A method of reconnaissance of fire fighting operations

Abstract

The application provides a reconnaissance fire fighting operation method and relates to the technical field of fire fighting. The reconnaissance fire fighting operation method can selectively perform reconnaissance fire extinguishing operation mode or continuous fire extinguishing operation mode. In the reconnaissance fire extinguishing operation mode, the rear chassis is driven by the front chassis to automatically reconnoiter along a set route. When the fire is found, the control unit triggers the power unit to provide the fire extinguishing medium stored in the fire extinguishing medium storage unit to the fire gun assembly, and the fire gun assembly sprays the fire extinguishing medium to achieve fire extinguishing operation. In the continuous fire extinguishing operation mode, the first joint assembly and the second joint assembly are detached, the first joint assembly is connected with the external power unit and the fire extinguishing medium storage unit, and the external power unit and the fire extinguishing medium storage unit provide the fire extinguishing medium for the fire gun assembly to continuously perform fire extinguishing operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fire fighting technology, in particular to a reconnaissance fire fighting operation method. BACKGROUND

[0002] With the progress of society and the continuous development of technology, fire fighting robots are gradually used for fire fighting operations to replace firefighters into the fire scene for fire fighting operations, which greatly improves the fire fighting efficiency and greatly guarantees the personal safety of firefighters. At present, the fire fighting robots on the market have single functions and are difficult to adapt to different operation conditions. Especially in the early stage of a fire, if the robot can detect the fire at the same time and extinguish the fire in time, it can effectively control the fire and even put out the fire at the same time, which will effectively reduce the property loss caused by the fire. SUMMARY

[0003] The purpose of the present application is to provide a reconnaissance fire fighting operation method to detect fire at the same time and perform fire fighting operations and continuous fire fighting operations.

[0004] In order to achieve the above purpose, the technical solution adopted by the present application is as follows:

[0005] A reconnaissance fire fighting operation method, a cascading fire fighting robot is applied, the cascading fire fighting robot includes a front vehicle chassis, a track assembly, a camera, a fire gun assembly, a rear vehicle chassis, a fire extinguishing medium storage unit, a power unit and a control unit;

[0006] The left and right sides of the front vehicle chassis are provided with the track assembly, the track assembly is actuated to drive the front vehicle chassis to travel, and the control end signal of the track assembly is connected to the control unit;

[0007] The camera and the fire gun assembly are arranged on the front vehicle chassis;

[0008] The camera is used for real-time shooting of the surrounding environment of the front vehicle chassis, and the camera is signal connected to the control unit;

[0009] The outlet of the fire gun assembly is used for spraying fire extinguishing medium, and the inlet of the fire gun assembly is connected with a first joint assembly through a pipeline;

[0010] The rear vehicle chassis is connected to the front vehicle chassis, and the left and right sides of the rear vehicle chassis are provided with rollers;

[0011] The fire extinguishing medium storage unit and the power unit are arranged on the rear vehicle chassis;

[0012] The fire extinguishing medium storage unit is used for storing fire extinguishing medium;

[0013] The inlet of the power unit is connected to the fire extinguishing medium storage unit via a pipeline, and the outlet of the power unit is connected to a second connector assembly via a pipeline.

[0014] The first connector assembly is detachably connected to the second connector assembly via a pipeline;

[0015] The power unit is used to power the extinguishing medium and spray it out from the outlet of the fire monitor assembly;

[0016] The method may selectively perform the following steps a and b:

[0017] Step a, reconnaissance and firefighting operation mode

[0018] The front chassis is connected to the rear chassis, and the first connector assembly is connected to the second connector assembly via a pipeline. The front chassis drives the rear chassis to automatically detect along a set route. During the detection, the camera takes real-time pictures of the surrounding environment of the front chassis. When the camera detects a fire, the control unit triggers the power unit to provide the fire extinguishing medium stored in the fire extinguishing medium storage unit to the fire monitor assembly. The fire monitor assembly then sprays the fire extinguishing medium to achieve the fire extinguishing operation.

