Air-ground collaborative fire extinguishing system

Abstract

The invention relates to the field of fire fighting equipment, and provides an air-ground collaborative fire extinguishing system which comprises an elevating robot, an unmanned aerial vehicle and a control terminal. A turntable is arranged on the top surface of the elevating robot; an elevating frame, a water supply pipeline and a water supply pump are arranged on the turntable; the elevating robot is provided with a rear supporting wheel set and a front supporting wheel set, and the rear supporting wheel set is provided with hydraulic supporting legs. A thermal detector and a visual detector are arranged on the elevating robot and / or the elevating rack; the unmanned aerial vehicle is provided with a camera unit. And the unmanned aerial vehicle is started to carry out field investigation and confirm environment information, fire conditions and the like, so that a fire extinguishing and rescue scheme can be accurately and quickly formulated. And then, a water supply pump of the elevating robot can be connected with a water pipe, and the elevating robot is elevated through the elevating frame, so that water or fire extinguishing foam is introduced to extinguish fire. The flexibility and maneuverability of the robot are improved, and accurate and efficient fire extinguishing operation can be carried out.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting equipment, and particularly to an air-ground collaborative fire extinguishing system. Background Art

[0002] With the improvement of people's living standards, the attention to safety issues is gradually increasing. People pay more attention to the protection of life and property. Therefore, great attention has also been paid to the requirements or applications of fire-fighting and extinguishing equipment. In order to ensure the safety of firefighters, emerging technologies such as wireless sensors, cloud computing, and artificial intelligence have also been applied in the research and development of fire-fighting equipment, providing intelligence and automation for the fire-fighting equipment market.

[0003] However, there is still a situation of manual use in existing fire-fighting equipment. For existing intelligent equipment, there are still deficiencies in terms of flexibility and efficiency in use, resulting in a better situation in terms of the efficiency and practicality of manual operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an air-ground collaborative fire extinguishing system, aiming to improve the problems of insufficient flexibility or efficiency of existing intelligent equipment.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: An air-ground collaborative fire extinguishing system, comprising:

[0006] A lifting robot, on the top surface of which there is a turntable, on the turntable there is a lifting frame, a water supply pipe arranged on the lifting frame, and a water supply pump communicated with the water supply pipe;

[0007] The lifting robot is provided with a rear support wheel set and a front support wheel set, and the rear support wheel set is provided with a hydraulic support leg connected to the chassis frame of the lifting robot;

[0008] The lifting robot and / or the lifting frame are / is provided with a thermal detector and a vision detector;

[0009] An unmanned aerial vehicle (UAV), which is wirelessly communicatively connected with the lifting robot, and on the UAV there is a camera unit;

[0010] And a control terminal, which is communicatively connected with the UAV, and the lifting robot is communicatively connected with the control terminal.

[0011] Preferably, the free end of the hydraulic support leg is provided with a wheel unit and a rotary motor for driving the wheel unit to rotate circumferentially; the ground clearance of the rear support wheel set is greater than the ground clearance of the front support wheel set.

[0012] Preferably, the lifting robot is provided with a first navigation module, and the first navigation module is communicatively connected with the control terminal.

[0013] Preferably, a Venturi nozzle for disassembly or installation is provided at the water outlet end of the water supply pipe.

[0014] Preferably, it further includes a shuttle vehicle communicatively connected to the control terminal, and a mechanical gripper and a water pipe storage bin are provided on the shuttle vehicle;

[0015] Insertion posts for placing the inlet end and / or outlet end of the water pipe are provided on the top surface of the shuttle vehicle, and a visual recognition unit is provided on the clamping portion of the mechanical gripper.

[0016] Preferably, a water pump, a water pumping basket, and a winch for lowering or retrieving the water pumping basket are provided on the shuttle vehicle. The inlet end of the water pump is provided with a water suction pipe, and the inlet end of the water suction pipe is arranged inside the water pumping basket;

[0017] A handle portion for the mechanical gripper to grip is provided on the top surface of the water pumping basket.

[0018] Preferably, a direct light source lamp is provided on the unmanned aerial vehicle.

[0019] Preferably, a water storage tank is arranged inside the turntable, and the outlet of the water storage tank is communicatively connected to the inlet of the water supply pump.

