A fire extinguishing mechanism for a tunnel inspection robot and an emergency fire extinguishing method thereof

Abstract

The present invention relates to a fire extinguishing mechanism for a tunnel inspection robot and an emergency fire extinguishing method thereof, wherein the fire extinguishing device is installed on a pan-tilt platform, and a self-locking door mechanism is provided on one side of the fire extinguishing device, and a firing mechanism is provided on the other side, an image processing device is provided on the upper side of the fire extinguishing device, the self-locking door mechanism includes a door cover and a door cover driving assembly, a fire extinguishing nozzle is formed on one side of the fire extinguishing device, the door cover covers the fire extinguishing nozzle and is driven to rotate and open by the door cover driving assembly, a fire extinguishing gun is provided inside the fire extinguishing device, the firing mechanism includes a firing shaft and a firing driving assembly, the firing shaft is driven to rotate by the firing driving assembly, a plurality of firing blocks are provided on the firing shaft, and each firing block is arranged along the circumferential direction of the firing shaft, a firing switch is provided on the fire extinguishing gun, and when the firing shaft rotates, the firing switch is triggered by pressing down the corresponding firing block. The present invention can automatically identify the fire disaster during the robot inspection process and automatically realize the fire extinguishing function.

Description

Technical Field

[0001] The invention relates to the field of tunnel inspection robots, in particular to a fire extinguishing mechanism for a tunnel inspection robot and an emergency fire extinguishing method thereof. Background Art

[0002] Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. In tunnel inspection work, since most tunnels require vehicles, trains, and other means of transportation, manual inspections are inaccurate and unsafe. Therefore, using tunnel inspection robots to conduct safety inspections inside tunnels has become a better choice. However, when existing tunnel inspection robots discover fires and other situations during inspections, they can only monitor and monitor and wait for processing, and they do not have the ability to handle fires. Summary of the invention

[0003] The purpose of the present invention is to provide a fire extinguishing mechanism for a tunnel inspection robot and an emergency fire extinguishing method thereof, which can automatically identify fire disasters during the robot inspection process and automatically implement the fire extinguishing function.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A fire extinguishing mechanism for a tunnel inspection robot comprises a pan-tilt platform, a fire extinguishing device, a self-locking door mechanism, a firing mechanism and an image processing device, wherein the fire extinguishing device is mounted on the pan-tilt platform, and a self-locking door mechanism is provided on one side of the fire extinguishing device, and a firing mechanism is provided on the other side, an image processing device is provided on the upper side of the fire extinguishing device, the self-locking door mechanism comprises a door cover and a door cover driving assembly, a fire extinguishing nozzle is formed on one side of the fire extinguishing device, and the door cover covers the fire extinguishing nozzle and is driven to rotate by the door cover driving assembly, the firing mechanism comprises a firing shaft and a firing driving assembly, and the firing shaft is driven to rotate by the firing driving assembly, a plurality of firing blocks are provided on the firing shaft, and each firing block is arranged along the circumferential direction of the firing shaft, a fire extinguishing cannon with a firing switch is provided inside the fire extinguishing device, and when the firing shaft rotates, the firing switch is triggered by pressing down the corresponding firing block.

[0006] A first shell is provided on one side of the fire extinguishing device, and the door cover drive assembly is arranged in the first shell. The door cover drive assembly includes a first motor, a first worm, a first gear and a door cover drive shaft, wherein the first worm is driven to rotate by the first motor, the first gear is engaged with the first worm, and the first gear is sleeved on the door cover drive shaft, and the door cover is driven to flip by the door cover drive shaft.

[0007] A first reduction housing is provided at one end of the first shell, and the first worm, the first gear and the door cover drive shaft are all arranged in the first reduction housing, and a first controller is provided inside the first shell; the upper side of the door cover is hinged to the fire extinguishing device through an active swing arm and a driven swing arm, wherein the active swing arm is driven to rotate by the door cover drive shaft.

[0008] A second shell is provided on one side of the fire extinguishing device, and the firing drive assembly is arranged in the second shell. The firing drive assembly includes a second motor, a second worm and a second gear, wherein the second worm is driven to rotate by the second motor, the second gear is meshed with the second worm, and the second gear is sleeved on one end of the firing shaft.