[0019] Step b, Continuous firefighting operation mode

[0020] The first connector assembly is disassembled from the second connector assembly. The first connector assembly is connected to an external power unit and fire extinguishing medium storage unit. The external power unit and fire extinguishing medium storage unit provide fire extinguishing medium to the fire monitor assembly for continuous fire extinguishing operations.

[0021] Preferably, the fire monitor assembly includes a rear support, a front support, an upper boom, a lower boom, a lifting cylinder, a tilting cylinder, a fire mist cannon, a fire water cannon, a fire foam cannon, and a dry powder gun.

[0022] The rear support is located at the rear end of the front vehicle chassis. One end of the upper boom is hinged to the upper end of the rear support, and the other end of the upper boom is hinged to the upper end of the front support. One end of the lower boom is hinged to the lower end of the rear support, and the other end of the lower boom is hinged to the lower end of the front support. One end of the lifting cylinder is hinged to the front vehicle chassis, and the other end of the lifting cylinder is hinged to the lower boom or the upper boom. The rear end of the fire fog cannon is hinged to the front support. One end of the tilting cylinder is hinged to the front support, and the other end of the tilting cylinder is hinged to the fire fog cannon. A fire water cannon, a fire foam cannon, a dry powder gun, and a camera are arranged on the outer wall of the fire fog cannon.

[0023] The first connector assembly is connected to the fire fog cannon, fire water cannon, fire foam cannon and dry powder gun via pipelines.

[0024] Preferably, the fire extinguishing medium storage unit comprises a water tank, a foam tank and a dry powder tank; the power unit comprises a water pump and a nitrogen cylinder;

[0025] The fire extinguishing medium stored in the water tank is water, the fire extinguishing medium stored in the foam tank is fire-fighting foam liquid, and the fire extinguishing medium stored in the dry powder tank is dry powder extinguishing agent.

[0026] The water inlet end of the water pump is connected to the water tank through a pipeline, the water outlet end of the water pump is connected to the second joint assembly through a first pipeline and a second pipeline respectively, the foam tank is connected to the second pipeline through a foam pipeline, the nitrogen cylinder is connected to the second joint assembly through a gas pipeline, and the dry powder tank is connected to the gas pipeline through a dry powder pipeline.

[0027] Preferably, the control end of the lifting oil cylinder is connected to the control unit, the control end of the overturning oil cylinder is connected to the control unit, the control end of the water pump is connected to the control unit, a first electromagnetic valve for controlling the opening and closing of the first pipeline is arranged on the first pipeline, the control end of the first electromagnetic valve is connected to the control unit, a second electromagnetic valve for controlling the opening and closing of the second pipeline is arranged on the second pipeline, the control end of the second electromagnetic valve is connected to the control unit, a third electromagnetic valve for controlling the opening and closing of the gas pipeline is arranged on the gas pipeline, and the control end of the third electromagnetic valve is connected to the control unit.

[0028] Preferably, a battery is arranged on the rear chassis, the water pump is driven by an electric motor, and the battery is electrically connected to the electric motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.

[0029] Preferably, an obstacle avoidance sensor is arranged at the front end of the front chassis, and the obstacle avoidance sensor is connected to the control unit.

[0030] Preferably, an audible and visual alarm is arranged on the front chassis, and the audible and visual alarm is connected to the control unit.

[0031] Preferably, a loudspeaker is arranged on the front chassis, and the loudspeaker is connected to the control unit.

[0032] Preferably, a lighting lamp is arranged at the front end of the front chassis.

[0033] Preferably, an automatic electromagnetic tripper is arranged between the pipeline and the first joint assembly or between the pipeline and the second joint assembly, and the control end of the automatic electromagnetic tripper is connected to the control unit.

