阅读说明：本技术 一种用于灭火机器人的远程控制系统 (Remote control system for fire-extinguishing robot ) 是由 郭建业 乔安营 张兵强 常彦凯 石巧婷 潘超亚 邵晓辉 周腾 王笑玉 于 2020-06-08 设计创作，主要内容包括：本发明提供一种用于灭火机器人的远程控制系统,包括：灭火机器人本体总控制器,用于对现场数据进行分析处理、显示现场图像和发出动作指令；探测传感器系统,用于感知现场火灾的温度、烟雾、有害气体泄漏等危险信号,所述探测传感器系统与所述灭火机器人本体总控制器连接；通讯模块,所述灭火机器人本体总控制器通过所述通讯模块与远程控制终端连接。具有通讯距离更远、控制更便捷、结构简单的优点,控制系统兼容任何厂家,任何车型,融合度高。(The present invention provides a remote control system for a fire-fighting robot, comprising: the fire-fighting robot body master controller is used for analyzing and processing field data, displaying field images and sending action instructions; the detection sensor system is used for sensing dangerous signals such as temperature, smoke, harmful gas leakage and the like of a fire on site and is connected with the main controller of the fire-fighting robot body; and the main controller of the fire-extinguishing robot body is connected with the remote control terminal through the communication module. The device has the advantages of longer communication distance, more convenient control and simple structure, and the control system is compatible with any manufacturer and any vehicle type and has high fusion degree.)

1. A remote control system for a fire-fighting robot, characterized by comprising:

the fire-fighting robot body master controller (1) is used for analyzing and processing field data, displaying field images and sending action instructions;

the detection sensor system is used for sensing dangerous signals such as temperature, smoke, harmful gas leakage and the like of a fire disaster on site and is connected with the main controller (1) of the fire-fighting robot body;

the fire extinguishing robot comprises a communication module, wherein the fire extinguishing robot body master controller (1) is connected with a remote control terminal (4) through the communication module, the communication module is a remote data transmission module, and therefore the fire extinguishing robot body master controller (1) is connected with the remote control terminal (4) through the remote control module.

2. A remote control system for a fire fighting robot according to claim 1, characterized in that: the fire-fighting robot body master controller (1) comprises an industrial control computer, a linkage controller, a central manual controller, a monitor, a hard disk video recorder, a video distributor, a table cabinet and a UPS, wherein the industrial control computer is respectively connected with the linkage controller and the central manual controller, the output end of the linkage controller connected with the central manual controller is connected with the monitor to display remote videos and images of the fire-fighting robot, and the industrial control computer is connected with the hard disk video recorder, the video distributor, the table cabinet and the UPS to store and distribute the remote videos and images of the fire-fighting robot.

3. A remote control system for a fire fighting robot according to claim 1, characterized in that: the detection sensor system comprises a temperature sensing module (5) for measuring the temperature on site; the detection lighting module (6) is used for providing illumination for improving the identification degree for field detection; the gas detection module (7) is used for detecting whether toxic and harmful gas exists on the site; the video module (8) is used for acquiring images and videos of a scene; the foam injection switch module (9) is used for carrying out injection, dilution, cooling and temperature reduction instructions of foam according to instructions of the controller; the nozzle rotation control module (10) and the nozzle pitching control module (11) are used for controlling the direction of the nozzle; and a walking motor control module (12) for executing the movement of the fire-extinguishing robot inside the site according to the control instruction; the fire-extinguishing robot body master controller (1) is connected with the temperature sensing module (5), the detection lighting module (6), the gas detection module (7), the video module (8), the foam injection switch module (9), the spray head rotation control module (10), the spray head pitching control module (11) and the walking motor control module (12) respectively.

4. A remote control system for a fire fighting robot according to claim 1, characterized in that: the fire-fighting robot is characterized in that the communication module comprises a 4G/5G DTU communication module (2) and a WEB server communication module (3), and the fire-fighting robot main body main controller (1) is connected with the 4G/5G DTU communication module (2) and is in remote communication with the WEB server communication module (3) through a communication network.

5. A remote control system for a fire fighting robot according to claim 1, characterized in that: and the remote control terminal (4) is communicated with the WEB server communication module (3) through a wide area network.

6. A remote control system for a fire fighting robot according to claim 4, characterized in that: the fire-fighting robot body master controller (1) controls equipment arranged on the fire-fighting robot through a custom protocol and collects data information of each sensor in the detection sensing system.