[0020] Preferably, a second navigation module is further provided on the shuttle vehicle.

[0021] Preferably, a spraying unit for switching different types of nozzles is provided at the free end of the lifting frame;

[0022] The spraying unit includes a conversion plate, a switching motor for driving the conversion plate to rotate, and a linear motor for driving the conversion plate to move linearly. The linear motor is arranged at the free end of the lifting frame, and the switching motor is linearly slidably arranged on the lifting frame or the motor base of the linear motor;

[0023] A plurality of fire nozzles that are rotatably switched and docked with the outlet of the water supply pipe are arranged on the conversion plate.

[0024] After adopting the above technical solution, compared with the background technology, the present invention has the following advantages:

[0025] 1. During use, the unmanned aerial vehicle is used for on-site investigation to confirm environmental information, fire situation, etc., so as to accurately and quickly formulate fire extinguishing and rescue plans, forming efficient preliminary preparations and plan formulation. Subsequently, the water supply pump of the lifting robot can be connected to a water pipe, and the water pipe can be lifted through the lifting frame to achieve water supply or fire extinguishing foam for fire extinguishing. Due to the flexibility and mobility of the lifting robot, accurate and efficient fire extinguishing operations can be carried out.

[0026] 2. The support height of the rear support wheel set of the elevated robot is greater than that of the front support wheel set, presenting a forward-tilted state, which can provide better support force. At the same time, for the reaction force of the water flow impact on the water supply pipeline, it can be supported by the elevation frame and the entire chassis wheel set to provide stable support force and ensure the stability of the jet water flow. Description of the Drawings

[0027] Figure 1 Schematic diagram of the air-ground collaborative fire extinguishing system described in the present invention;

[0028] Figure 2 Schematic diagram of the air-ground collaborative fire extinguishing system described in the present invention with a shuttle vehicle;

[0029] Figure 3 Schematic diagram of the elevated robot of the air-ground collaborative fire extinguishing system described in the present invention;

[0030] Figure 4 Partial cross-sectional view of the air-ground collaborative fire extinguishing system described in the present invention;

[0031] Figure 5 Schematic diagram of the unmanned aerial vehicle of the air-ground collaborative fire extinguishing system described in the present invention;

[0032] Figure 6 Partial view of the air-ground collaborative fire extinguishing system described in the present invention;

[0033] Figure 7 Schematic diagram of the shuttle vehicle of the air-ground collaborative fire extinguishing system described in the present invention;

[0034] Figure 8 Top view of the shuttle vehicle of the air-ground collaborative fire extinguishing system described in the present invention;

[0035] Figure 9 Rear view of the shuttle vehicle of the air-ground collaborative fire extinguishing system described in the present invention;

[0036] Figure 10 Partial view of the shuttle vehicle of the air-ground collaborative fire extinguishing system described in the present invention;

[0037] Figure 11 Module block diagram of the air-ground collaborative fire extinguishing system described in the present invention.

[0038] Description of the reference numerals:

[0039] 10. Elevated robot; 11. Turntable; 12. Rear support wheel set; 13. Front support wheel set; 14. Thermal detector; 15. Visual detector; 16. First navigation module;

[0040] 111. Elevation frame; 112. Water supply pipeline; 113. Water supply pump; 114. Water storage tank; 121. Hydraulic support leg;

[0041] 1121, Venturi nozzle;

[0042] 20, Drone; 21, Camera unit;

[0043] 30, Control terminal;

[0044] 40, Shuttle vehicle; 41, Mechanical gripper; 42, Water pipe storage bin; 43, Visual recognition unit; 44, Water pump; 45, Water pumping basket; 46, Plug post; 47, Second navigation module; 48, Winch;

[0045] 50, Spraying unit; 51, Conversion board; 52, Switching motor; 53, Linear motor; 54, Fire sprinkler. Detailed implementation manners

[0046] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] In addition, it should be noted that: the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are all based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices or elements of the present invention must have a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0048] When an element is referred to as being "fixed to" or "disposed on" or "provided on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] Unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0050] Embodiment

