needed, and non-professional personnel cannot operate and use the laser demolition equipment. Therefore, in the present embodiment, the laser transmitter 800 is provided with the biometric identification module 820, the biometric identification module 820 is connected to the control module, two operators are required to perform fingerprint authentication simultaneously, and after the control module confirms the identity information, the laser transmitter 800 can be unlocked to perform the breaking-in operation.

The technical solution of the biometric module 820 is well known to those skilled in the art and will not be described herein.

Further, the security module includes a laser radar 500, a motor 600, a camera 700, and a GPS signal receiver (not shown). Wherein laser radar 500 is used for as the laser beam cutting location foundation, and it installs on installation panel 300 through multiaxis cloud platform 510, and diversified rotation is carried out to accessible multiaxis cloud platform 510, forms the operation rail.

Motor 600 is used to drive laser radar 500, and is provided on mounting panel 300.

The motor 600 is connected to the laser radar 500 and the control module, respectively. The control module is instructed to move up and down on the operation panel 400, and the control module starts to control the motor to drive the laser radar 500 to swing to lock the range.

In addition, lidar 500 also has interrupt and alarm features. When the laser radar 500 is adopted to cover the operation scene, once people or objects intrude into the set area or abnormal conditions occur in the operation area, the laser radar 500 can immediately interrupt laser and give an alarm, so that emergency interruption can be timely carried out, and the safety during operation is ensured.

In order to further ensure the safety during operation, a high-definition camera 700 can be additionally arranged and arranged below the mounting panel 300 through a multi-axis cradle head, so that multi-directional rotation can be performed through the multi-axis cradle head.

Through using high definition digtal camera 700 and laser radar 500 cooperation to use, can assist laser radar 500 to cover wider scene and camera 700 can adopt image degree of depth vision processing technology with the picture or the video of shooing, supplementary laser radar 500 carries out unusual control.

Secondly, when the forcible entry is performed, the camera 500 can shoot a picture or a video in real time, and the laser forcible entry system automatically adjusts the operation range according to the shot picture or video; in addition, the shot pictures and videos may be uploaded to the operation panel 400, and the worker may manually adjust the parameter values on the operation panel 400 through the shot pictures and videos to adjust the operation range.

In order to guarantee the accuracy of coverage, a GPS signal receiver can be placed inside the control cabinet 200 and used in cooperation with the laser radar 500, and the accurate information of the geographical position of the laser dismantling system is obtained through the GPS signal receiver, so as to further assist the accuracy of the laser radar 500 in locking the operation fence.

In addition, the GPS positioning receiver can also be used for equipment supervision and assistance in navigation and positioning of rescue workers, so that the rescue workers can acquire the position information of the equipment in time.

The scheme can be used for monitoring on site through the operation panel 400 and can also be used for remote monitoring.

A PC end can be additionally arranged in a monitoring room outside the site to perform data interaction with a control module on the site through a wireless module or a transmission medium.

The control module can transmit the monitored working state and data of the laser breaking and dismantling system to the PC end through the wireless module or the transmission medium; an operator can also give an instruction to the on-site laser dismantling system through the PC end, so that the remote monitoring operation can be realized.

The working process of the method in specific application is illustrated as follows:

firstly, at least two operators unfold the bracket 10 after arriving at the site, and quickly erect the safety module and the control module on the bracket 10; after roughly adjusting the position, fixing the safety module and the control module with the bracket 10;

then, after the operation panel 400 is started, the laser radar 500 automatically sets the large-scale security fence with the demolition target as the center, and meanwhile, the laser radar 500 acquires a visual image of the demolition target and data point cloud by combining the camera 700 (the step is based on the movement path of the laser demolition beam);

next, the operation panel 400 controls the specific actions of the laser forcible entry beam initial point and the whole laser forcible entry period, such as forcible entry path setting (straight line, circular or rectangular), forcible entry cutting speed control, forcible entry region center point acquisition and the like in the operation interface;

finally, the laser transmitter 800 is started by the biometric module 820 and the entire laser destruction process is started until the end. During the demolition, once a foreign object intrudes into a preset large-range security fence area, the laser radar 500 acquires a signal and immediately feeds the signal back to the security module, so that the laser transmitter 800 is turned off and the motion of the motion control part is stopped.

After the forcible entry is completed, the forcible entry staff take back the device to assist the staff to determine the position information of the equipment according to the GPS positioning receiver so as to perform subsequent rescue implementation. Biological recognition module

According to the fire rescue portable laser forcible entry system and the control method, the working range can be accurately locked through the matching of the laser radar and the camera, and the safety of the system is improved; and this laser destruction system can carry out long distance and break the operation of tearing open, can apply to the fire control field, has the characteristics that the suitability is strong.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.