Sliding rail frame type fire extinguishing robot and climbing control method thereof
By using a sliding frame structure and a Mecanum wheel omnidirectional movement system, combined with suction cup stepping and sensor path planning, the stability and flexibility issues of existing building-climbing firefighting robots in high-rise building fires have been solved, enabling efficient and safe execution of firefighting tasks.
Patent Information
- Application Number
- CN202610029622.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-10
- Publication Date
- 2026-03-17
AI Technical Summary
Existing stair-climbing firefighting robots lack stability when climbing stairs, are prone to tipping over due to an unstable center of gravity, have poor flexibility in planar movement, and have complex structures that make them difficult to control, making it difficult to perform firefighting tasks efficiently and safely in high-rise building fires.
Adopting a sliding frame structure, combined with omnidirectional movement of Mecanum wheels and precise displacement of the sliding rail, it uses four sets of sleeves and suction cups to alternately adsorb and move forward. Combined with temperature, smoke, infrared sensors and STM32 core board for path planning and obstacle avoidance, it achieves stable climbing and precise positioning. Equipped with high-temperature resistant materials and an oil-free vacuum pump to ensure reliability, the fire extinguisher can rotate 180° for precise spraying.
It enables stable climbing, flexible movement, and precise fire extinguishing in high-rise building fires, shortening response time, improving fire extinguishing efficiency, enhancing safety and controllability, and features a compact and durable structure that adapts to complex environments.
Smart Images
Figure CN121668613A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of firefighting robot technology, specifically a sliding rail frame type firefighting robot and its climbing control method. Background Technology
[0002] As a symbol of modern cities, high-rise buildings have always faced extremely severe challenges in fire safety. Their fire hazards are significantly diverse and complex: First, the dense electrical equipment and high electrical load inside the buildings can easily cause short circuits and fires if operated under overload for a long time; second, the complex building structure and vertical shaft passages can easily form a "chimney effect," accelerating the spread of fire and dense smoke; in addition, the ignition point is often located in a narrow space or at a high altitude where fire ladders and high-pressure water guns cannot directly reach.
[0003] Currently, high-rise fire fighting and rescue mainly rely on firefighters entering the fire scene. This method not only has a long response time and limited efficiency, but also places firefighters in extremely dangerous situations such as high temperatures, dense smoke, lack of oxygen, building collapse, and even explosions, posing extremely high risks to their personal safety. To address this challenge, building-climbing firefighting robots have emerged, aiming to replace or assist firefighters in performing dangerous tasks such as fire reconnaissance and fire extinguishing agent deployment. Existing building-climbing robots mostly adopt tracked, wheeled, or tracked-wheeled composite structures. However, these technical solutions still have significant limitations in practical applications: Insufficient stability and obstacle-crossing ability: When climbing stairs, many robots face problems such as unstable center of gravity and easy backward tipping, especially when carrying heavy fire-fighting equipment, their adhesion and adaptability to the stair surface are poor.
[0004] Limited mobility: Although some robots can climb buildings, they lack omnidirectional movement on a flat surface and appear clumsy and have poor maneuverability when in narrow spaces or when the direction of the fire extinguishing nozzle needs to be precisely adjusted.
[0005] Complex structure and difficult control: Robots with multi-jointed legs or complex transmission structures may have a stronger obstacle-crossing ability, but they often result in complex mechanical structures, difficult control algorithms, high manufacturing costs, and difficulty in guaranteeing reliability in high-temperature and harsh environments.
[0006] Therefore, existing stair-climbing firefighting robot technology struggles to achieve a good balance between "stability during stair climbing," "flexibility in planar movement," and "simplicity and reliability of the overall structure." The market urgently needs a new firefighting robot structure that can both stably climb complex staircases and maneuver flexibly on the ground, while also being compact and reliably controlled. Summary of the Invention
[0007] The purpose of this invention is to provide a sliding frame type fire extinguishing robot and its climbing control method to solve the problems mentioned in the background art.