[0051] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 7As shown in the figure, this embodiment provides an air-ground collaborative fire extinguishing system, including an elevating robot 10, a drone 20, and a control terminal 30. The control terminal 30 can be a tablet computer, a mobile phone, a desktop computer, etc. A turntable 11 is arranged on the top surface of the elevating robot 10. An elevating frame 111, a water supply pipe 112 arranged on the elevating frame 111, and a water supply pump 113 communicated with the water supply pipe 112 are arranged on the turntable 11; the elevating robot 10 is provided with a rear support wheel set 12 and a front support wheel set 13. The rear support wheel set 12 is provided with a hydraulic support leg 121 connected to the chassis frame of the elevating robot 10. A wheel unit and a rotating motor for driving the wheel unit to rotate circumferentially are arranged at the free end of the hydraulic support leg 121; a thermal detector 14 and a visual detector 15 are arranged on the elevating robot 10 and / or the elevating frame 111; the drone 20 is wirelessly communicatively connected to the elevating robot 10, and a camera unit 21 is arranged on the drone 20; the control terminal 30 is communicatively connected to the drone 20, and the elevating robot 10 is communicatively connected to the control terminal 30.

[0052] In this embodiment, the elevating robot 10, the drone 20, and the control terminal 30 can share information through a wireless communication module and cooperate to perform corresponding operations to achieve accurate and efficient fire fighting operations.

[0053] During use, the drone 20 is used for on-site investigation, and information such as environmental information and fire situation can be collected from high altitude, and then this information is shared so that firefighters can timely and accurately formulate fire extinguishing and rescue plans, forming efficient preliminary preparations and plan formulation.

[0054] Subsequently, the water supply pump 113 of the elevating robot 10 can be connected to a water supply pipe (as Figure 4 shown), and according to the specified plan, the elevating frame 111 is operated and lifted to the required height and position, and then fire extinguishing media such as water or foam are sprayed for fire extinguishing operations. In order to improve the flexibility of the elevating robot 10, a rotating motor for driving the wheels to rotate circumferentially is provided on the hydraulic support leg 121, so that a 360-degree direction adjustment can be performed, so that the elevating robot 10 can be flexible and mobile to cope with complex road conditions.

[0055] Further, a thermal detector 14 and a visual detector 15 can be installed on the lifting frame 111. The thermal detector 14 can be a thermal probe detector of model 331071, and the visual detector 15 can be an intelligent visual detector 15 of model FDS301. Through the visual detector 15 and the thermal detector 14, the real-time fire extinguishing situation at the fire scene can be obtained and judged, and the corresponding information can be fed back. Or, after the fire is extinguished, the scene can be surveyed and confirmed through the visual detector 15 and the thermal detector 14 (by conducting image verification through the visual detector 15 and cooperating with the detection and analysis of the thermal probe to make an accurate judgment) to ensure that there is no fire source or re-ignition situation.

[0056] In summary, through the flexibility and mobility of the unmanned aerial vehicle 20 and the elevating robot 10, the operation of ground-air coordinated fire extinguishing is carried out efficiently, achieving the purpose of accurate and efficient fire extinguishing. At the same time, the fire extinguishing operation of the robot can avoid firefighters entering the front line for fire extinguishing and improve the safety of fire extinguishing and firefighting.

[0057] As Figure 3 shown, in this embodiment, the ground clearance of the rear support wheel set 12 is greater than that of the front support wheel set 13. And the support height of the rear support wheel set 12 of the elevating robot 10 is greater than that of the front support wheel set 13, presenting a state of tilting forward, which can provide better support force. At the same time, for the reaction force of the water flow impact of the water supply pipeline 112, it can be supported by the lifting frame 111 and the entire chassis wheel set to provide a stable support force and ensure the stability of the jet water flow.

[0058] As Figure 1 、 Figure 2 and Figure 11 shown, in this embodiment, the elevating robot 10 is provided with a first navigation module 16, and the first navigation module 16 is communicatively connected to the control terminal 30. The first navigation module 16 can be a navigation module of GPS or a navigation module of a Beidou chip for navigation, so that it can navigate itself to a designated position, or it can be remotely controlled by manual remote control to form various control effects.

