A negative pressure adsorption type building climbing remote control fire truck and its working method

Abstract

The present invention relates to the technical field of mechanical automation equipment manufacturing, and belongs to a negative pressure adsorption type building climbing remote control fire truck and its working method: The negative pressure adsorption type building climbing remote control fire truck includes a negative pressure part, a climbing and walking part, a water hose carrying and adjusting part, and a controller; the negative pressure part includes a turbo fan and a sealing ring; the climbing and walking part includes a synchronous belt, a load-bearing wheel, a tensioning wheel, a DC motor, and a driving wheel; the water hose carrying and adjusting part includes a fixed ring, a connecting ring, a nozzle, and an angle adjusting structure; the present invention adopts a remote control climbing operation mode, without the need for firefighters to go to the fire site for rescue, greatly ensuring the personal safety and technical difficulty of firefighters.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical automation equipment manufacturing, and relates to a negative pressure adsorption type building climbing remote control fire truck and a working method thereof. Background Art

[0002] With the development of national construction, high-rise buildings are everywhere in cities, and buildings over 20 floors are lined up one after another, which brings fire protection problems. In the existing technology, the fire extinguishing method of high-rise building fires is mainly to use fixed fire-fighting facilities for internal fire extinguishing, followed by water cannon fire trucks and high-rise fire trucks for fire extinguishing. The main disadvantages are: first, the fire-fighting cost is high; second, the efficiency of fire-fighting in buildings over 24 meters is low, the risk factor is high, and the safety of firefighters is difficult to guarantee.

[0003] With the emergence of fire protection issues, negative pressure wall climbing vehicles have emerged in the fire protection field for firefighting; however, most of the negative pressure wall climbing vehicles in the prior art have limited scope of application: first, they are limited to walls, often limited to buildings with smooth surfaces, such as buildings with glass exteriors; second, they have light loads and the fire protection effect is not ideal.

[0004] In summary, the negative pressure wall climbing vehicle in the prior art is not well suited for firefighting. Summary of the invention

[0005] The present invention provides a negative pressure adsorption building climbing remote control fire truck, which is suitable for ordinary flat exterior walls, has a wide application range, a large load capacity, a fast crawling speed, can quickly reach the location and start firefighting work, and in addition, the water gun angle can be adjusted to accurately extinguish the fire and quickly control the fire.

[0006] A negative pressure adsorption building climbing remote control fire truck, characterized in that it includes a negative pressure part, a climbing walking part, a water hose load adjustment part, and a controller;

[0007] The negative pressure part includes a turbine fan and a sealing ring; multiple turbine fans are installed on the upper side of the fire truck chassis, and the air inlet of the turbine fan is on the lower side; a sealing ring is fixed on the lower circumference of the fire truck chassis;

[0008] The climbing walking part includes a synchronous belt, a road wheel, a tensioning wheel, a DC motor, and a driving wheel; a plurality of angle irons are fixed on both sides of the fire truck chassis; a tensioning wheel is fixed on the outermost angle iron on each side; a DC motor is installed on the fire truck chassis on the other side of the tensioning wheel, a driving wheel is connected to the output shaft of the DC motor, and a road wheel is connected to the angle iron between the driving wheel and the tensioning wheel; a synchronous belt is connected to the tensioning wheel, the driving wheel and the road wheel;

[0009] The water hose carrying and adjusting part includes a fixing ring, a connecting ring, a nozzle and an angle adjusting structure; the fixing ring is fixed on one side of the fire truck chassis, and the angle adjusting structure is fixed on the other side of the fire truck chassis; in the angle adjusting structure, there are a pan-tilt frame body, a pan-tilt left and right stepping motor, a pan-tilt left and right rotating disk, a pan-tilt pitching stepping motor, a pitching worm output shaft and a nozzle bracket; the pan-tilt frame body is fixed on the fire truck chassis, in the pan-tilt frame body, a pan-tilt left and right stepping motor is installed, the output shaft of the pan-tilt left and right stepping motor is connected with the pan-tilt left and right rotating disk, on the pan-tilt left and right rotating disk, a support frame is fixed, in the support frame, a pan-tilt pitching stepping motor is installed, the output shaft of the pan-tilt pitching stepping motor is connected with a turbine and a worm, both ends of the worm output shaft are connected with the nozzle bracket, and the nozzle is fixed on the nozzle bracket; at the rear end of the nozzle, a connecting ring is connected; the water hose passes through and is fixed in the fixing ring and extends to the connecting ring for fixation;

[0010] The controller is connected with electric wires, and the eddy current blower, the DC motor, the pan-tilt left and right stepping motor and the pan-tilt pitching stepping motor are respectively electrically connected to the controller.