[0008] To achieve the above objectives, the present invention provides the following technical solution: A sliding rail frame type fire extinguishing robot includes: a robot body, and an induction direction-changing mechanism, a sliding rail moving mechanism, a sleeve fixing structure and a fire extinguishing structure integrated on the robot body; The sleeve fixing structure includes four sleeves, and a suction cup is connected to the end of each sleeve. The slide rail moving mechanism includes four slide rails, which are paired in pairs and correspond to the front-back and left-right directions respectively, to realize the movement of the device in plane and stair environments; The inductive reversal mechanism includes a temperature sensor located at the bottom of the robot body and an internal STM32 core board, wherein the temperature sensor is signal-connected to the STM32 core board. The slide rail moving mechanism works in conjunction with the Mecanum wheel to achieve omnidirectional movement; The sleeve and suction cup achieve adsorption and release through a vacuum pump controlled by the STM32 core board; The fire extinguishing structure is located in a groove on the top of the robot body and includes a fire extinguisher and a rotating platform for adjusting the spray direction.
[0009] As a further aspect of the present invention: the inductive direction-changing mechanism also includes a smoke sensor and an infrared sensor for multi-dimensional detection of fire source information; the STM32 core board integrates a wireless communication module, which can transmit data and receive instructions with a remote control terminal, and has a built-in path planning algorithm that can automatically plan the optimal movement path according to the location of the fire source.
[0010] As a further aspect of the present invention: the slide rail moving mechanism also includes a stepper motor and a lead screw transmission assembly for precisely controlling the moving distance and speed of the slide rail; the bottom of the robot body is also equipped with multiple sets of anti-collision sensors for avoiding obstacles during movement.
[0011] As a further aspect of the present invention: the suction cup is made of high-temperature resistant silicone material, and a pressure sensor is provided at its bottom for detecting the adsorption state; the sleeve fixing structure also includes a guide rod and a linear bearing to ensure the stability and accuracy of the sleeve during vertical movement; the vacuum pump is an oil-free vacuum pump.
[0012] As a further aspect of the present invention, the fire extinguishing structure also includes a pressure detection device for real-time monitoring of the internal pressure of the fire extinguisher and issuing an alarm when the pressure is abnormal.
[0013] As a further aspect of the present invention, it also includes: an emergency power system, which includes a rechargeable lithium battery and a power management module to ensure continuous operation in the event of a power outage; the frame of the robot body is made of aluminum alloy and the surface is anodized.
[0014] As a further aspect of the present invention: the robot body is equipped with an audible and visual alarm and a status indicator light. When a fire source or device malfunction is detected, an audible and visual warning signal will be emitted. At the same time, the status indicator light is used to display the current working mode and operating status of the device.
[0015] A climbing control method for the aforementioned sliding frame type fire extinguishing robot, the climbing control method comprising the following steps: S1: The STM32 core board plans the movement path by detecting the location of the fire source through the inductive reversal mechanism. S2: Control the Mecanum wheel to achieve omnidirectional movement, so that the robot moves to the starting point of the stairs; S3: Perform a step-climbing cycle: S31: Front Fixation: The left and right sets of sleeves and suction cups move to the front and are fixed in place by suction. S32: Rearward Advance: The front and rear sleeves and suction cups release and retract, moving forward along the slide rail to the next step; S33: Alternating stepping: After the front and rear sets of suction cups are attached and fixed, the left and right sets are released and moved to the front, and the above process is repeated. S4: After arriving near the fire source, adjust the direction of the fire extinguisher and perform the fire extinguishing operation.