[0034] The beneficial technical effects of the present application are:

[0035] The reconnaissance fire fighting operation method of the application can selectively carry out reconnaissance fire fighting operation mode or continuous fire fighting operation mode; in the reconnaissance fire fighting operation mode, the rear chassis is automatically reconnoitered along the set route by the front chassis, the surrounding environment of the front chassis is real-time shot by the camera during the reconnaissance, the control unit triggers the power unit to provide the fire extinguishing medium stored in the fire extinguishing medium storage unit to the fire gun assembly, and the fire extinguishing medium is sprayed out by the fire gun assembly to realize the fire fighting operation; in the continuous fire fighting operation mode, the first joint assembly and the second joint assembly are detached, the first joint assembly is connected with the external power unit and the fire extinguishing medium storage unit, and the fire gun assembly is provided with the fire extinguishing medium by the external power unit and the fire extinguishing medium storage unit to continuously carry out the fire fighting operation. The reconnaissance fire fighting operation method of the application, the cascade fire fighting robot applied, the front robot (the front chassis and the upper part thereof) can reconnoiter the fire scene and return the scene data, and provide a reference for the design of the fire extinguishing scheme of the rear other fire fighting robots; the robot adopts the multi-layer liftable fire gun assembly and the modular structure design of the spraying device of various fire extinguishing media, realizes the accurate fire extinguishing of the fire extinguishing point under different heights and different fire extinguishing media, the front robot is cascaded with the rear unit (the rear chassis and the upper part thereof), the front robot can drive the rapid movement of the rear unit, the rear unit provides the fire extinguishing medium and power for the fire fighting operation of the front robot, and the endurance of the front robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The flow chart of the reconnaissance fire fighting operation method of the embodiment of the application;

[0037] Figure 2 The side view of the cascade fire fighting robot of the embodiment of the application;

[0038] Figure 3 The perspective view of the front chassis part of the cascade fire fighting robot of the embodiment of the application;

[0039] Figure 4 The front view of the front chassis part of the cascade fire fighting robot of the embodiment of the application;

[0040] Figure 5 The rear view of the front chassis part of the cascade fire fighting robot of the embodiment of the application;

[0041] Figure 6 The top view of the front chassis part of the cascade fire fighting robot of the embodiment of the application;

[0042] Figure 7 The right view of the front chassis part of the cascade fire fighting robot of the embodiment of the application;

[0043] Figure 8It is a left view of the front chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0044] Figure 9 It is a perspective view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0045] Figure 10 It is a front view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0046] Figure 11 It is a rear view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0047] Figure 12 It is a top view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0048] Figure 13 It is a right view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application.

[0049] Figure 14 It is a left view of the rear chassis part of the cascading fire-fighting robot according to the embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and with reference to the drawings. Some but not all of the embodiments of the present application will be shown more fully in the drawings, which are intended to illustrate the present application, rather than to limit the present application. In fact, various embodiments of the present application can be implemented in many different forms, and should not be interpreted as being limited to the embodiments described herein; on the contrary, these embodiments are provided to meet the applicable legal requirements.

[0051] In the description of the present application, it should be noted that the terms "inner", "outer", "upper", "lower", "front", "rear" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for descriptive purposes and should not be understood as indicating or implying relative importance.

[0052] In the embodiments of the present application, a cascading fire-fighting robot is provided, which is shown in Figures 2 to 14

[0053] A cascading fire-fighting robot, comprising a front chassis 11, a track assembly 2, a camera 3, a fire-fighting gun assembly, a rear chassis 12, a fire-extinguishing medium storage unit, a power unit and a control unit. ​

[0054] The left and right sides of the front chassis 11 are provided with track assemblies 2, which act to drive the front chassis 11 to move. The front chassis 11 adopts track walking assemblies, so that the robot has high passability and can better adapt to the complex road conditions of the fire scene. The left and right track assemblies 2 are positively rotated in the same direction or reversely rotated to realize the forward movement and backward movement of the robot; the left track assembly 2 and the right track assembly 2 are oppositely rotated, or the track walking assembly on one side is not rotated, so that the turning of the robot can be realized.

[0055] The control end signal of the track assembly 2 is connected to the control unit, and the upper computer signal is connected to the control unit, so that the action of the track assembly 2 is controlled by the upper computer through the control unit, and the forward movement, backward movement and turning of the robot are realized.

[0056] The front chassis 11 is provided with a camera 3 and a fire monitor assembly.

[0057] The camera 3 is used to shoot the surrounding environment of the front chassis 11 in real time, and the camera 3 is signal connected to the control unit. The camera 3 transmits the images shot in real time to the control unit, and transmits the images to the upper computer through the control unit, so that the surrounding environment is monitored and the fire is found through the upper computer.