[0059] As Figure 2As shown in the figure, in this embodiment, a venturi nozzle 1121 for disassembly or installation is provided at the water outlet end of the water supply pipe 112. The pressure loss of the venturi nozzle 1121 is relatively small, and its length is shorter than that of the venturi tube. The venturi nozzle is mainly used for large diameters and low static pressures. When gas or liquid flows inside the venturi tube, at the narrowest part of the pipe, the dynamic pressure reaches the maximum value and the static pressure reaches the minimum value. The speed of the gas (liquid) increases because the cross-sectional area of the flow passage decreases. The entire surge has to undergo the process of pipe narrowing at the same time, so the pressure also decreases at the same time. As a result, a pressure difference is generated, and this pressure difference is used for measurement or to provide an external suction force to the fluid. In this way, the effect of efficient water outlet is formed.

[0060] As Figure 8 , Figure 9 and Figure 11 As shown in the figure, this embodiment also includes a shuttle car 40 communicatively connected to the control terminal 30. A mechanical gripper 41 and a water pipe storage bin 42 are provided on the shuttle car 40; Plug-in posts 46 for placing the inlet end and / or outlet end of the water pipe are provided on the top surface of the shuttle car 40, and a visual recognition unit 43 is provided on the clamping part of the mechanical gripper 41. The use of the shuttle car 40 can perform the operations of transporting and installing the fire hose, connecting the water supply pipe 112 for the lifting robot 10, so as to connect and supply water to the fire hose efficiently. In this embodiment, a second navigation module 47 is also provided on the shuttle car 40. The second navigation module 47 can be a navigation module of GPS or a navigation module of a Beidou chip for navigation. In this way, it can navigate itself to the designated position, or be remotely controlled by manual remote control to form various control effects.

[0061] Specifically, the mechanical gripper 41 is used to pick up the inlet end of the water pipe placed on the plug-in post 46 and connect it to a water supply device such as a fire hydrant or a fire truck for water supply. Similarly, the mechanical gripper 41 is used to clamp the outlet end of the water pipe and connect it to the inlet of the water supply pump 113 of the lifting robot 10, so as to provide the water source or foam for extinguishing fire to the water supply pipe 112 through the water supply pump 113. At the same time, the use of the shuttle car 40 can perform efficient handling and docking operations, and can carry out heavier loads or handling, providing guarantee for the water supply of the lifting robot 10.

[0062] Furthermore, the visual recognition unit 43 can be an intelligent vision detector 15 of the FDS301 model. It can perform visual detection, monitor the environment, and feedback the detected information. At the same time, it can ensure the safe driving of the vehicle, forming the purpose of efficient transportation and docking with the corresponding pipeline.

[0063] As Figure 7 , Figure 8 , Figure 9 and Figure 10As shown in the figure, in this embodiment, a water pump 44, a water pumping basket 45, and a winch for lowering or retrieving the water pumping basket 45 are provided on the shuttle car 40. A water suction pipe is provided at the water inlet end of the water pump 44, and the water inlet end of the water suction pipe is arranged inside the water pumping basket 45; a handle part for clamping by the mechanical gripper 41 is arranged on the top surface of the water pumping basket 45.

[0064] When it is necessary to pump and supply water in ways such as lake water, river water, or well water, the mechanical hand is used to clamp the handle part to move the water pumping basket 45, which is convenient for clamping and moving without damaging the water pumping basket 45; at the same time, the winch lowers the rope; then the water suction pipe is put into the water, and the water pump 44 is started to pump water, realizing water supply by pumping.

[0065] In this embodiment, a direct light source lamp (not shown) is provided on the unmanned aerial vehicle 20, so that it can be used for searchlight viewing in an environment with poor visibility, so as to obtain clear and accurate environmental information, ensure the accuracy of the obtained information, and improve the practicability.

[0066] As Figure 4 shown, a water storage tank 114 is arranged inside the turntable 11 in this embodiment, and the outlet of the water storage tank 114 is communicated with the water inlet of the water supply pump 113. A rotating motor can be designed on the turntable 11, so that the turntable 11 can rotate, and then the orientation of the lifting frame 111 can be adjusted, forming the dual adjustment effect of the chassis and the turntable 11 to cope with complex environmental conditions and improve the flexibility of regulation. At the same time, the use of the water storage tank 114 can ensure the stable water supply of the water supply pump 113 and improve the practicability.