[0009] A second reduction housing is disposed at one end of the second housing, the second worm and the second gear are both disposed in the second reduction housing, and a second controller is disposed inside the second housing.

[0010] The fire extinguishing device comprises a fixing seat and a shell, the shell is buckled on the fixing seat, the fire extinguishing gun is fixed on the fixing seat and arranged in the shell, the self-locking door mechanism and the firing mechanism are both installed on the shell, and a wire groove is arranged on the upper side of the shell.

[0011] The pan-tilt head includes a base, multiple drivers and multiple arms, wherein the base is installed on the tunnel inspection robot, the upper surface of the base is equipped with a first driver, the output end of the first driver is equipped with a first arm, the rear end of the first arm is fixedly equipped with a second driver, the output end of the second driver is equipped with a second arm, the front end of the second arm is equipped with a third driver, and the fourth driver is installed at the output end of the third driver, and the bottom end of the fire extinguishing device is installed at the output end of the fourth driver.

[0012] The image processing device includes a mounting seat, an infrared searchlight, an infrared camera and a binocular camera, wherein a binocular camera is provided at the top of the mounting seat, infrared searchlights are provided on both sides of the mounting seat, infrared light points are installed inside the infrared searchlight, an infrared camera is provided in the middle of the front surface of the mounting seat, and a shockproof gel seat is provided at the bottom end of the mounting seat, and the shockproof gel seat is installed on the upper side of the fire extinguishing device.

[0013] An emergency fire extinguishing method according to the fire extinguishing mechanism for a tunnel inspection robot. During the patrol process of the tunnel inspection robot, an image processing device detects the tunnel in real time. When the infrared camera detects that the temperature in the tunnel is abnormal, the pan-tilt table starts to adjust the infrared camera and the binocular camera to align with the abnormal point to identify the alarm. When it is judged to be a burning alarm, the robot control system controls the movement of the tunnel robot and presets the ballistic direction of the fire extinguishing gun according to the detection situation of the image processing device, and then controls the pan-tilt table to adjust the position of the fire extinguishing device. After the pan-tilt table is adjusted, the self-locking door mechanism starts to open the door cover, and then the firing mechanism starts to trigger each fire extinguishing gun to fire the fire extinguishing agent in turn.

[0014] The absolute distance from the highest point of the tunnel to the ground is h, and the minimum detection range of the infrared camera is The minimum detection range of the binocular camera is

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention can automatically identify fire disasters when the tunnel inspection robot conducts regular and directional patrols, and can determine a treatment plan based on the detection situation and automatically report it. When it is confirmed that a fire alarm has occurred, it can automatically implement a fire extinguishing function to effectively control the disaster.

[0017] 2. After determining that a fire alarm has occurred, the present invention first uses a robot controller to calculate and set the ballistic direction of the fire extinguishing gun according to the detection situation, and then uses the pan-tilt head to adjust the position of the fire extinguishing device. After the pan-tilt head is adjusted, the self-locking door mechanism automatically starts to open the door cover to expose the fire extinguishing nozzle, and then the firing mechanism automatically starts to trigger each fire extinguishing gun to fire the fire extinguishing agent in turn. The entire process is completed automatically, so that the fire disaster can be quickly and effectively controlled.

[0018] 3. The present invention effectively solves the problem that the existing tunnel inspection robots do not have the ability to handle fires. It has structures such as a binocular camera that can identify the detection position distance, can determine the fire location direction and distance information in the first time, and has the function of automatically identifying and processing on-site information. It has a high degree of automation in use and a good disaster control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention,

[0020] Figure 2 for Figure 1 The exploded schematic diagram of the present invention,

[0021] Figure 3 for Figure 1 Schematic diagram of the self-locking door mechanism in the figure.

[0022] Figure 4 for Figure 1 Schematic diagram of the fire extinguishing device and firing mechanism in the figure.