7. The remote control system for a fire fighting robot according to claim 6, characterized in that: the main controller (1) of the fire-extinguishing robot body adopts a modbus protocol to convert the 4G/5G DTU communication module (2) into an MQTT protocol to communicate with the WEB server communication module (3).

8. The remote control system for a fire fighting robot according to claim 7, characterized in that: the remote control terminal (4) is communicated with the WEB server communication module (3) through an MQTT protocol or a TCP/IP protocol to finish data acquisition and control command issuing, and finally, the fire-extinguishing robot is remotely controlled.

Technical Field

The invention belongs to the field of fire rescue control, and particularly relates to a remote control system for a fire-extinguishing robot.

Background

With the rapid development of economy in China, along with the occurrence of more fire accidents, if no effective method, proper facilities and equipment are available during the accidents, the people can forcibly enter the accident scene to take action, so that the expected rescue effect cannot be achieved, and the life safety of rescuers is seriously threatened. After a plurality of large-scale disaster accidents occur, domestic calls for equipping fire-fighting robots are higher and higher, and a one-layer guarantee is strived for firefighters. At present, the fire-fighting robot control system mainly communicates through a wireless module, and has the following technical defects: (1) the wireless communication system is controlled by a wireless transmission communication range, and the operation distance is limited; (2) the fire scene complex environment is easily interfered by an external environment, and a control target cannot be effectively implemented. Need design new control system to these problems urgency and be used for the fire-extinguishing robot, can improve the high-efficient stable ability of putting out a fire rescue of fire-extinguishing robot, also exactly through upgrading transformation to fire-extinguishing robot control system, promote the more high-efficient ability of putting out a fire of fire-extinguishing robot.

Disclosure of Invention

In order to overcome the problems in the prior art, the invention provides a remote control system for a fire-extinguishing robot, which comprises a fire-extinguishing robot body master controller, a temperature sensing module, a detection lighting module, a gas detection module, a video module, a foam injection switch module, a spray head rotation control module, a spray head pitching control module, a walking motor control module, a 4G/5GDTU communication module, a WEB server communication module and a remote control terminal.

An object of the present invention is to provide a remote control system for a fire-fighting robot, comprising:

the fire-fighting robot body master controller is used for analyzing and processing field data, displaying field images and sending action instructions;

the detection sensor system is used for sensing dangerous signals such as temperature, smoke, harmful gas leakage and the like of a fire on site and is connected with the main controller of the fire-fighting robot body;

the fire-fighting robot main body general controller is connected with the remote control terminal through the communication module, wherein the communication module is a remote data transmission module, so that the fire-fighting robot main body general controller (1) is connected with the remote control terminal (4) through remote control.

Preferably, the fire-fighting robot body master controller comprises an industrial control computer, a linkage controller, a central manual controller, a monitor, a hard disk video recorder, a video distributor, a console cabinet and a UPS, wherein the industrial control computer is respectively connected with the linkage controller and the central manual controller, the output end of the linkage controller connected with the central manual controller is connected with the monitor to display remote videos and images of the fire-fighting robot, and the industrial control computer is connected with the hard disk video recorder, the video distributor, the console cabinet and the UPS to store and distribute the remote videos and images of the fire-fighting robot.

Preferably, the detection sensor system comprises a temperature sensing module for measuring the temperature in the field; the detection lighting module is used for providing illumination for improving the identification degree for field detection; the gas detection module is used for detecting whether toxic and harmful gas exists on the site; the video module is used for acquiring images and videos of a site; the foam injection switch module is used for carrying out instructions of injection, dilution, cooling and temperature reduction of foam according to the instruction of the controller; the nozzle rotation control module and the nozzle pitching control module are used for controlling the direction of the nozzle; the walking motor control module is used for executing the movement of the fire-extinguishing robot in the field according to the control instruction; the fire-fighting robot comprises a main body controller, a temperature sensing module, a detection and illumination module, a gas detection module, a video module, a foam injection switch module, a spray head rotation control module, a spray head pitching control module and a walking motor control module, wherein the main body controller of the fire-fighting robot is respectively connected with the temperature sensing module, the detection and illumination module, the gas detection module, the video module, the foam injection switch module, the.

Preferably, the communication module comprises a 4G/5G DTU communication module and a WEB server communication module, and the fire-extinguishing robot main body main controller is connected with the 4G/5G DTU communication module and is in remote communication with the WEB server communication module through a communication network.