[0011] Preferably, the negative pressure adsorption type building climbing remote control fire truck further includes a camera; a connecting plate is installed at the connecting ring, and the camera is fixed on the connecting plate.

[0012] Preferably, the negative pressure adsorption type building climbing remote control fire truck further includes a nail driving and fixing structure; it includes a nail driver, an electromagnet and a pull fire rope; the electromagnet is fixed on the electromagnet bracket, the electromagnet is connected with the pull fire rope, the other end of the pull fire rope is connected with a cross-shaped latch, the cross-shaped latch is installed at the upper end of the throwable body of the nail driver, and at the upper end of the throwable body of the nail driver, an inclined latch blocking surface is provided, the latch blocking surface is connected with a latch groove, in the inclined direction of the latch blocking surface, the side where the latch groove is located is higher than the other side; the lower side body of the cross-shaped latch is a striker rod body, the striker rod body is inserted into the nail barrel opened in the throwable body of the nail driver, and a striking spring is sleeved on the striker rod body, a striking spring blocking block is formed on the striker rod body to prevent the striking spring from falling; at the end of the striker rod body, a striker head is formed, the lower end of the throwable body of the nail driver is connected with the nail driver fixing body, and in the nail barrel opened in the nail driver fixing body, a nail is placed; corresponding to the nail outlet, a nail through hole is opened on the vehicle chassis.

[0013] Preferably, two sets of the nail driving and fixing structures are provided.

[0014] Preferably, the sealing ring is made of a silicone layer plus a polytetrafluoroethylene layer.

[0015] The present invention also provides a working method of a negative pressure adsorption type building climbing remote control fire truck, which is characterized by including the following steps:

[0016] Step 1: The DC motor drives the synchronous belt to move to the vicinity of the fire point;

[0017] Step 2: After reaching the position, the nailing and fixing structure nails to fix the whole vehicle on the wall;

[0018] Step 3: The water hose is filled with water, and the pan-tilt stepping motor and the left-right stepping motor of the pan-tilt work together to adjust the spraying angle of the nozzle to spray water for fire extinguishing;

[0019] In addition, when installing the camera, the spraying position is based on the image signal transmitted back by the camera, and the spraying angle adjustment is more accurate.

[0020] The present invention provides a negative pressure adsorption type remote control fire truck for climbing buildings, which is used for fire fighting in high-rise buildings in cities and has the following beneficial effects:

[0021] 1. It is applicable to the occasions where the building wall surface is flat without protrusions and is not affected by wall tiles and general gaps.

[0022] 2. It climbs in a remote control mode and can cooperate with a camera to remotely control the nozzle angle of the pan-tilt, and can accurately spray water to the fire point, improving the accuracy and reliability.

[0023] 3. The remote control fire truck is driven to move and fixed through negative pressure, sealing rings and synchronous belts. When reaching the high-rise floor, the negative pressure and the nailing device can completely fix the fire truck at this position for accurate fire extinguishing, and overcome the disturbance instability caused by water pressure during the water supply process.

[0024] In summary: The present invention adopts a remote control climbing operation mode, eliminating the need for firefighters to go to the fire point for on-site rescue, greatly ensuring the safety of firefighters and reducing the technical difficulty; it greatly solves the limitation brought by the insufficient number of high-lift fire trucks. In addition, due to the low cost of the remote control vehicle, it can be equipped in large quantities, and only limited economic losses will be caused by damage in accidents. Therefore, this type of equipment has a very high performance-price ratio and can bring great social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the overall structural schematic diagram of the present invention;

[0026] Figure 2 is the overall top view of the present invention;

[0027] Figure 3 is the overall bottom view of the present invention;

[0028] Figure 4 is the structural schematic diagram of the nozzle installation of the present invention;

[0029] Figure 5a is the structural schematic diagram of the nailing device in the present invention;

[0030] Figure 5bIt is a perspective view of the nailer in the present invention;

[0031] Figure 6 It is the CPU hardware schematic diagram of the controller of the present invention;

[0032] Figure 7 It is the power supply diagram of the controller of the present invention;

[0033] Figure 8 It is the clock reset circuit of the controller of the present invention and the schematic diagram of an LED;

[0034] Figure 9 It is the PWM control circuit of the drive motor on the left side (the same on the right side) of the present invention and the schematic diagram of the commutator;

[0035] Figure 10 It is the signal wiring diagram of the controller of the present invention.