[0067] As Figure 6 shown, a spraying unit 50 for switching different types of nozzles is arranged at the free end of the lifting frame 111 in this embodiment; the spraying unit 50 includes a conversion plate 51, a switching motor 52 for driving the conversion plate 51 to rotate, and a linear motor 53 for driving the conversion plate 51 to move linearly. The linear motor 53 is arranged at the free end of the lifting frame 111, and the switching motor 52 is linearly slidably arranged on the lifting frame 111 or the motor seat of the linear motor 53; a plurality of fire sprinkler heads 54 that are rotated and switched and are docked with the outlet of the water supply pipeline 112 are arranged on the conversion plate 51.

[0068] Specifically, the fire sprinkler head 54 can be a pendant type sprinkler head, an upright type sprinkler head, a common new sprinkler head, or a sidewall type sprinkler head, etc. Starting the linear motor 53 can simultaneously push the switching motor 52 and the conversion plate 51, so that the current fire sprinkler head 54 is separated from the conveying pipeline, and then the switching motor 52 is rotated to switch to another fire sprinkler head 54, and then the linear motor 53 is started to reset, and the other fire sprinkler head 54 is docked with the conveying pipeline, achieving the purpose of switching the use of different types of nozzles to cope with different situations of fires, forming a targeted fire extinguishing effect, and improving the fire extinguishing efficiency.

[0069] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An air-ground coordinated fire extinguishing system, characterized in that: include: A lifting robot, the top surface of which is provided with a turntable, the turntable is provided with a lifting frame, a water supply pipeline provided on the lifting frame, and a water supply pump connected to the water supply pipeline; The lifting robot is provided with a rear supporting wheel set and a front supporting wheel set, and the rear supporting wheel set is provided with a hydraulic supporting leg connected to the chassis frame of the lifting robot; The lifting robot and / or the lifting frame are provided with a thermal detector and a visual detector; A drone, which is wirelessly connected to the lifting robot, and is provided with a camera unit; And, a control terminal is communicatively connected to the drone, and the lifting robot is communicatively connected to the control terminal.

2. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: The free end of the hydraulic support leg is provided with a wheel unit and a rotary motor driving the wheel unit to rotate circumferentially; the height of the rear support wheel group from the ground is greater than the height of the front support wheel group from the ground.

3. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: The lifting robot is provided with a first navigation module, and the first navigation module is arranged in communication with the control terminal.

4. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: The water outlet end of the water supply pipe is provided with a venturi nozzle which can be disassembled or installed.

5. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: It also includes a shuttle vehicle that is communicatively connected to the control terminal, and the shuttle vehicle is provided with a mechanical gripper and a water pipe placement bin; The top surface of the shuttle vehicle is provided with a plug-in column for placing the inlet end and / or outlet end of the water pipe, and the clamping part of the mechanical clamp is provided with a visual recognition unit.

6. The air-ground coordinated fire extinguishing system according to claim 5 is characterized in that: The shuttle vehicle is provided with a water pump, a water pump basket and a winch for lowering or recovering the water pump basket, the water inlet end of the water pump is provided with a water pump pipe, and the water inlet end of the water pump pipe is provided in the water pump basket; The top surface of the water pumping basket is provided with a handle for clamping by the mechanical clamping hand.

7. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: The drone is provided with a direct light source lamp.

8. The air-ground coordinated fire extinguishing system according to claim 1 is characterized in that: A water storage tank is arranged in the turntable, and the outlet of the water storage tank is connected to the water inlet of the water supply pump.

9. The air-ground coordinated fire extinguishing system according to claim 5 is characterized in that: The shuttle bus is also provided with a second navigation module.

10. The air-ground coordinated fire extinguishing system according to claim 4 is characterized in that: A spray unit for switching between different types of spray heads is provided on the free end of the lifting frame; The injection unit includes a conversion plate, a switching motor driving the conversion plate to rotate, and a linear motor driving the conversion plate to move linearly, wherein the linear motor is arranged on the free end of the lifting frame, and the switching motor is arranged on the lifting frame or on the motor seat of the linear motor in a linear sliding manner; The conversion plate is provided with a plurality of fire sprinklers which are rotatably switched and connected to the outlet of the water supply pipe.

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