An intelligent obstacle-crossing water curtain cooling fire rescue robot

Abstract

The present invention relates to an intelligent obstacle-crossing water curtain cooling firefighting and rescue robot. It comprises an inner shell, an outer shell, a shell bottom plate, a plurality of telescopic rods, a water storage chamber enclosed by the inner shell, the outer shell, and the shell bottom plate, a laser point cloud sensor mounted on the outer shell, a controller, the inner shell and the outer shell being fixedly connected by a connecting column, a plurality of outer support rods and inner support rods nested within the outer support rods are provided at the bottom of the inner shell, and a roller is provided at one end of the inner support rod. Its beneficial effects are: it has intelligent obstacle-crossing capabilities and strong maneuverability; the water curtain nozzle sprays water to not only cool down the local area, but also to protect the rescued personnel from the effects of smoke and high temperature as much as possible; most of the working components are arranged at the bottom of the inner shell, and the water in the water storage chamber has a heat-insulating and cooling effect on them, reducing the failure rate of the working components; the laser point cloud sensor can perform real-time map reconstruction, can reconstruct complex fire scene maps, and assist firefighters in advancing and evacuating.

Description

Technical Field

[0001] The present invention relates to the technical field of firefighting and rescue robots, and in particular to an intelligent obstacle-crossing water curtain cooling firefighting and rescue robot. Background Art

[0002] With the rapid construction of high-rise buildings, fire hazards and firefighting issues are becoming increasingly prominent. Firefighting and rescue efforts primarily involve rescuing personnel at the fire scene, saving important facilities and equipment, and cultural relics, protecting and rescuing important property, and extinguishing fires. Their goal is to minimize the damage caused by fires, and to reduce casualties and property losses.

[0003] In thick smoke, trapped people can easily become disoriented and unable to find their way out. Fire scenes are extremely hot, and even if trapped people know where to go, they may be trapped by the flames or heat, unable to reach them. Furthermore, the building's structure and furniture have been affected by the fire, and the spatial structure has changed compared to the building's normal structure. If firefighters enter a fire scene based on outdated architectural plans, they are likely to encounter map errors.

[0004] Chinese patent application number 202011579376.4 discloses a smart firefighting robot and firefighting system with an emergency obstacle avoidance mechanism. This solution features emergency barrier, fire scene clearing, and autonomous fire extinguishing capabilities, but cannot directly rescue trapped personnel and lacks local cooling devices. Chinese patent application number 202011309863.9 discloses a firefighting rescue robot that can secure trapped personnel within a vehicle and carry them out of a fire scene, but lacks map reconstruction capabilities or the ability to climb stairs.

[0005] Therefore, a new type of fire rescue robot is needed, which has obstacle-crossing functions including but not limited to climbing stairs, map reconstruction functions, and local cooling functions, so as to better complete rescue missions and reduce the loss of life and property. Summary of the Invention

[0006] In response to the technical problems raised in the above background technology, the purpose of the present invention is to provide an intelligent obstacle-crossing water curtain cooling fire rescue robot, comprising an inner shell, an outer shell, a shell bottom plate, a plurality of telescopic rods, a water storage chamber enclosed by the inner shell, the outer shell, and the shell bottom plate, a laser point cloud sensor mounted on the outer shell, and a controller;

[0007] The inner shell and the outer shell are fixedly connected by a connecting column. The bottom of the inner shell is provided with a plurality of outer support rods and inner support rods nested in the outer support rods. The inner support rods can be raised and lowered, and one end of the inner support rod is provided with a roller.

[0008] The telescopic rod is arranged in the water storage chamber, one end of which is connected to the inner surface of the shell body, and the other end of which is connected to the shell bottom plate. The extension and retraction of the telescopic rod can drive the shell bottom plate to descend and ascend;

[0009] The laser point cloud sensors are distributed around the outer shell. When the fire rescue robot moves forward, the laser point clouds around it will transmit the collected information to the controller.

[0010] The controller draws a map of the fire scene based on the received information, completes the map reconstruction and transmits it to the outside of the fire scene in real time, and issues control instructions based on the reconstructed map information;

[0011] The controller controls the extension and retraction of the telescopic rod, the lifting and lowering of the inner rod of the support rod, and the movement and rotation of the roller.

[0012] Furthermore, there are two telescopic rods, which are symmetrically arranged; there are six inner support rods and six outer support rods respectively, and two of them are equally arranged at the bottom of the inner shell in a group.

[0013] Furthermore, a water curtain nozzle is circumferentially arranged on the upper surface of the outer shell near the edge of the shell.

[0014] Furthermore, the inner rod of the support rod can rotate 360° along the axial direction, thereby driving the roller connected thereto to rotate 360°.

[0015] Furthermore, it also includes a fire extinguishing nozzle, which is arranged on one side of the outer shell.

[0016] Furthermore, a turbine worm reducer is also provided in the telescopic rod.

[0017] Furthermore, it also includes a battery, which provides power to the controller, laser point cloud sensor, telescopic rod, inner rod of the support rod, and roller. The controller and battery are arranged at the bottom of the inner shell.