[0023] Figure 5 for Figure 4 Schematic diagram of the device structure on the middle fixed seat,

[0024] Figure 6 for Figure 5 A view of each firing block along the axial direction of the firing shaft,

[0025] Figure 7 for Figure 1 Schematic diagram of the image processing device structure,

[0026] Figure 8 for Figure 1 Schematic diagram of the pan-tilt structure in .

[0027] Among them, 1 is a pan head, 11 is a base, 12 is a first driver, 13 is a first arm, 14 is a second driver, 15 is a second arm, 16 is a third driver, 17 is a fourth driver, 2 is a fire extinguishing device, 21 is a fixed seat, 22 is a shell, 23 is a wire trough, 24 is a fixed block, 25 is a fire extinguishing gun, 26 is a fixed pressure plate, 27 is a firing switch, 3 is a self-locking door mechanism, 31 is a first reduction housing, 32 is a first gear, 33 is a bearing, 34 is a first worm, 35 is a first motor, 36 is a first shell, 37 is a first controller, 38 is an active swing arm, 39 is a slave The movable swing arm, 310 is a positioning block, 311 is a door cover, 312 is a door cover drive shaft, 4 is a firing mechanism, 41 is a second reduction housing, 42 is a second gear, 43 is a second housing, 44 is a second worm, 45 is a transmission shaft, 46 is a second motor, 47 is a second controller, 48 is a firing shaft, 49 is a firing block, 491 is a first firing block, 492 is a second firing block, 493 is a third firing block, 5 is an image processing device, 51 is a mounting seat, 52 is a shockproof gel seat, 53 is an infrared searchlight, 54 is an infrared light point, 55 is an infrared camera, and 56 is a binocular camera. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figures 1 to 8 As shown, the present invention includes a pan / tilt head 1, a fire extinguishing device 2, a self-locking door mechanism 3, a firing mechanism 4 and an image processing device 5, wherein Figures 1-2 As shown, the pan-tilt platform 1 is used to be installed on the top of the tunnel robot, the fire extinguishing device 2 is installed on the pan-tilt platform 1, and a self-locking door mechanism 3 is provided on one side of the fire extinguishing device 2, and a firing mechanism 4 is provided on the other side. An image processing device 5 is provided on the upper side of the fire extinguishing device 2. Figure 3As shown, the self-locking door mechanism 3 includes a door cover 311 and a door cover driving assembly. A fire extinguishing nozzle is formed on one side of the fire extinguishing device 2, and the door cover 311 covers the fire extinguishing nozzle. The door cover 311 is driven to rotate and open by the door cover driving assembly. Figures 3 to 6 As shown, the fire extinguishing device 2 is provided with a fire extinguishing cannon 25, and the firing mechanism 4 includes a firing shaft 48 and a firing drive assembly. The firing shaft 48 is driven to rotate by the firing drive assembly, and a plurality of firing blocks 49 are provided on the firing shaft 48. Figure 6 As shown, along the axial direction of the firing shaft 48, the firing blocks 49 are arranged along the circumferential direction, as shown in FIG. Figure 5 As shown, the front end of the fire extinguishing cannon 25 is provided with a firing switch 27, and when the firing shaft 48 rotates, the firing switch 27 is triggered by the corresponding firing block 49, thereby starting the fire extinguishing cannon 25. When the present invention is working, the graphic processing device 5 is used to identify, calibrate, and analyze the position of the fire point, and provide a signal to the tunnel robot to move the tunnel robot to a suitable position. The pan-tilt platform 1 is provided with multiple degrees of freedom. The robot control system can adjust the position and direction of the fire extinguishing device 2 through the pan-tilt platform 1 according to the detection situation. After the position of the fire extinguishing device 2 is determined, the self-locking door mechanism 3 is started to open the door cover 311 to expose the fire extinguishing nozzle, and then the firing mechanism 4 is started to trigger each fire extinguishing cannon 25 in turn to achieve the fire extinguishing operation.