[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. Significantly improved structural stability and obstacle-crossing ability: This invention adopts a climbing method of alternating suction cup adsorption and stepping, and through the coordinated control of four sets of sleeves in the front, back, left and right, a stable multi-point adsorption support structure is always formed when climbing stairs, which effectively avoids the problems of unstable center of gravity and backward tipping that are prone to occur when traditional stair climbing robots are carrying fire extinguishing equipment. 2. Combining omnidirectional movement and precise positioning capabilities: This invention integrates the Mecanum wheel omnidirectional movement system with the slide rail precise displacement mechanism. On a plane, the Mecanum wheel can move forward, backward, laterally, diagonally, and rotate in place, making it highly maneuverable. When climbing, the slide rail and lead screw transmission components achieve millimeter-level step control. The combination of the two enables the robot to quickly reach the target area and precisely adjust its posture in narrow spaces, achieving rapid and accurate approach to the fire source. 3. High level of intelligence and rapid rescue response: By integrating a multi-sensor fusion system of temperature, smoke and infrared sensors, and combining the path planning algorithm built into the STM32 core board, the robot can autonomously identify the fire source, plan the optimal path, and automatically avoid obstacles. The wireless communication module supports remote monitoring and manual intervention, realizing "human-machine collaborative" operation, which greatly shortens the response time in the early stage of a fire and improves fire extinguishing efficiency. 4. Compact and reliable structure with strong environmental adaptability: The whole structure adopts an aluminum alloy frame structure, which is lightweight and high strength. The surface anodizing treatment has good corrosion resistance and heat dissipation performance. Key components such as suction cups are made of high temperature resistant silicone, and the vacuum pump adopts an oil-free design to ensure long-term reliable operation in high temperature and smoke fire environments. 5. Precise and efficient fire extinguishing with high safety: The fire extinguisher is installed on a platform that can rotate 180° horizontally, which can adjust the spray direction without moving the robot to achieve precise and directional fire extinguishing. The built-in pressure detection device monitors the status of the fire extinguisher in real time and alarms immediately when there is an abnormality. The audible and visual alarm and status indicator light provide clear human-machine interaction information, which enhances the safety and controllability of on-site operations. 6. The control methods are clear and easy to implement. The climbing control method provided by this invention has clear logic and well-defined steps. Through a cyclical process of "fixed-advancing-alternating steps", it achieves stable and continuous stair climbing. This method can be fully executed automatically by the STM32 core board or controlled by a remote terminal. It combines automation and operability, making it easy to deploy and apply in practice. Attached Figure Description
[0017] Figure 1 This is a side view of a sliding frame firefighting robot.
[0018] Figure 2 This is a front view of a sliding-rail frame-type firefighting robot.
[0019] Figure 3 This is a top view of a sliding-rail frame-type firefighting robot.
[0020] Figure 4 This is a left view of a sliding frame firefighting robot.
[0021] In the diagram: 1. Front suction cup; 2. Front sleeve; 3. Mecanum wheel; 4. Front slide rail; 5. Groove; 6. Right slide rail; 7. Right sleeve; 8. Right suction cup; 9. Left suction cup; 10. Left sleeve; 11. Temperature sensor; 12. Left slide rail; 13. Rear slide rail; 14. Rear sleeve; 15. Rear suction cup. Detailed Implementation
[0022] The technical solution of this application will be further described in detail below with reference to specific embodiments.
[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0024] Please see Figures 1 to 4 In one embodiment of the present invention, a sliding frame fire extinguishing robot adopts a modular design and mainly includes a robot body, as well as an induction direction-changing mechanism, a sliding rail moving mechanism, a sleeve fixing structure and a fire extinguishing structure integrated on the robot body. The frame of the robot body is made of aluminum alloy, which is lightweight and durable.
[0025] The inductive steering mechanism is located at the bottom of the robot body, integrating a temperature sensor 11, a smoke sensor, and an infrared sensor to collect environmental data in real time and transmit it to the STM32 core board. The STM32 core board serves as the control center, optionally supplemented by high-performance processing units such as Orange Pie for complex algorithm calculations. The STM32 core board not only processes sensor data, but its built-in path planning algorithm can automatically calculate the optimal movement path to avoid obstacles based on the fire source location. Furthermore, the integrated wireless communication module (such as Wi-Fi / 4G) on the core board supports real-time data transmission and command reception with a remote control terminal, enabling remote monitoring and manual intervention. The core board drives four Mecanum wheels 3 through control commands, enabling the robot to move forward, backward, laterally, diagonally, and rotate 360° in place in all directions within a plane, ensuring flexible and seamless direction adjustment to quickly align with the fire source.
[0026] The slide rail movement mechanism includes a front slide rail 4, a right slide rail 6, a left slide rail 12, and a rear slide rail 13 mounted on the robot body. The slide rails are equipped with lead screws and stepper motors to achieve precise displacement. Four Mecanum wheels 3 at the bottom of the robot body provide omnidirectional movement capability, suitable for complex planar paths.
[0027] The sleeve fixing structure includes a front sleeve 2, a right sleeve 7, a left sleeve 10, and a rear sleeve 14. Each sleeve is connected to a front suction cup 1, a right suction cup 8, a left suction cup 9, and a rear suction cup 15, all made of silicone. Each suction cup has a built-in pressure sensor to provide real-time feedback on the suction status. Suction and release are controlled by a vacuum pump, and combined with guide rods and linear bearings, stability during the climbing process is ensured.