[0058] The front end of the front chassis 11 is provided with an obstacle avoidance sensor 111, and the obstacle avoidance sensor 111 is signal connected to the control unit. The obstacle avoidance sensor 111 is specifically an ultrasonic sensor, which is used to monitor whether there is an obstacle in front of the front chassis 11 in real time, and upload signals to the control unit and the upper computer in real time.

[0059] The rear end of the front chassis 11 is provided with a sound and light alarm 112 on the rear support 511, and the sound and light alarm 112 is signal connected to the control unit. The sound and light alarm 112 is started by the upper computer through the control unit, so as to prompt the on-site personnel to appear the fire.

[0060] The rear end of the front chassis 11 is provided with a loudspeaker 113 on the rear support 511, and the loudspeaker 113 is signal connected to the control unit. The loudspeaker 113 is started by the upper computer through the control unit, so as to realize voice shouting at the fire scene.

[0061] The front end of the front chassis 11 is provided with an illuminating lamp 114 to realize the lighting function of the front chassis 11.

[0062] The outlet of the fire monitor assembly is used to spray fire extinguishing medium, and the inlet of the fire monitor assembly is connected with a first joint assembly 41 through a pipeline.

[0063] The rear chassis 12 is detachably connected to the front chassis 11, and the left and right sides of the rear chassis 12 are provided with rollers 121. The rear chassis 12 rolls on the ground through the rollers 121 to move. The front chassis 11 can drive the rear chassis 12 to move together, or the rear chassis 12 can be detached so that the front chassis 11 moves alone.

[0064] The rear chassis 12 is provided with a fire extinguishing medium storage unit and a power unit.

[0065] The fire extinguishing medium storage unit is used for storing fire extinguishing medium.

[0066] The inlet of the power unit is connected to the fire extinguishing medium storage unit through a pipeline, and the outlet of the power unit is connected to the second joint assembly 42 through a pipeline. The first joint assembly 41 is detachably connected to the second joint assembly 42 through a pipeline. The power unit is used to provide power for the fire extinguishing medium and spray from the outlet of the fire monitor assembly.

[0067] An automatic electromagnetic release 43 is arranged between the pipeline and the first joint assembly 41 or between the pipeline and the second joint assembly 42, and the control end of the automatic electromagnetic release 43 is connected to the control unit. When the first joint assembly 41 and the second joint assembly 42 need to be detached, the automatic electromagnetic release 43 can be controlled by the upper computer through the control unit to automatically realize the detachment of the first joint assembly 41 and the second joint assembly 42.

[0068] The fire monitor assembly includes a rear support 511, a front support 512, an upper arm support 521, a lower arm support 522, a lifting oil cylinder 53, a turning oil cylinder 54, a fire mist monitor 55, a fire water monitor 56, a fire foam monitor 57, and a dry powder gun 58. The first joint assembly 41 is connected to the fire mist monitor 55, the fire water monitor 56, the fire foam monitor 57, and the dry powder gun 58 through a pipeline, respectively.

[0069] The fire mist monitor 55 is provided with a fan 551, and the sidewall of the fire mist monitor 55 is provided with a mist monitor joint 552. The water inlet of the mist monitor joint 552 is connected to the first joint assembly 41 through a pipeline, and the water outlet of the mist monitor joint 552 is located in front of the fan 551. After the fan 551 is started, the blades of the fan 551 rotate to disperse the water flow sprayed from the water inlet of the mist monitor joint 552 to form water mist, which is used for dust reduction, temperature reduction, smoke reduction, and fire extinguishing. The fire water monitor 56 and the fire foam monitor 57 are used for long-distance fire fighting. The fire water monitor 56 is used for spraying water to fight general solid material fires, and the fire foam monitor 57 is used for spraying fire foam to fight Class A, B, and C liquid fires. The dry powder gun 58 is used for spraying dry powder to fight flammable liquid, gas, and electrical equipment.