[0018] The advantages of the present invention over the prior art are:

[0019] 1. It has intelligent obstacle-crossing capability and strong mobility, and has good passability for steps, cracks, slopes and other destruction scenes in the fire scene;

[0020] 2. The water curtain nozzle sprays water to cool down the local area and protect the rescued people from the effects of smoke and high temperature as much as possible, thus improving the rescue capability;

[0021] 3. Most of the working parts are arranged at the bottom of the inner shell, and the water in the water storage chamber has a heat insulation and cooling effect on them, reducing the failure rate of the working parts;

[0022] 4. The laser point cloud sensor can perform real-time map reconstruction and can reconstruct complex fire scene maps to help firefighters advance and evacuate. The laser point cloud is not affected by smoke and flames and has high reliability. At the same time, it can intelligently plan paths and find escape exits based on the reconstructed map. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the intelligent obstacle-crossing water curtain cooling fire rescue robot provided by the present invention;

[0024] Figure 2 A half-section view of the intelligent obstacle-crossing water curtain cooling fire rescue robot provided by the present invention;

[0025] Figure 3 A schematic diagram of the bottom structure of the intelligent obstacle-crossing water curtain cooling fire rescue robot provided by the present invention;

[0026] Figure 4 A bottom view of the intelligent obstacle-crossing water curtain cooling fire rescue robot provided by the present invention;

[0027] Figure 5 This is a schematic diagram of the present invention crossing a stair obstacle with the inner rods of the support rods fully extended to prepare for crossing the steps;

[0028] Figure 6 This is a schematic diagram of the front wheels retracting to cross a stair obstacle in the present invention;

[0029] Figure 7 This is a schematic diagram of the present invention crossing a stair obstacle with the front wheels and middle wheels retracted;

[0030] Figure 8 This is a schematic diagram of the present invention returning to normal forward movement after completing the crossing of the stair obstacle.

[0031] Among them, 1-outer shell, 2-inner shell, 3-shell bottom plate, 4-water storage chamber, 5-connecting column, 6-telescopic rod, 7-inner rod of support rod, 8-outer rod of support rod, 9-water curtain nozzle, 10-laser point cloud sensor, 11-fire extinguishing nozzle, 12-roller, 13-axle, 14-wheel frame, 15-controller, 16-battery. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] like Figure 1 、 Figure 2 As shown, the present invention provides an intelligent obstacle-crossing water curtain cooling fire rescue robot, comprising an inner shell, an outer shell, a shell bottom plate, and multiple telescopic rods. It also includes a water storage chamber enclosed by the inner shell, outer shell, and shell bottom plate, as well as a laser point cloud sensor and a controller mounted on the outer shell. To improve the fire rescue robot's ability to pass through, the inner shell and outer shell both adopt a circular structure and are made of high-temperature resistant materials, with the advantages of high pressure resistance, sturdiness and reliability. In the present invention, they serve as the main structure, playing a supporting and protective role.

[0034] The inner shell and the outer shell are fixedly connected by a connecting column. The bottom of the inner shell is provided with a plurality of outer support rods and inner support rods nested in the outer support rods. The inner support rods can be raised and lowered. One end of the inner support rod is provided with a roller. The wheel axle on the roller is connected to the inner support rod through a wheel frame.

[0035] The telescopic rod is arranged in the water storage chamber, one end of which is connected to the inner surface of the shell body, and the other end of which is connected to the shell bottom plate. The extension and retraction of the telescopic rod can drive the shell bottom plate to descend and ascend;

[0036] The laser point cloud sensors are distributed around the outer shell. When the fire rescue robot moves forward, the laser point clouds around it will transmit the collected information to the controller. In order to protect the laser point cloud sensors so that they can still work normally under high temperatures, a high-temperature resistant protective shell is provided outside the laser point cloud sensors.

[0037] The controller draws a map of the fire scene based on the received information, completes the map reconstruction and transmits it to the outside of the fire scene in real time, and issues control instructions based on the reconstructed map information;

[0038] The controller controls the extension and retraction of the telescopic rod, the lifting and lowering of the inner rod of the support rod, and the movement and rotation of the roller. The telescopic rod, the inner rod of the support rod, and the roller are all powered by a built-in driving mechanism.

[0039] As a preferred solution of the present invention, there are two telescopic rods, which are symmetrically arranged; Figure 5-Figure 8 As shown, there are six inner support rods and six outer support rods, each arranged in groups of two, equally spaced at the bottom of the inner shell. When encountering a step, all inner support rods extend, lifting the fire rescue robot. The fire rescue robot continues forward, while the inner two support rods in the front retract, allowing it to first reach the step. The fire rescue robot continues forward, while the inner two support rods in the middle retract, allowing it to reach the step in the direction of its forward movement. The fire rescue robot continues forward, while the inner two support rods in the rear retract, allowing it to reach the step in the direction of its forward movement. This completes the step-crossing action.