[0028] The fire extinguishing mechanism is located in a recess 5 on the top of the robot body. The fire extinguisher is mounted on a rotating platform and can rotate 180° horizontally. A pressure detection device monitors the status of the fire extinguisher and alarms when abnormalities occur.
[0029] When a fire breaks out in a high-rise building, this climbing firefighting robot can be quickly activated. First, the ambient temperature is detected by the temperature sensor 11 at the bottom of the device, and the data is transmitted to the STM32 core board for processing and analysis. The core board determines the location of the fire source based on the temperature distribution and issues a movement command to drive the robot towards the fire source.
[0030] During the movement, the robot performs a step-by-step climbing motion: First, the right sleeve 7 and the left sleeve 10, along with their connected right suction cup 8 and left suction cup 9, generate suction force under the control of a vacuum pump, and move to the front of the device via the right slide rail 6 and left slide rail 12, where they are adhered and fixed to the current step. Then, referring to... Figure 3 The front suction cup 1 and rear suction cup 15 on the front sleeve 2 and rear sleeve 14 are released from their adhesion and lifted along the corresponding slide rails, moving forward to the next step position under the action of the drive motor. Then, the front suction cup 1 and rear suction cup 15 are re-adhered and fixed, at which point the right suction cup 8 and left suction cup 9 are released from their adhesion and moved to the front of the device, ready for the next round of stepping action. Through the above cycle of "fixing-lifting-moving-re-fixing", the robot can stably and continuously climb up the stairs.
[0031] When the robot moves near the fire source, the STM32 core board issues a fire extinguishing command. The fire extinguisher located in the top recess 5 adjusts its spray direction to aim at the fire source and initiates the fire extinguishing operation.
[0032] This sliding-rail frame-type firefighting robot and its climbing control method employ an alternating sliding rail and suction cup adsorption stepping climbing approach. Through the coordinated control of four sets of sleeves (front, rear, left, and right), a stable multi-point adsorption support structure is maintained while climbing stairs, effectively avoiding the instability and backward tipping problems that are common in traditional stair-climbing robots carrying firefighting equipment. Pressure sensors at the bottom of the suction cups monitor the adsorption status in real time. Combined with guide rods and linear bearings, this ensures precise and stable vertical movement, making it more adaptable to complex stair environments. This invention integrates a Mecanum wheel omnidirectional movement system with a sliding rail precision displacement mechanism. On a plane, the Mecanum wheel 3 can move forward, backward, laterally, diagonally, and rotate in place, providing flexible maneuverability. During climbing, the sliding rail and lead screw transmission components achieve millimeter-level stepping control. The combination of these two features allows the robot to quickly reach the target area and precisely adjust its posture in confined spaces, achieving rapid and accurate approach to the fire source. By integrating a multi-sensor fusion system encompassing temperature, smoke, and infrared sensors, and combining it with the path planning algorithm built into the STM32 core board, the robot can autonomously identify fire sources, plan optimal paths, and automatically avoid obstacles. The wireless communication module supports remote monitoring and manual intervention, enabling "human-robot collaborative" operation, significantly shortening response time in the early stages of a fire and improving firefighting efficiency. The overall structure utilizes an aluminum alloy frame, which is lightweight yet strong, and the anodized surface treatment provides excellent corrosion resistance and heat dissipation. Key components such as the suction cups are made of high-temperature resistant silicone, and the vacuum pump features an oil-free design, ensuring long-term reliable operation in high-temperature, smoky fire environments. An emergency power system guarantees continuous operation in the event of a power outage. The fire extinguishers are mounted on a platform that can rotate 180° horizontally, allowing adjustment of the spray direction without moving the robot, achieving precise and directional firefighting. A built-in pressure detection device monitors the fire extinguisher status in real time, providing immediate alarms in case of abnormalities. Audible and visual alarms and status indicator lights provide clear human-machine interaction information, enhancing the safety and controllability of on-site operations. The climbing control method provided by this invention has clear logic and well-defined steps. Through a cyclical process of "fixed-advancing-alternating steps," it achieves stable and continuous stair climbing. This method can be executed automatically by the STM32 core board or controlled by a remote terminal, combining automation and operability, making it easy to deploy and apply in practice.