Preferably, the remote control terminal communicates with the WEB server communication module through a wide area network.

Preferably, the fire-fighting robot main body main controller controls equipment arranged on the fire-fighting robot through a custom protocol and collects data information of each sensor in the detection sensing system.

Preferably, the main controller of the fire-fighting robot body adopts a modbus protocol, and the 4G/5G DTU communication module converts the modbus protocol into an MQTT protocol to communicate with the WEB server communication module.

Preferably, the remote control terminal communicates with the WEB server communication module through an MQTT protocol or a TCP/IP protocol to finish data acquisition and control command issuing, and finally remote control of the fire-extinguishing robot is realized.

The invention has the beneficial effects that:

the device has the advantages of longer communication distance, more convenient control and simple structure, and the control system is compatible with any manufacturer and any vehicle type and has high fusion degree. The intelligent identification and high-definition detection are realized, a microcomputer image processing system is arranged in the image fire detector, the sensing and identification are integrated, the strong light and electromagnetic interference resistance is realized, and the overall protection level and the explosion-proof capacity of the detector are increased through design. The numerical control fire-extinguishing robot is driven by a servo control technology, has the advantages of high control precision and good acceleration performance, and eliminates the phenomenon of step loss or overshoot of the traditional numerical control fire-extinguishing robot, thereby realizing precise position tracking and positioning. The communication is flexible and infinitely remote controlled, various network transmission communication modes are adopted, the remote control is not limited by regions, the large-area wiring space is saved, the reliability and stability of transmission are improved, and the system can be butted with other alarm systems and security systems to realize information sharing.

Drawings

FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention;

FIG. 2 is a circuit diagram of an MCU according to an embodiment of the present invention;

FIG. 3 is a DTU communication interface circuit diagram for the pan/tilt head portion of a ball machine according to an embodiment of the present invention;

FIG. 4 is a circuit diagram of a CAN communication interface used in the ground portion according to an embodiment of the present invention;

FIG. 5 is a circuit diagram of a data transmission module and a water cannon communication circuit according to an embodiment of the invention;

fig. 6 is a circuit diagram of a gas detection sensor according to an embodiment of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto.

The fire-fighting robot is mainly applied to places such as petrochemical industry, oil tank areas, large warehouses and the like which are inflammable, explosive, easy to collapse and have toxic and harmful gas leakage. Under the remote control of fire-fighting emergency rescue personnel, the fire-fighting spray can enter a fire disaster site to carry out fire-fighting spray or cooling protection, and toxic and harmful substances leaked in a disaster accident can be washed, disinfected and diluted. The fire-fighting and goods-not-in-cargo robot is driven by hydraulic pressure and moves carriers by six wheels, the length, the width and the height of the whole robot are about 2.4 x 1.4 x 1.6m, the weight is 1.5t, the running speed is 3.6km/h, the robot can climb up to 30 degrees of stress, a remote-control fire monitor with the flow of 50L/s is configured, a self-defense cooling spraying system is arranged, and the fire extinguishing and the walking are controlled by an infinite operation mode. The fire-fighting robot also has the following auxiliary configuration:

(1) carrying a mother vehicle: the carrying mother vehicle is used as a carrier, the fire-fighting robot can quickly reach a fire scene and put into fire fighting, and meanwhile, related fire-fighting equipment is configured on the carrying mother vehicle, so that the function of the fire-fighting robot is more effectively exerted;

(2) the middle wheel is elastically suspended on a six-wheel movable carrier, the front wheel and the rear wheel are fixed on the crossbeam, and the middle wheel is suspended by the spring, so that the middle wheel can be changed randomly along with the height change of an obstacle, has good cross-country performance, and can run on muddy, pothole and other roads;

(3) self-defense cooling spray system: the fire-fighting robot works in a fire scene in a close range, is examined by high-temperature and strong radiant heat, and effectively protects the fire-fighting robot through the self-defense cooling spraying system, thereby prolonging the fire-fighting time and improving the fire-fighting effect.

As shown in fig. 1, a remote control system for a fire-fighting robot includes:

the fire-fighting robot body master controller 1 is used for analyzing and processing field data, displaying field images and sending action instructions;

the detection sensor system is used for sensing dangerous signals such as temperature, smoke, harmful gas leakage and the like of a fire on site and is connected with the main controller 1 of the fire-fighting robot body;

the fire-fighting robot body master controller 1 is connected with the remote control terminal 4 through the communication module, and the communication module is a remote data transmission module, so that the fire-fighting robot body master controller 1 is connected with the remote control terminal 4 in a remote control mode.