[0070] The rear support 511 is arranged at the rear end of the front chassis 11. One end of the upper arm frame 521 is hinged to the upper end of the rear support 511. The other end of the upper arm frame 521 is hinged to the upper end of the front support 512. One end of the lower arm frame 522 is hinged to the lower end of the rear support 511. The other end of the lower arm frame 522 is hinged to the lower end of the front support 512. One end of the lifting oil cylinder 53 is hinged to the front chassis 11. The other end of the lifting oil cylinder 53 is hinged to the middle position of the lower arm frame 522. The rear end of the fire-fighting fog gun 55 is hinged to the front support 512. One end of the turning oil cylinder 54 is hinged to the front support 512. The other end of the turning oil cylinder 54 is hinged to the fire-fighting fog gun 55. The fire-fighting water gun 56, the fire-fighting foam gun 57, the dry powder gun 58 and the camera 3 are arranged on the outer wall of the fire-fighting fog gun 55.

[0071] The rear support 511, the front support 512, the upper arm frame 521 and the lower arm frame 522 constitute a parallelogram four-bar linkage mechanism. The front support 512 can swing greatly above the rear support 511 relative to the rear support 511 through the extension and retraction of the lifting oil cylinder 53, so as to adjust the height of the fire-fighting fog gun 55 and the fire-fighting water gun 56, the fire-fighting foam gun 57, the dry powder gun 58 and the camera 3 arranged thereon. The pitch angle of the fire-fighting fog gun 55 is adjusted through the extension and retraction of the turning oil cylinder 54, so that the fire-fighting fog gun 55 and the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 arranged thereon are directed to the object to be extinguished. The camera 3 is directed to the surrounding environment of the front chassis 11 through the straight running, turning, swinging and pitching of the fire-fighting fog gun 55.

[0072] The extinguishing medium storage unit includes a water tank 61, a foam tank 62 and a dry powder tank 63, and the power unit includes a water pump 71 and a nitrogen cylinder 72. The extinguishing medium stored in the water tank 61 is water, the extinguishing medium stored in the foam tank 62 is fire-fighting foam, and the extinguishing medium stored in the dry powder tank 63 is dry powder extinguishing agent. The water inlet end of the water pump 71 is connected to the water tank 61 through a pipeline, and the water outlet end of the water pump 71 is connected to the second joint assembly 42 through a first pipeline and a second pipeline, respectively. The foam tank 62 is connected to the second pipeline through a foam pipeline, and a one-way valve group is arranged on the foam pipeline. The one-way valve group allows one-way conduction from the foam tank 62 to the second pipeline. The nitrogen cylinder 72 is connected to the second joint assembly 42 through a gas pipeline, and the dry powder tank 63 is connected to the gas pipeline through a dry powder pipeline. A one-way valve group is arranged on the dry powder pipeline, which allows one-way conduction from the dry powder tank 63 to the gas pipeline. The water pump 71 provides high-pressure water through the first pipeline, and the first pipeline is connected to the fire-fighting fog gun 55 and the fire-fighting water gun 56 through the second joint assembly 42 and the first joint assembly 41 to provide high-pressure water for the fire-fighting fog gun 55 and the fire-fighting water gun 56. The water pump 71 extracts the fire-fighting foam in the foam tank 62 through the second pipeline and the foam pipeline, and connects the fire-fighting foam gun 57 through the second joint assembly 42 and the first joint assembly 41 to provide pressurized fire-fighting foam for the fire-fighting foam gun 57. The nitrogen cylinder 72 extracts the dry powder extinguishing agent in the dry powder tank 63 through the gas pipeline and the dry powder pipeline, and connects the dry powder gun 58 through the second joint assembly 42 and the first joint assembly 41 to provide pressurized dry powder extinguishing agent for the dry powder gun 58.