[0036] In the figure: 1. Vehicle chassis; 2. Turbo fan; 3. Timing belt; 4. Load-bearing wheel; 5. Angle iron; 6. Tensioning wheel; 7. Driving wheel; 8. DC motor; 9. Controller; 10. Electric wire; 11. Water hose; 12. Fixed ring; 13. Connecting ring; 14. Nozzle; 15. Support frame; 16. Camera; 17. Nailer; 18. Lanyard; 19. Electromagnet; 20. Electromagnet bracket; 21. Silicone layer; 22. Teflon layer; 23. Air inlet; 24. Through hole for nail; 25. Pan-tilt stepping motor of the cloud platform; 26. Left-right stepping motor of the cloud platform; 27. Left-right rotating disc of the cloud platform; 28. Frame of the cloud platform; 29. Output shaft of the pitch worm; 30. Nozzle bracket; 31. Fixing body of the nailer; 32. Barrel of the nail; 33. Nail; 34. Impact head; 35. Impact spring; 36. Body of the impact pin; 37. Cross-shaped latch; 38. Latch stop surface; 39. Latch groove. Detailed implementation manners

[0037] The technical solution of the present invention will be further explained and illustrated below through specific implementation manners.

[0038] Embodiment 1

[0039] Referring to the attached drawings, the present invention provides a negative pressure adsorption type building climbing remote control fire truck, which is characterized in that it includes a negative pressure part, a climbing and walking part, a water hose carrying and adjusting part, and a controller;

[0040] In the negative pressure part, there are a turbo fan 2 and a sealing ring. Specifically, when in use, four turbo fans 2 are applied; a plurality of turbo fans 2 are installed on the upper side of the fire truck chassis 1, and the air inlets 23 of the turbo fans 2 are on the lower side; the fire truck chassis is 50 cm × 100 cm, and a sealing ring is fixed on the lower circumference of the fire truck chassis;

[0041] The described sealing ring uses a silicone layer 21 and a polytetrafluoroethylene layer 22 together, each with a thickness of 5 mm and a width of 10 mm;

[0042] This vehicle adopts a negative pressure adsorption method. It uses a high-power turbine fan 2 on the back of the vehicle chassis to exhaust air to the outside. In cooperation with the sealing ring, a negative pressure is formed under the vehicle body, enabling it to closely adhere to the wall and move freely. The total weight of the vehicle body plus the effective load can reach more than 20 kilograms. The sealing ring is made of a silicone layer with an additional polytetrafluoroethylene layer, having good elasticity. The friction coefficient when sliding in contact with the wall is only 0.1. Experiments prove that the sealing ring can provide effective negative pressure even when its assembly height is slightly lower than that of the synchronous belt under the wheels. At the same time, the sealing ring itself does not impede the movement of the vehicle. Since the friction coefficient of the rubber synchronous belt against most materials is greater than 0.5, the fan only needs to make the pressure under the vehicle body reach 0.99 atmospheres, and the existing 50 cm × 100 cm chassis can obtain a vertical load climbing capacity of 20 kg. Through experiments, it is proved that the prototype vehicle meets this design requirement.

[0043] The described climbing and walking part includes a synchronous belt 3, load-bearing wheels 4, tensioning wheels 6, DC motors 8, and drive wheels 7; On both sides of the fire truck chassis 1, multiple angle irons 5 are respectively fixed; In each side, a tensioning wheel 6 is fixed on the outermost angle iron 5; On the fire truck chassis 1 on the other side of the tensioning wheel 6, a DC motor 8 is installed. A drive wheel 7 is connected to the output shaft of the DC motor 8. On the angle iron 5 between the drive wheel 7 and the tensioning wheel 6, a load-bearing wheel 4 is connected; A synchronous belt 3 is connected to the tensioning wheel 6, the drive wheel 7, and the load-bearing wheel 4;

[0044] The climbing force of the vehicle body is provided by a crawler-type structure. When climbing, the synchronous belt 3 closely adheres to the wall to generate driving force. The gap between the sealing ring and the wall is kept within 0.1 mm. At this time, it is sufficient to provide a suitable negative pressure state. At the same time, the possible friction force between the sealing ring and the wall is extremely small and will not generate resistance to the drive wheel. Through experiments, it is proved that a vehicle body of 0.5 m × 1 m size can generate a load force of more than 20 KG;

[0045] The climbing function is realized by two 895 high-power DC motors 8 after deceleration, driving the drive wheel 7 and the synchronous belt 3. The synchronous belt 3 is relatively thick. After being tightened by several load-bearing wheels 4 and tensioning wheels 6, it adheres to the wall to play the same role as a crawler. The two DC motors 8 are controlled by a controller based on the Hi-Link W806 chip. The operator manipulates a linear handle on the ground. The vehicle speed signal and direction signal are given by the linear voltage of the handle. After these two voltages are transmitted to the controller, the speed is controlled through a PWM speed regulation circuit, the forward direction is controlled by the speed difference between the left and right wheels, and commutation is carried out through a commutation bridge.