The fire-fighting robot body master controller 1 comprises an industrial control computer, a linkage controller, a central manual controller, a monitor, a hard disk video recorder, a video distributor, a table cabinet and a UPS, wherein the industrial control computer is respectively connected with the linkage controller and the central manual controller, the output end of the linkage controller connected with the central manual controller is connected with the monitor to display remote videos and images of the fire-fighting robot, and the industrial control computer is connected with the hard disk video recorder, the video distributor, the table cabinet and the UPS to store and distribute the remote videos and images of the fire-fighting robot.

The detection sensor system comprises a temperature sensing module 5 for measuring the temperature of the site; the detection lighting module 6 is used for providing illumination for improving the identification degree for field detection; the gas detection module 7 is used for detecting whether toxic and harmful gas exists on the site; the video module 8 is used for acquiring images and videos of a site; the foam injection switch module 9 is used for carrying out instructions of injection, dilution, cooling and temperature reduction of foam according to instructions of the controller; the nozzle rotation control module 10 and the nozzle pitching control module 11 are used for controlling the direction of the nozzle; and a traveling motor control module 12 for performing movement of the fire extinguishing robot inside the site according to the control instruction; the fire-fighting robot main body main controller 1 is connected with the temperature sensing module 5, the detection lighting module 6, the gas detection module 7, the video module 8, the foam injection switch module 9, the nozzle rotation control module 10, the nozzle pitching control module 11 and the walking motor control module 12 respectively.

The communication module comprises a 4G/5G DTU communication module 2 and a WEB server communication module 3, and the fire-extinguishing robot body master controller 1 is connected with the 4G/5G DTU communication module 2 and is in remote communication with the WEB server communication module 3 through a communication network.

The remote control terminal 4 communicates with the WEB server communication module 3 through a wide area network. The fire-fighting robot body master controller 1 controls equipment arranged on the fire-fighting robot through a custom protocol and collects data information of each sensor in the detection sensing system. The main controller 1 of the fire-fighting robot body adopts a modbus protocol and converts the modbus protocol into an MQTT protocol through a 4G/5G DTU communication module 2 to communicate with a WEB server communication module 3. The remote control terminal 4 communicates with the WEB server communication module 3 through an MQTT protocol or a TCP/IP protocol to finish data acquisition and control command issuing, and finally the fire-extinguishing robot is remotely controlled. The remote point-to-point auxiliary control of the fire-extinguishing robot is realized, and the visual fire-extinguishing concept of one-key positioning and what you see is what you go is realized.

Referring to fig. 2, an 8-bit CPU instruction system, an on-chip 128B RAM, an on-chip 4KB ROM/EPROM, a register region SFR with special functions, 5 interrupt source structures with 2 priorities, 4 parallel ports with 8 bits are adopted: p0, P1, P2, P3, 2 16-bit timers/counters T/C, 1 full-duplex UART, Boolean processor-one-bit processor command system, 64KB external RAM address space, 64KB external ROM address space, 16 address lines, on-chip clock circuit and oscillator, command system. The function of the tube angle is as follows:

(1) power supply and clock:

vcc: a +5V power supply is connected;

vss: grounding terminal

XTAL1: input end of on-chip oscillation circuit;

XTAL 2: an on-chip oscillation circuit output terminal;

the clock circuit comprises an internal clock mode and an external clock mode, wherein the internal clock mode is that a timing element is externally connected to XTAL1 and XTAL2 to form a free-running oscillator.

The timing element adopts a parallel resonance circuit consisting of a quartz crystal and a capacitor, and the crystal and the capacitor are as close as possible to the single chip microcomputer chip.

The external clock mode adopts XTAL1 grounding, and XTAL2 external oscillator.

The P0 port of the I/O port is a tri-state bidirectional multiplexing port, the P0 port is used as the input of the general I/O port, the P1 port is used as the quasi-bidirectional port or is used as the output of the general I/O port, the P2 port is used as the general I/O port, the high-order 8 bits of the address bus are used or drives 4 TTL gates; the port P3 is a dual-function port, when it is used as the first function port, the output control line is high level, the output of NAND gate depends on the state of the Q end of the latch, the I/O operation of the port P3 is the same as that of the port P1, when the port P3 is used as the second function port, the corresponding port line latch must be 1, the output of NAND gate depends on the output line of the second function, when the second function is input, the signal is taken from the output end of the first buffer, the output of the second buffer is still the read pin signal buffer of the first function, and the driving ability of P3 is 4 TTL gates.