[0040] As a preferred solution of the present invention, a water curtain nozzle is arranged in a ring shape near the edge of the shell on the upper surface of the outer shell. When the telescopic rod is retracted, the bottom plate of the shell is lifted upward, thereby compressing the water in the water storage chamber, so that the water is evenly sprayed out through the water curtain nozzle to form a circle of water curtain, which can cool down and absorb toxic smoke, and play a good protective role for people riding on the outer shell.

[0041] like Figure 4 As shown, as a preferred solution of the present invention, the inner rod of the support rod can rotate 360° along the axial direction, thereby driving the roller connected thereto to rotate 360°. When the fire rescue robot needs to perform maneuvering actions such as translation and on-the-spot turning, the roller can be rotated to a suitable angle, greatly enhancing the passing ability of the fire rescue robot.

[0042] As a preferred solution of the present invention, it also includes a fire extinguishing nozzle, which is arranged on one side of the outer shell. The water in the water storage chamber can be sprayed out from the nozzle to extinguish the fire in front.

[0043] As a preferred solution of the present invention, a worm gear reducer is further provided in the telescopic rod, which is used in conjunction with the drive motor built therein, and has the characteristics of simple power source, large reduction ratio, and self-locking at any time.

[0044] like Figure 3 As shown, it also includes a battery, which provides power to the controller, laser point cloud sensor, telescopic rod, inner rod of the support rod, and roller. The controller and battery are arranged at the bottom of the inner shell, away from fire sources, to maintain survivability to the greatest extent and not be disturbed by fire sources.

[0045] The implementation principle of an intelligent obstacle-crossing water curtain cooling fire rescue robot in an embodiment of the present invention is as follows:

[0046] The fire rescue robot drives to the entrance of the fire scene, rotates on the spot for one or more circles, uses the laser point cloud sensor to establish initial coordinates and initial map information, automatically finds a suitable entrance, prepares to enter the fire scene, and drives the fire rescue robot into the fire scene by adjusting the direction of the roller. The laser point cloud sensor scans the surrounding geographical environment in real time as the robot drives, updates the map library and sends it back to the outside of the fire scene, automatically plans the optimal path and checks each room one by one to see if there are trapped people. After receiving the trapped people, the water curtain will continue to spray water mist for cooling to ensure that the trapped people are not affected by high temperatures and smoke. Then, based on the self-established map information, the shortest exit path is planned and ready to leave the fire scene. If it encounters steps or slopes during movement, the robot will cross the obstacles through the telescopic action of the telescopic rod and always keep the outer shell level to facilitate the trapped people to sit safely and steadily on the upper surface of the outer shell.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent obstacle-crossing water curtain cooling fire rescue robot, characterized in that: It includes an inner shell, an outer shell, a shell bottom plate, and multiple telescopic rods, as well as a water storage cavity enclosed by the inner shell, the outer shell, and the shell bottom plate, and a laser point cloud sensor and a controller installed on the outer shell; The inner shell and the outer shell are fixedly connected by a connecting column. The bottom of the inner shell is provided with a plurality of outer support rods and inner support rods nested in the outer support rods. The inner support rods can be raised and lowered, and one end of the inner support rod is provided with a roller. The telescopic rod is arranged in the water storage chamber, one end of which is connected to the inner surface of the shell body, and the other end of which is connected to the shell bottom plate. The extension and retraction of the telescopic rod can drive the shell bottom plate to descend and ascend; The laser point cloud sensors are distributed around the outer shell. When the fire rescue robot moves forward, the laser point clouds around it will transmit the collected information to the controller. The controller draws a map of the fire scene based on the received information, completes the map reconstruction and transmits it to the outside of the fire scene in real time, and issues control instructions based on the reconstructed map information; The controller controls the extension and retraction of the telescopic rod, the lifting and lowering of the inner rod of the support rod, and the movement and rotation of the roller; There are two telescopic rods, which are symmetrically arranged; there are six inner support rods and six outer support rods respectively, and two of them are equally arranged at the bottom of the inner shell in a group; A water curtain nozzle is circumferentially arranged on the upper surface of the outer shell near the edge of the shell.

2. The intelligent obstacle-crossing water curtain cooling fire rescue robot according to claim 1, characterized in that: The inner rod of the support rod can rotate 360 ​​degrees along the axial direction, thereby driving the roller connected thereto to rotate 360 ​​degrees.

3. The intelligent obstacle-crossing water curtain cooling fire rescue robot according to claim 1, characterized in that: It also includes a fire extinguishing nozzle, which is arranged on one side of the outer shell.

4. The intelligent obstacle-crossing water curtain cooling fire rescue robot according to claim 1, characterized in that: A turbine worm reducer is also provided in the telescopic rod.

5. The intelligent obstacle-crossing water curtain cooling fire rescue robot according to claim 1, characterized in that: It also includes a battery, which provides power to the controller, laser point cloud sensor, telescopic rod, inner rod of the support rod, and roller. The controller and battery are arranged at the bottom of the inner shell.

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