[0073] The control end signal of the lifting oil cylinder 53 is connected to the control unit, and the control end signal of the overturning oil cylinder 54 is connected to the control unit. The extension and retraction actions of the lifting oil cylinder 53 and the overturning oil cylinder 54 are controlled by the upper computer through the control unit. The control end signal of the water pump 71 is connected to the control unit, and the water pump 71 is controlled by the upper computer through the control unit. A first electromagnetic valve is arranged on the first pipeline for controlling the opening and closing of the first pipeline, and the control end signal of the first electromagnetic valve is connected to the control unit. A second electromagnetic valve is arranged on the second pipeline for controlling the opening and closing of the second pipeline, and the control end signal of the second electromagnetic valve is connected to the control unit. The actions of the first electromagnetic valve and the second electromagnetic valve are controlled by the upper computer through the control unit to realize the opening and closing control of the first pipeline and the second pipeline. A third electromagnetic valve is arranged on the gas pipeline for controlling the opening and closing of the gas pipeline, and the control end signal of the third electromagnetic valve is connected to the control unit. The action of the third electromagnetic valve is controlled by the upper computer through the control unit to realize the opening and closing control of the gas pipeline.

[0074] Among them, the rear chassis 12 is provided with a battery 122, the water pump 71 is driven by a motor, and the battery 122 is electrically connected to the motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve to provide power for the motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.

[0075] AsFigure 1 As shown, the reconnaissance fire fighting operation method of the present application applies the cascade fire fighting robot described above, and the method can selectively perform the following steps a and step b:

[0076] Step a, reconnaissance fire extinguishing mode

[0077] The front chassis 11 is connected with the rear chassis 12, and the first joint assembly 41 is connected with the second joint assembly 42 through the pipeline. The rear chassis 12 is driven by the front chassis 11 to automatically reconnoiter along the route set by the upper computer, and the surrounding environment where the front chassis 11 is located is photographed in real time by the camera 3. When the camera 3 discovers the fire, the control unit triggers the power unit to act to provide the fire extinguishing medium stored in the fire extinguishing medium storage unit to the fire gun assembly, and the fire extinguishing medium is sprayed out by the fire gun assembly to realize the fire extinguishing operation.

[0078] Specifically, the action of the crawler assembly 2 is controlled by the upper computer through the control unit to realize the forward movement, backward movement and turning of the robot, so that the front chassis 11 drives the rear chassis 12 to automatically reconnoiter along the route set by the upper computer. The extension and retraction of the lifting cylinder 53 and the turnover cylinder 54 are controlled by the upper computer through the control unit, the front support 512 is swung above the rear support 511 by the extension and retraction of the lifting cylinder 53, and the pitch angle of the fire-fighting fog gun 55 is adjusted by the extension and retraction of the turnover cylinder 54, so that the camera 3 on the fire-fighting fog gun 55 photographs the surrounding environment where the front chassis 11 is located. The camera 3 transmits the photographed image to the control unit in real time, and the control unit transmits the image to the upper computer, and the surrounding environment is monitored by the upper computer to discover the fire.

[0079] When the camera 3 discovers the fire, the extension and retraction of the lifting cylinder 53 and the turnover cylinder 54 are controlled by the upper computer through the control unit, the front support 512 is swung above the rear support 511 by the extension and retraction of the lifting cylinder 53, and the height of the fire-fighting fog gun 55 and the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 thereon is adjusted. The pitch angle of the fire-fighting fog gun 55 is adjusted by the extension and retraction of the turnover cylinder 54, so that the fire-fighting fog gun 55 and the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 thereon are directed to the object to be extinguished. The water pump 71 is opened by the upper computer through the control unit, the first electromagnetic valve and the second electromagnetic valve are controlled by the upper computer through the control unit, and the first pipeline and / or the second pipeline are opened. The third electromagnetic valve is controlled by the upper computer through the control unit, and the gas pipeline is opened.

[0080] The water pump 71 provides high pressure water through the first pipeline, which is connected to the fire mist gun 55 and the fire water gun 56 through the second joint assembly 42 and the first joint assembly 41, so as to provide high pressure water for the fire mist gun 55 and the fire water gun 56. The water pump 71 extracts fire-fighting foam liquid in the foam tank 62 through the second pipeline and the foam pipeline, and connects the fire foam gun 57 through the second joint assembly 42 and the first joint assembly 41, so as to provide fire-fighting foam with pressure for the fire foam gun 57. The nitrogen cylinder 72 extracts dry powder extinguishing agent in the dry powder tank 63 through the gas pipeline and the dry powder pipeline, and connects the dry powder gun 58 through the second joint assembly 42 and the first joint assembly 41, so as to provide dry powder extinguishing agent with pressure for the dry powder gun 58. The fire mist gun 55, the fire water gun 56, the fire foam gun 57 and the dry powder gun 58 are selectively used to spray fire extinguishing medium for fire extinguishing operation.