Other ports: MCU PB0 is connected with a downward depression angle limiting signal, MCU PB1 is connected with an upward elevation angle limiting signal, MCU PC4 is connected with a leftward limiting signal, MCU PC5 is connected with a rightward limiting signal, MCU PA6 is connected with an encoder A signal, MCUPA7 is connected with an encoder B signal, MCU PA0 is connected with a PWM1 signal, MCU PA1 is connected with a PWM2 signal, MCU PC0 is connected with an ADC0 signal, MCU PC1 is connected with an ADC1 signal, MCU PB1 is connected with a dome machine descending signal, MCU PB1 is connected with a dome machine ascending signal, MCU PC1 is connected with a water cannon depression angle signal, MCU PC1 is connected with a direct current signal, MCU PC1 is connected with a water cannon elevation angle signal, MCU PC1 is connected with a blooming signal, MCU PA1 is connected with a TIM1_ CH signal, MCU 1 and MCU PB1 are respectively used as a first standby interface and a second standby interface, MCU 1 is connected with a brake signal, MCU 1 is connected with MCU 1 and MCU 1 is connected with a rear lamp signal, and a front lamp alarm signal.

Referring to fig. 3, the DTU is an internet of things wireless data transmission terminal, and provides a wireless long-distance data transmission function for a user by using a public 2G/3G/4G network. The product adopts a high-performance industrial-grade 32-bit communication processor and an industrial-grade wireless module, takes an embedded real-time operating system as a software supporting platform, provides an RS232 or RS485 interface, can be directly connected with serial port equipment, and realizes a transparent data transmission function. In the DTU communication circuit in the system, the DTU communication circuit comprises a plurality of resistors, a capacitor circuit, SP3485 and Q3S8050 which are matched with each other, the arrangement mode, the resistance value and the capacitance parameter of the resistors and the capacitor circuit are marked in the drawing, in addition, one section of R3 is respectively connected with an MCU RX5, one end of R9 is connected with an MCU TX5 to be used as a control end, and in order to ensure the normal work of the communication circuit, the parameters and the model selection of the voltage, the resistor and the capacitor need to consider the compatible matching and the noise reduction as the standard.

Referring to fig. 4, the CAN bus is a serial communication network that effectively supports distributed control and real-time control, and is widely used in the field of automatic control due to its high performance and high reliability. In order to improve the driving capability of the system and increase the communication distance, in this embodiment, 82C250 of Philips is often used as an interface between the CAN controller and the physical bus, i.e., a CAN transceiver, so as to enhance the differential transmission capability to the bus and the differential reception capability to the CAN controller. In order to further enhance the anti-interference capability, a photoelectric isolation circuit is often arranged between the CAN controller and the transceiver. Although the photoelectric isolation circuit CAN enhance the anti-interference capability of the system, the transmission delay time of the effective loop signal of the CAN bus CAN be increased, and the communication speed or distance is reduced. The CAN transceiver of 82C250 model and the like has the capabilities of instant interference resistance, Radio Frequency Interference (RFI) reduction and thermal protection, and the current limiting circuit also provides a further protection function for the bus. Therefore, if the transmission distance in the field is short and the electromagnetic interference is small, the photoelectric isolation can be omitted, so that the system can reach the maximum communication speed or distance, and the interface circuit can be simplified. If the field environment needs photoelectric isolation, a high-speed photoelectric isolation device is selected to reduce the transmission delay time of the CAN bus effective loop signal, and in the embodiment, the high-speed photoelectric coupler 6N137 has short transmission delay time, the typical value is only 48ns, and the transmission delay time is close to the level of the transmission delay time of a TTL circuit. The transmit data input TXD of the CAN transceiver 82C250 of fig. 1 is coupled to the output OUT of the optocoupler 6N137, noting that TXD must also be coupled to the pull-up resistor R3. On one hand, R3 ensures that the phototriode in 6N137 outputs low level when being conducted and outputs high level when being cut off; on the other hand, this is also a CAN bus requirement. Specifically, the state of the TXD terminal of 82C250 determines the states of the high and low CAN voltage input/output terminals CANH, CANL. The CAN bus specifies that the bus should be recessive during idle, i.e., the default state of a node in the CAN network is recessive, which requires that the default state of the TXD terminal of 82C25O be a logic 1 (high). For this reason, it must be ensured by R3 that the state of the TXD terminal is logic 1 (high) when no data is transmitted or an abnormal condition occurs. The end of the CAN bus must be connected with 2 120 Ω resistors, which have important effect on the bus impedance matching and cannot be omitted. Otherwise, the reliability and the anti-interference performance of the bus data communication are greatly reduced, and even the communication cannot be realized. In order to improve the anti-interference capability of the interface circuit, the circuit is finally adopted: (1) 2 small capacitors of 30pF are connected in parallel between the CANH, CANL terminals of 82C25O and ground to filter out high frequency interference on the bus and prevent electromagnetic radiation. (2) 1 resistor of 5 omega is connected in series between the CANH end and the CANL end of the 82C250 and the CAN bus to limit current and protect the 82C250 from overcurrent impact. (3) 1 decoupling capacitance of 100nF is added between the power supply end of the integrated circuit of 82C25O, 6N137, etc. and the ground to reduce the interference.