[0030] like Figure 3 As shown, a first housing 36 is provided on one side of the fire extinguishing device 2, and the door cover drive assembly is provided in the first housing 36, and the door cover drive assembly includes a first motor 35, a first worm 34, a first gear 32 and a door cover drive shaft 312, wherein the first worm 34 is driven to rotate by the first motor 35, the first gear 32 is meshed with the first worm 34, the door cover drive shaft 312 is rotatably provided in the first housing 36, and the first gear 32 is sleeved on the door cover drive shaft 312. When the present invention is working, the first motor 35 transmits torque through the first worm 34 and the first gear 32, thereby driving the door cover drive shaft 312 to rotate, and the door cover 311 is driven to flip by the door cover drive shaft 312, thereby realizing opening or closing, and the first worm 34 and the first gear 32 adopt a self-locking structure to support the positioning of the door cover drive shaft 312.

[0031] like Figure 3As shown, a first reduction housing 31 is provided at one end of the first housing 36, the first worm 34, the first gear 32 and the door cover drive shaft 312 are all provided in the first reduction housing 31, the door cover drive shaft 312 is supported by a bearing 33 provided in the first reduction housing 31 to realize rotation, a first controller 37 is provided inside the first housing 36, and the robot control system controls the rotation of the first motor 35 through the first controller 37. The first controller 37 is a well-known technology in the art and is a commercially available product.

[0032] like Figure 3 As shown, the upper side of the door cover 311 is hinged to the fire extinguishing device 2 through an active swing arm 38 and a driven swing arm 39, wherein the door cover drive shaft 312 is extended from the first reducer housing 31 and inserted into one end of the active swing arm 38 to drive the active swing arm 38 to rotate, thereby realizing the flipping of the door cover 311, and a positioning block 39 is provided at the upper end of the fire extinguishing device 2 away from the first shell 36, and the end of the driven swing arm 39 is hinged to the positioning block 39.

[0033] like Figures 4-5 As shown, a second housing 43 is provided on the other side of the fire extinguishing device 2, and the firing drive assembly in the firing mechanism 4 is provided in the second housing 43, and the firing drive assembly includes a second motor 46, a second worm 44, and a second gear 42, wherein the second worm 44 is driven to rotate by the second motor 46, the second gear 42 is meshed with the second worm 44, and the second gear 42 is sleeved on one end of the firing shaft 48. When the present invention is working, the second motor 46 transmits torque through the second worm 44 and the second gear 42 to drive the firing shaft 48 to rotate, thereby driving the firing block 49 to rotate and sequentially start the corresponding fire extinguishing gun 27, and the second worm 44 and the second gear 42 adopt a self-locking structure to support the firing shaft 48 to position.

[0034] like Figure 4 As shown, a second reduction housing 41 is provided at one end of the second housing 43, the second worm 44 and the second gear 42 are both provided in the second reduction housing 4, the output end of the second motor 46 is connected to the second worm 44 via a transmission shaft 45 to drive the second worm 44 to rotate, a second controller 47 is provided inside the second housing 43, and the robot control system controls the rotation of the second motor 46 via the second controller 47, and the second controller 47 is a well-known technology in the art and is a commercially available product.

[0035] like Figures 4 to 6 As shown, this embodiment is provided with three firing blocks 49, and three fire extinguishing guns 25 are provided in the fire extinguishing device 2. The first firing block 491 and the third firing block 493 are respectively used to trigger the fire extinguishing guns 25 on both sides, and the second firing block 492 is used to trigger the middle fire extinguishing gun 25. Figure 6As shown, along the axial direction of the firing shaft 48, the first firing block 491, the second firing block 492 and the third firing block 493 are evenly distributed along the circumferential direction. When extinguishing a fire, the firing drive assembly drives the firing shaft 48 to rotate a set angle, so that the first firing block 491 presses the firing switch 27 of the first fire extinguishing cannon 25, and the first fire extinguishing cannon 25 starts to extinguish the fire. When the robot system controls the firing shaft 48 to rotate the set angle again, the second firing block 492 presses the firing switch 27 of the second fire extinguishing cannon 25, and the second fire extinguishing cannon 25 starts to extinguish the fire. The present invention repeats the above operation to achieve the purpose of sequentially opening each fire extinguishing cannon 25. The fire extinguishing cannon 25 is a well-known technology in the art and is a commercially available product.