[0081] Step b, continuous fire extinguishing operation mode

[0082] The first joint assembly 41 and the second joint assembly 42 are detached. The first joint assembly 41 is connected to the external power unit and the fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire gun assembly from the external power unit and the fire extinguishing medium storage unit for continuous fire extinguishing operation.

[0083] Among them, the automatic electromagnetic release 43 is controlled by the upper computer through the control unit to automatically realize the detachment between the first joint assembly 41 and the second joint assembly 42, so as to improve the detachment efficiency.

[0084] So far, the embodiment has been described in detail in combination with the drawings. According to the above description, those skilled in the art should have a clear understanding of the cascade fire-fighting robot of the present application. The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method of reconnaissance of a fire fighting operation, characterized in that: The application discloses a cascading fire-fighting robot, which comprises a front vehicle chassis, a track assembly, a camera, a fire monitor assembly, a rear vehicle chassis, a fire extinguishing medium storage unit, a power unit and a control unit. The track assembly is arranged on the left and right sides of the front vehicle chassis and is used for driving the front vehicle chassis to move. The camera and the fire monitor assembly are arranged on the front vehicle chassis. The camera is used for shooting the surrounding environment of the front vehicle chassis in real time. The outlet of the fire monitor assembly is used for spraying the fire extinguishing medium. The rear vehicle chassis is connected with the front vehicle chassis. The fire extinguishing medium storage unit and the power unit are arranged on the rear vehicle chassis. The fire extinguishing medium storage unit is used for storing the fire extinguishing medium. The inlet of the power unit is connected with the fire extinguishing medium storage unit through a pipeline. The fire extinguishing medium storage unit comprises a water tank, a foam tank and a dry powder tank. The power unit comprises a water pump and a nitrogen cylinder. The water pump is connected with the water tank through a pipeline. The first joint assembly is detachably connected with the second joint assembly through a pipeline. The automatic electromagnetic release is connected with the control unit. The method comprises the following steps a and b. Step a: reconnaissance of fire extinguishing mode The front vehicle chassis is connected with the rear vehicle chassis, the first joint assembly is connected with the second joint assembly through a pipeline, and the front vehicle chassis drives the rear vehicle chassis to automatically reconnoiter along a set route. The camera is used for shooting the surrounding environment of the front vehicle chassis in real time. The fire monitor assembly sprays the fire extinguishing medium out to realize fire extinguishing operation. Specifically, the host computer controls the action of the track assembly through the control unit to realize the forward movement, backward movement and turning of the robot, so that the front chassis drives the rear chassis to automatically scout along the route set by the host computer; the host computer controls the extension and retraction of the lifting cylinder and the turning cylinder through the control unit, adjusts the elevation angle of the fire-fighting fog gun by the extension and retraction of the lifting cylinder to make the front support oscillate above the rear support, and adjusts the elevation angle of the fire-fighting fog gun by the extension and retraction of the turning cylinder to make the camera on the fire-fighting fog gun shoot the surrounding environment of the front chassis; the camera transmits the shot image to the control unit in real time, and the control unit transmits the image to the host computer, so that the host computer monitors the surrounding environment and discovers the fire; When the camera discovers the fire, the host computer controls the extension and retraction of the lifting cylinder and the turning cylinder through the control unit, adjusts the height of the fire-fighting fog gun and the fire-fighting water gun, the fire-fighting foam gun and the dry powder gun on the fire-fighting fog gun by the extension and retraction of the lifting cylinder to make the front support oscillate above the rear support; the extension and retraction of the turning cylinder adjusts the elevation angle of the fire-fighting fog gun, so that the fire-fighting fog gun, the fire-fighting water gun, the fire-fighting foam gun and the dry powder gun on the fire-fighting fog gun are directed to the object to be extinguished; the host computer controls the water pump to be opened through the control unit, the host computer controls the action of the first electromagnetic valve and the second electromagnetic valve through the control unit to realize the opening of the first pipeline and / or the second pipeline; the host computer controls the action of the third electromagnetic valve through the control unit to realize the opening of the gas pipeline; The water pump provides high-pressure water through the first pipeline, and the first pipeline connects the fire-fighting fog gun and the fire-fighting water gun through the second joint assembly and the first joint assembly to provide high-pressure water for the fire-fighting fog gun and the fire-fighting water gun; the water pump extracts the fire-fighting foam in the foam tank through the second pipeline and the foam pipeline, and connects the fire-fighting foam gun through the second joint assembly and the first joint assembly to provide the fire-fighting foam gun with pressure fire-fighting foam; the nitrogen cylinder extracts the dry powder extinguishing agent in the dry powder tank through the gas pipeline and the dry powder pipeline, and connects the dry powder gun through the second joint assembly and the first joint assembly to provide the dry powder gun with pressure dry powder extinguishing agent; the fire-fighting fog gun, the fire-fighting water gun, the fire-fighting foam gun and the dry powder gun are selectively used to spray fire extinguishing medium for fire extinguishing operation; Step b, continuous fire extinguishing operation mode The first joint assembly and the second joint assembly are detached, the first joint assembly is connected to the external power unit and the fire extinguishing medium storage unit, and the fire extinguishing medium storage unit provides the fire extinguishing medium for the fire gun assembly to continuously extinguish the fire. The control unit controls the automatic electromagnetic release to automatically realize the detachment between the first joint assembly and the second joint assembly.

2. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The fire gun assembly comprises a rear support, a front support, an upper arm support, a lower arm support, a lifting cylinder, a turning cylinder, a fire-fighting fog gun, a fire-fighting water gun, a fire-fighting foam gun and a dry powder gun. The rear support is arranged at the rear end of the front chassis, one end of the upper arm frame is hinged to the upper end of the rear support, the other end of the upper arm frame is hinged to the upper end of the front support, one end of the lower arm frame is hinged to the lower end of the rear support, the other end of the lower arm frame is hinged to the lower end of the front support, one end of the lifting oil cylinder is hinged to the front chassis, the other end of the lifting oil cylinder is hinged to the lower arm frame or the upper arm frame, the rear end of the fire-fighting fog gun is hinged to the front support, one end of the turnover oil cylinder is hinged to the front support, the other end of the turnover oil cylinder is hinged to the fire-fighting fog gun, and the outer wall of the fire-fighting fog gun is arranged with a fire-fighting water cannon, a fire-fighting foam cannon, a dry powder gun and a camera. The first joint assembly is respectively connected with the fire-fighting fog gun, the fire-fighting water cannon, the fire-fighting foam cannon and the dry powder gun through pipelines.

3. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The control end signal of the lifting oil cylinder is connected with the control unit, the control end signal of the turnover oil cylinder is connected with the control unit, the control end signal of the water pump is connected with the control unit, the first pipeline is provided with a first electromagnetic valve for controlling the opening and closing of the first pipeline, the control end signal of the first electromagnetic valve is connected with the control unit, the second pipeline is provided with a second electromagnetic valve for controlling the opening and closing of the second pipeline, the control end signal of the second electromagnetic valve is connected with the control unit, the gas pipeline is provided with a third electromagnetic valve for controlling the opening and closing of the gas pipeline, and the control end signal of the third electromagnetic valve is connected with the control unit.

4. A method of reconnaissance of fire fighting operations according to claim 3, characterized in that: The rear chassis is provided with a battery, the water pump is driven by an electric motor, and the battery is electrically connected with the electric motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.

5. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The front end of the front chassis is provided with an obstacle avoidance sensor, and the obstacle avoidance sensor is connected with the control unit.

6. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The front chassis is provided with an audible and visual alarm, and the audible and visual alarm is connected with the control unit.

7. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The front chassis is provided with a loudspeaker, and the loudspeaker is connected with the control unit.

8. A method of reconnaissance of fire fighting operations according to claim 1, characterized in that: The front end of the front chassis is provided with an illuminating lamp.

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