Referring to fig. 5, the wireless data transmission module adopts SP3232 series, adopts a single chip type multi-channel, high-performance frequency modulation wireless data transmission dedicated chip, has multi-channel, high sensitivity and ultra-strong anti-interference capability, and is used for wireless data transmission in a point-to-point, point-to-multipoint, multipoint-to-point or multipoint-to-multipoint networking communication mode of the system, remote pan-tilt and remote control of a monitoring system. The various port symbols and functions are described as follows:

(1) vcc: the anode of a 12V power supply needs direct current voltage stabilization power supply;

(2) GND is power ground and is connected with the negative electrode of the power supply;

(3) SGND: the signal ground can be disconnected when an RS-485 interface is adopted;

(4) TXD: the TTL level signal is sent and is connected with an RXD end of an upper computer;

(5) RXD: the receiving end of the TTL level signal is connected with the TXD end of the upper computer;

(6) A/D +: the A (or D +) terminal of the RS-485 signal;

(7) B/D-: the B (or D-) end of the RS-485 signal.

The module is connected with a port 7 SP _ TXD2, a port 8 SP _ RXD2, a port 14 SP _ TXD1, a port 13 SP _ RXD1, a port 12 MCU _ RX2, a port 11 MCU _ TX2, a port 10 MCU _ TX3 and a port 9 MCU _ RX 3.

Ports 2-4 of the P900 chip are grounded, SP _ TXD2, and SP _ RXD2, respectively.

The wireless communication point-to-point (one-to-one remote control or data communication) composed of the SJ-SD430 series data transmission modules requires that the operating frequencies be set to be the same and connected.