[0036] like Figure 5 As shown, the fire extinguishing device 2 includes a fixing seat 21 and a shell 22, the fixing seat 21 is provided with a fixing block 24 with a groove, the lower side of each fire extinguishing gun 25 is embedded in the corresponding fixing block 24, and is pressed and fixed by a fixing pressure plate 26, the fixing pressure plate 26 is connected to the corresponding fixing block 24 by bolts, the shell 22 is buckled on the fixing seat 21, and the fire extinguishing guns 25 are all arranged in the shell 22, as shown in FIG. Figure 3 As shown, the upper side of the housing 22 is provided with a wire groove 23 for wiring, the first housing 36 and the second housing 43 are both fixedly connected to the housing 22, and through holes are provided on both sides of the housing 22 for the door cover drive shaft 312 or the firing shaft 48 to pass through, as shown in FIG. Figure 4 As shown, a bearing seat is provided in the housing 22, and both ends of the firing shaft 48 are supported by corresponding bearing seats to achieve rotation.

[0037] like Figure 7 As shown, the image processing device 5 includes a mounting seat 51, an infrared searchlight 53, an infrared camera 55 and a binocular camera 56, wherein a binocular camera 56 is provided at the top of the mounting seat 51, infrared searchlights 53 are provided on both sides of the mounting seat 51, and infrared light points 54 are installed inside the infrared searchlight 53, an infrared camera 55 is provided in the middle of the front surface of the mounting seat 51, and a shockproof gel seat 52 is provided at the bottom of the mounting seat 51, and the shockproof gel seat 52 is installed on the upper side of the shell 22 of the fire extinguishing device 2. The infrared searchlight 53, infrared camera 55 and binocular camera 56 are all well-known technologies in the art and are commercially available products, wherein the image data transmitted by the infrared camera 55 and the binocular camera 56 can be processed by intelligent AI on the image through the robot system controller and its equipped recognition system and processing system, so as to be able to sharpen the image content and identify the range different from the surrounding situation and transmit electrical signals according to the position distance of the image to assist in controlling other devices, thereby achieving the purpose of identifying, calibrating and analyzing the location of the fire point.

[0038] The minimum detection range of the infrared camera 55 is based on the absolute distance h from the highest point of the tunnel to the ground. The present invention can select a suitable infrared camera 55 according to the scale of different tunnels, but the minimum use specification of the infrared camera 55 is the range specified in the present invention. According to the different equipment selected, the detection range of the infrared camera 55 can specifically reach between 0.3 meters and 2000 meters. A higher-precision infrared camera 55 can also be used to achieve a larger range in some special cases. The detection distance of the infrared camera 55 = the target to be measured ÷ IFOV. The smaller the IFOV, the farther the distance that can be measured. IFOV refers to the minimum target (area) that each pixel of the infrared thermal imager can detect at a unit test distance. It is measured in mRad units and is a comprehensive parameter mainly determined by pixels and the selected lens angle. It is a technical indicator of the thermal imager's ability to process spatial details. When high precision is required, a device with a lower IFOV value is used.

[0039] The minimum detection range of the binocular camera 56 is based on the absolute distance h from the highest point of the tunnel to the ground. The minimum detection range of the binocular camera 56 is The present invention selects a suitable binocular camera 56 according to different tunnel scales, but the minimum usage specification of the binocular camera 56 is the range specified in the present invention. According to the different equipment selected, the detection range of the binocular camera 56 can specifically reach between 0.3 meters and 500 meters. A higher-precision binocular camera 56 can also be used to achieve a larger range in some special cases.

[0040] like Figure 7 As shown, the pan / tilt head 1 comprises a base 11, a plurality of drivers and a plurality of arms, wherein the base 11 is mounted on the tunnel inspection robot, the upper surface of the base 11 is equipped with a first driver 12, the output end of the first driver 12 is equipped with a first arm 13, the first arm 13 is driven to rotate by the first driver 12, the rear end of the first arm 13 is fixedly equipped with a second driver 14, the output end of the second driver 14 is equipped with a second arm 15, the second arm 15 is driven to rotate by the second driver 14, the front end of the second arm 15 is equipped with a third driver 16, the fourth driver 17 is mounted on the third driver 16 and driven to rotate by it, and the bottom end of the fire extinguishing device 2 is mounted on the fourth driver 17 and driven to rotate by it. The driver can be a servo or other device, which is a well-known technology in the art.

