Research On The Design Of Forest Underground Fire Detection And Cleaning Equipment

Forest fires destroy forest resources while releasing large amounts of carbon dioxide,which not only destroys the balance of forest ecology,but also exacerbates the global greenhouse effect.There are countless reports of casualties and property losses caused by forest fires,and even professional forest firefighters have died in forest fire fighting.The fighting of forest fires consumes a lot of manpower and material resources,and there are still a large number of residual fire points in the fire field after the fire is extinguished.At present,there are numerous cases of secondary burning of forests due to incomplete fire clearance.Aiming at the problem that it is difficult to clean up the residual fire such as smoldering charcoal in the forest soil layer,a forest underground residual fire detection and cleaning robot is designed to help forest firefighters actively detect and clean up the hidden underground residual fire.The forest fire cases in China and abroad in the past 15 years were collected,and the number of cases of afterburning was relatively high.Combined with the relevant literature research,the shortcomings of the current afterburning cleaning technology and equipment in the hidden afterburning cleaning of forest underground were sorted out.The design significance and purpose of the forest underground afterburning detection and cleaning robot were analyzed.The design of the detection device,the overall design of the robot,the optimization of the drill parameters of the cleaning device and the design of the robot control system were taken as the main research contents.According to the principle of gas diffusion,from the perspective of CO concentration detection,multiple CO sensors are used to collect the CO concentration value at an equal interval position directly above the smoldering charcoal,and the measurement data are analyzed to obtain the variation law of CO gas concentration above the smoldering charcoal ground in the soil.Based on this law,the detection device of forest underground fire detection and cleaning robot is designed,and the circulation of CO gas inside the detection device is analyzed based on Pyrosim software.On the basis of the detection device,the design parameters of the robot are formulated according to the environmental and functional requirements.The overall design of the robot is carried out according to the relevant knowledge of mechanical design,including the check of key components such as drill frame and crawler assembly,the analysis of chassis climbing performance,the design of water tank and the anti-volatility analysis of water tank based on Fluent fluid simulation,the selection of important components such as manipulator,motor and generator,etc.,which confirms the feasibility of forest underground fire detection and cleaning robot.The efficiency of the actuator affects the overall efficiency of the robot.In EDEM software,the process of bit cutting soil is simulated by discrete element simulation,and the bit of the forest underground fire detection and cleaning robot is designed,including the JKR parameters of the calibration soil sample and the selection of the number of drill threads.Further virtual orthogonal test is carried out to study the relationship between feed speed,speed,thread inclination angle and the amount of soil and the maximum torque of the drill.The optimal parameter value of the drill is obtained in the Design-Expert software.The control realization of the robot and the control movement detection process of the residual fire detection device on the robot are the key links of this study.The hardware system of the forest underground residual fire detection and cleaning robot is analyzed,the PLC control system of the robot is compiled,and the mobile detection test of the detection device is designed to verify the reliability of the detection device.It provides a basis for the forest underground residual fire detection and cleaning robot to complete the detection of concealed residual fire according to the detection device.The forest underground residual fire detection and cleaning robot designed in this study can realize the active cleaning of residual fires such as smoldering charcoal in the forest soil layer,change the passive cleaning mode of the previous firefighters ’ left-behind fire field,reduce the work intensity of firefighters,save the valuable time of forest fire extinguishing,ensure the life safety of firefighters,and effectively prevent the hidden residual fire in the burned forest land.It provides a new method for the detection of hidden fire sources in the prevention of other types of fires.