This embodiment system adopts big space intelligence water cannon system, adopt microprocessor control, the application is infrared, the ultraviolet, the compound detection technique of plasma sensing, can be in the accurate existence that detects the initial stage condition of a fire of first event, and can in time put out the condition of a fire at the sprouting state, big space intelligence water cannon system can automatic repetition open and close, the reaction is rapid, high fire extinguishing efficiency, once detect the conflagration in the controller, output control signal reports to the police immediately, start water pump, open the valve, the shower nozzle just can carry out 360 degrees all-round rotation jetting under the direct drive of water conservancy and put out a fire, after the conflagration was put out, device autostop jetting gets back to the monitored state, if there is the after-fire, repeated fire extinguishing. Remote control water cannon of fire control realizes remote operation through the number transmission module, through the linkage with between the fire control alarm host computer, just can realize visual operation in the fire control monitor room, has that rivers are concentrated, the range is far away, rotate nimble, multiple functional, easy operation's characteristics to configuration field control case and wireless remote controller, the control case provides the power and realizes carrying out manually operation simultaneously, and wireless remote controller realizes long-distance wireless operation. The fire water monitor consists of a front-end detection part, a flame positioning part, an information processing part, a terminal display part, a recording alarm part and a linkage extinguishing part. The front end detection adopts a dual-waveband flame detection technology, the function of acquiring on-site fire information and image information is realized, and according to the spectrum, chromaticity, texture, motion and spectrum characteristics of a fire in the combustion process, the intelligent flame judgment is carried out on a signal transmitted by the control center through the control center, so that the fire is accurately identified and an alarm is given. The flame positioning comprises that once a flame detector finds a fire situation in the inspection process, the flame detector immediately sends alarm information, the computer receives the alarm signal and confirms the alarm signal through the system, the horizontal motor and the pitching motor of the fire water monitor are controlled to rotate by the power driving module, and the spray head of the fire water monitor drives the flame positioner to search flames in the horizontal direction and the pitching direction. The information processing host of the information processing part is a core part and a centralized control part of the water cannon, video signals collected by the two-waveband camera are patrolled and examined, hundreds of paths of video image signals are controlled simultaneously, the host processes fire alarm signals by using a fire safety monitoring program, reconfirmation is carried out, and recording, displaying and automatic control linkage equipment are carried out on the confirmed fire signals. The water monitor system consists of a fire detector, a flame positioner (positioned on a water monitor muzzle), a fire-fighting water monitor, a decoder, an electromagnetic valve, a manual control panel, an information processing host, a control program and a pipeline system, wherein the circuit diagram corresponds to the decoder, and the decoder consists of a power driving module, a micro-processing module, a remote communication module and a data acquisition module. The ports 2 and 12 of the chip adopting the 74HC04 need to be isolated, the ports 1,13 and 14 are connected with a 3.3V power supply, the ports 3, 4, 10 and 11 are respectively connected with the power supply and SP _ TXD1 through a resistor circuit, the ports MCU _ TX2 and 75SPTXD2, 6 and 8 are respectively connected with the MCU RX3 and the MCU _ RX2, and the ports 5 and 10 are respectively connected with the SP _ RXD1 and the SP _ RXD2 through resistors and a triode ground and resistors.

Referring to fig. 6, the gas sensor adopts an array mode, is equivalent to a primary olfactory neuron, and is composed of gas sensors with broad-spectrum response characteristics, high cross sensitivity and different sensitivities to different odors/gases. The gas sensitive element with high cross sensitivity detects specific components in gas and converts the specific components into electric signals. The circuit comprises:

(1) data acquisition and data processing system: the weak electric signal output by the gas sensor array is preprocessed by respective signal amplifying circuit, converted into direct current signal changing in the range of 0-5V, sent to A/D converting circuit to be converted into digital signal, data acquisition and processing are carried out, ADC0809 chip is adopted to carry out analog-to-digital conversion to the acquired gas information, the resolution is 8 bits, zero point and full scale adjustment is not needed, high impedance chopping stabilization comparator is provided, multi-channel switch of 8 channels can directly access one of 8 single-end analog signals, a singlechip is utilized to write and start the A/D converter, after the conversion is finished, the ADC0809 sends an interrupt request signal to CPU, the CPU responds to the interrupt request, reading the conversion result by the reading operation of the decoder, sending the conversion result to the corresponding storage area to be measured, reselecting the measured storage area, starting the A/D conversion again, and then interrupting the return. The system divides the pulse signal by a power of 2 to the nth power by using a frequency divider. The method is generally realized by using a T trigger, the state of the trigger changes once after every pulse, and a frequency division signal of one nth power of 2 can be obtained after the processing of n T triggers. The frequency is output to the frequency divider to be 2MHz after passing through the ALE end, and the frequency divider provides a required working clock for the ADC0809 after frequency division.

The control system of this embodiment has that communication distance is farther, control is more convenient, simple structure's advantage, and control system is compatible any producer, any motorcycle type, and the degree of fusion is high. The intelligent identification and high-definition detection are realized, a microcomputer image processing system is arranged in the image fire detector, the sensing and identification are integrated, the strong light and electromagnetic interference resistance is realized, and the overall protection level and the explosion-proof capacity of the detector are increased through design. The numerical control fire-extinguishing robot is driven by a servo control technology, has the advantages of high control precision and good acceleration performance, and eliminates the phenomenon of step loss or overshoot of the traditional numerical control fire-extinguishing robot, thereby realizing precise position tracking and positioning. The communication is flexible and infinitely remote controlled, various network transmission communication modes are adopted, the remote control is not limited by regions, the large-area wiring space is saved, the reliability and stability of transmission are improved, and the system can be butted with other alarm systems and security systems to realize information sharing.

The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, a person skilled in the art may change the embodiments and the application scope according to the embodiments of the present invention, and in summary, the content of the present description should not be construed as limiting the present invention.