[0041] The working principle of the present invention is:

[0042] When the present invention is used, the tunnel inspection robot patrols back and forth in the tunnel in a regular and directional manner. After identifying that a fire has occurred, the graphics processing device 5 identifies, calibrates, and analyzes the location of the fire point, and provides a signal to the tunnel robot control system. The robot control system sets a path through calculation and analysis and controls the tunnel robot to move to a suitable position, and then controls the pan-tilt head 1 to adjust the position and direction of the fire extinguishing device 2. After the pan-tilt head 1 is adjusted, the self-locking door mechanism 3 is started to open the door cover 311 to expose the fire extinguishing nozzle, and then the firing mechanism 4 is started to trigger each fire extinguishing cannon 25 in sequence to realize the fire extinguishing function.

[0043] The emergency fire extinguishing method of the present invention is specifically as follows:

[0044] The tunnel inspection robot is set in automatic path patrol mode, and then the inspection robot is dispatched to patrol inside the tunnel at a fixed time and direction. During the patrol, the pan-tilt head 1 drives the image processing device 5 and the fire extinguishing device 2 to extend to the maximum distance on the farthest side of the inspection path from the tunnel, which is less than the safe distance range for operation, and patrols in the walking direction of the tunnel. After the patrol is completed, it automatically patrols back to its position along the reverse path.

[0045] When the image processing device 5 detects abnormal temperature in the tunnel using the infrared camera 55, the infrared camera 55 combines with the robot control system to identify the points with high temperatures. Then the robot system controls the pan / tilt head 1 to start, aligns the infrared camera 55 and the binocular camera 56 to the abnormal points, and issues an alarm to identify the situation.

[0046] When a fire alarm or a single-point temperature anomaly is identified, a treatment plan is determined based on the temperature range detected and identified and automatically reported. When it is determined to be a fire alarm, the robot control system controls the tunnel robot to move to a suitable position and presets the ballistic direction of the fire extinguishing gun 25 according to the detection situation of the image processing device 5, and then uses the pan-tilt head 1 to adjust the position of the fire extinguishing device 2 according to the ballistic direction. After the pan-tilt head 1 is adjusted, the self-locking door mechanism 3 is started to open the door cover 311 to expose the fire extinguishing nozzle, and then the firing mechanism 4 is started to trigger each fire extinguishing gun 25 to fire the fire extinguishing agent in turn, and then the on-site results are identified and reported. If the fire is extinguished, exit the tunnel. If the fire is not extinguished, monitor on the spot and wait for other rescue.