[0033] In summary, this invention effectively solves the pain points of existing building-climbing firefighting robots, which are "unstable, unresponsive, and poorly controlled," and provides a high-rise building firefighting robot system that is structurally stable, mobile, intelligently controlled, and highly adaptable, with good practical value and promising prospects for promotion.
[0034] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these should also be considered within the scope of protection of the present invention. These will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.
Claims
1. A slide rail frame type fire extinguishing robot, characterized by, The device comprises: a robot body, and a sensing direction-changing mechanism, a slide rail moving mechanism, a sleeve fixing structure and a fire extinguishing structure integrated on the body; the sleeve fixing structure comprises four sleeves, each of which is connected with a suction cup at the end; the slide rail moving mechanism comprises four slide rails, which are arranged in pairs and correspond to the front-back and left-right directions respectively, for realizing the movement of the device in a plane and on stairs; the sensing direction-changing mechanism comprises a temperature sensor arranged at the bottom of the robot body and an STM32 core board inside, and the temperature sensor is signal connected with the STM32 core board; the slide rail moving mechanism cooperates with the Mecanum wheel to realize omnidirectional movement; the sleeve and the suction cup realize adsorption and release through the STM32 core board controlling the vacuum pump; the fire extinguishing structure is arranged in a groove at the top of the robot body and comprises a fire extinguisher and a rotating platform for adjusting the spraying direction.
2. The slide rail frame fire extinguishing robot according to claim 1, wherein, The sensing direction-changing mechanism further comprises a smoke sensor and an infrared sensor for detecting fire source information in multiple dimensions; the STM32 core board is integrated with a wireless communication module, which can transmit data and receive instructions from a remote control terminal, and is built-in with a path planning algorithm, which can automatically plan the optimal moving path according to the position of the fire source.
3. The slide rail frame fire extinguishing robot according to claim 1, wherein, The slide rail moving mechanism further comprises a stepping motor and a screw transmission assembly for accurately controlling the moving distance and speed of the slide rail, and the bottom of the robot body is further provided with a plurality of anti-collision sensors for avoiding obstacles during movement.
4. The slide rail frame fire extinguishing robot according to claim 1, wherein, The suction cup is made of high-temperature-resistant silica gel material, and a pressure sensor is arranged at the bottom thereof for detecting the adsorption state; the sleeve fixing structure further comprises a guide rod and a linear bearing to ensure the stability and accuracy of the sleeve during vertical movement; the vacuum pump is of oil-free type.
5. The slide rail frame fire extinguishing robot according to claim 1, wherein, The fire extinguishing structure further comprises a pressure detection device for monitoring the pressure inside the fire extinguisher in real time and issuing an alarm when the pressure is abnormal.
6. The slide rail frame fire extinguishing robot according to claim 1, wherein, Further comprising: an emergency power supply system comprising a rechargeable lithium battery and a power management module to ensure continuous operation in the case of power failure; the frame of the robot body is made of aluminum alloy material and the surface is subjected to anodic oxidation treatment.
7. The slide rail frame fire extinguishing robot according to claim 1, wherein, An audible and visual alarm and a status indicator lamp are arranged on the robot body, which will issue an audible and visual warning signal when detecting a fire source or an abnormality of the device, and the status indicator lamp is used to display the current working mode and operating state of the device.
8. A method for climbing control of the slide rail frame fire extinguishing robot according to any one of claims 1-7, characterized in that, The climbing control method comprises the following steps: S1: detecting the position of the fire source through the sensing direction-changing mechanism, and planning the moving path by the STM32 core board; S2: controlling the Mecanum wheel to realize omnidirectional movement and moving the robot to the starting point of the stairs; S3: executing a step-by-step climbing cycle: S31: front fixation: moving the left and right groups of sleeves and suction cups to the frontmost position and adsorbing and fixing them; S32: rear step: releasing the front and rear groups of sleeves and suction cups and retracting them, and moving forward along the slide rails to the next step; S33: alternating step: after the front and rear groups of suction cups are adsorbed and fixed, the left and right groups are released and moved to the frontmost position, and the above process is repeated; S4: after reaching the vicinity of the fire source, adjusting the direction of the fire extinguisher and executing the fire extinguishing operation.