Claims

1. A fire extinguishing mechanism for a tunnel inspection robot, characterized in that: The invention comprises a pan-tilt platform (1), a fire extinguishing device (2), a self-locking door mechanism (3), a firing mechanism (4) and an image processing device (5), wherein the fire extinguishing device (2) is mounted on the pan-tilt platform (1), and the fire extinguishing device (2) is provided with a self-locking door mechanism (3) on one side and a firing mechanism (4) on the other side, and an image processing device (5) is provided on the upper side of the fire extinguishing device (2), and the self-locking door mechanism (3) comprises a door cover (311) and a door cover driving component, and a fire extinguishing nozzle is formed on one side of the fire extinguishing device (2), and the door cover (311) covers the fire extinguishing nozzle and passes through the door cover (311). The door cover driving assembly drives the rotation, the firing mechanism (4) comprises a firing shaft (48) and a firing driving assembly, and the firing shaft (48) is driven to rotate by the firing driving assembly, a plurality of firing blocks (49) are arranged on the firing shaft (48), and each firing block (49) is arranged along the circumferential direction of the firing shaft (48), a fire extinguishing gun (25) with a firing switch (27) is arranged inside the fire extinguishing device (2), and when the firing shaft (48) rotates, the firing switch (27) is triggered by pressing down the corresponding firing block (49); A first housing (36) is provided on one side of the fire extinguishing device (2), and the door cover driving assembly is provided in the first housing (36). The door cover driving assembly comprises a first motor (35), a first worm (34), a first gear (32) and a door cover driving shaft (312), wherein the first worm (34) is driven to rotate by the first motor (35), the first gear (32) is meshed with the first worm (34), and the first gear (32) is sleeved on the door cover driving shaft (312), and the door cover (311) is driven to flip by the door cover driving shaft (312); A first reduction housing (31) is provided at one end of the first housing (36), the first worm (34), the first gear (32) and the door cover drive shaft (312) are all arranged in the first reduction housing (31), and a first controller (37) is provided inside the first housing (36); the upper side of the door cover (311) is hinged to the fire extinguishing device (2) via an active swing arm (38) and a driven swing arm (39), wherein the active swing arm (38) is driven to rotate via the door cover drive shaft (312); A second housing (43) is provided on the other side of the fire extinguishing device (2), and the firing drive assembly is arranged in the second housing (43). The firing drive assembly comprises a second motor (46), a second worm (44) and a second gear (42), wherein the second worm (44) is driven to rotate by the second motor (46), the second gear (42) is meshed with the second worm (44), and the second gear (42) is sleeved on one end of the firing shaft (48); A second reduction housing (4) is provided at one end of the second housing (43); the second worm (44) and the second gear (42) are both provided in the second reduction housing (4); and a second controller (47) is provided inside the second housing (43); The pan / tilt platform (1) comprises a base (11), a plurality of drivers and a plurality of arms, wherein the base (11) is mounted on a tunnel inspection robot, a first driver (12) is mounted on the upper surface of the base (11), a first arm (13) is mounted on the output end of the first driver (12), a second driver (14) is fixedly mounted on the rear end of the first arm (13), a second arm (15) is mounted on the output end of the second driver (14), a third driver (16) is mounted on the front end of the second arm (15), a fourth driver (17) is mounted on the output end of the third driver (16), and a bottom end of the fire extinguishing device (2) is mounted on the output end of the fourth driver (17); The fire extinguishing device (2) comprises a fixing seat (21) and a shell (22), wherein the shell (22) is buckled on the fixing seat (21), a fire extinguishing cannon (25) is fixed on the fixing seat (21) and arranged in the shell (22), the self-locking door mechanism (3) and the firing mechanism (4) are both installed on the shell (22), and a wire groove (23) is arranged on the upper side of the shell (22); The image processing device (5) comprises a mounting seat (51), an infrared searchlight (53), an infrared camera (55) and a binocular camera (56), wherein a binocular camera (56) is provided at the top of the mounting seat (51), infrared searchlights (53) are provided on both sides of the mounting seat (51), an infrared light point (54) is installed inside the infrared searchlight (53), an infrared camera (55) is provided at the middle of the front surface of the mounting seat (51), and a shockproof gel seat (52) is provided at the bottom end of the mounting seat (51), and the shockproof gel seat (52) is installed on the upper side of the fire extinguishing device (2).

2. An emergency fire extinguishing method for a fire extinguishing mechanism for a tunnel inspection robot according to claim 1, characterized in that: During the patrol process of the tunnel inspection robot, the image processing device (5) detects the tunnel in real time. When the infrared camera (55) detects that the temperature in the tunnel is abnormal, the pan-tilt table (1) starts to adjust the infrared camera (55) and the binocular camera (56) to the abnormal point to identify the alarm situation. When it is judged that the alarm situation is already burned, the robot control system controls the movement of the tunnel robot and presets the ballistic direction of the fire extinguishing gun (25) according to the detection situation of the image processing device (5), and then controls the pan-tilt table (1) to adjust the position of the fire extinguishing device (2). After the adjustment of the pan-tilt table (1) is completed, the self-locking door mechanism (3) is started to open the door cover (311), and then the firing mechanism (4) is started to trigger each fire extinguishing gun (25) in turn to fire the fire extinguishing agent.

3. The emergency fire extinguishing method of the fire extinguishing mechanism for the tunnel inspection robot according to claim 2, characterized in that: The absolute distance from the highest point of the tunnel to the ground is h, and the minimum detection range of the infrared camera (55) is The minimum detection range of the binocular camera (56) is

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