[0046] The water hose carrying and adjusting part described above includes a fixing ring 12, a connecting ring 13, a nozzle 14 and an angle adjusting structure; the fixing ring 12 is fixed on one side of the fire truck chassis 1, and an angle adjusting structure is fixed on the other side of the fire truck chassis 1; in the angle adjusting structure, there are a pan-tilt frame body 28, a pan-tilt left-right stepping motor 26, a pan-tilt left-right rotating disk 27, a pan-tilt pitching stepping motor 25, a pitching worm output shaft 29, and a nozzle support 30; the pan-tilt frame body 28 is fixed on the fire truck chassis 1, in the pan-tilt frame body 28, a pan-tilt left-right stepping motor 26 is installed, the output shaft of the pan-tilt left-right stepping motor 26 is connected to the pan-tilt left-right rotating disk 27, on the pan-tilt left-right rotating disk 27, a support frame 15 is fixed, in the support frame 15, a pan-tilt pitching stepping motor 25 is installed, the output shaft of the pan-tilt pitching stepping motor 25 is connected to a turbine and a worm, both ends of the worm output shaft are connected to the nozzle support 30, and the nozzle 14 is fixed on the nozzle support 30; at the rear end of the nozzle, a connecting ring 13 is connected; the water hose 11 passes through and is fixed in the fixing ring 12 and extends to the connecting ring 13 for fixing;

[0047] A negative pressure adsorption type building climbing remote control fire truck provided by the present invention climbs vertically and carries a fire hose. A nozzle 14 is installed in front of the fire hose and is installed on a pan-tilt by a nozzle support 30. The rear part of the fire hose extends backward through the fixing ring 12; when climbing, the fire hose is released from the ground for the negative pressure adsorption type building climbing remote control fire truck to climb to a suitable height. After measurement, the weight of a 30-meter empty fire hose is only within 5KG. Therefore, the negative pressure adsorption type building climbing remote control fire truck can carry the load to the high-rise fire point;

[0048] The pan-tilt is driven by two stepping motors with self-locking functions, namely the pan-tilt pitching stepping motor 25 and the pan-tilt left-right stepping motor 26, to achieve precise fire extinguishing. The control of the two stepping motors also uses a controller based on the Hi-Link W806 chip to control. There are two pulse signals to control the rotation speed and rotation angle of the two motors, and two switch signals to control the rotation direction of the motors. The ground operator observes the state at a high place through the camera on the water gun, uses the second handle to control the rotation angle of the pan-tilt, and opens the water supply valve to spray water for fire extinguishing after reaching a suitable state;

[0049] A wire 10 is connected to the controller 9 described above, and the eddy current blower 2, the DC motor 8, the pan-tilt left-right stepping motor 26, and the pan-tilt pitching stepping motor 25 are respectively electrically connected to the controller 9.

[0050] Embodiment 2

[0051] Based on the structure of Embodiment 1, the negative pressure adsorption type building climbing remote control fire truck further includes a camera 16; a connecting plate is installed at the connecting ring 13, and the camera 16 is fixed on the connecting plate. The camera 16 is a Ruisike Ni RS-500C type USB camera, and the USB signal line, power line, and control line are all dragged to the ground; if a wireless camera 16 is used, Luming Weishi M7 can be used.

[0052] The nozzle 40 assembled at the front of the vehicle, that is, the fire hose, and the spraying angle of the hose is adjusted by cooperating with the vehicle-mounted camera and the remote control pan-tilt head.

[0053] The image is transmitted back to the receiving end adapted to the camera.

[0054] Embodiment 3

[0055] Based on the structure of Embodiment 2, the negative pressure adsorption type building climbing remote control fire truck further includes a nail driving and fixing structure; it includes a nail driver 17, an electromagnet 19, and a pull fire rope 18; the electromagnet 19 is fixed on the electromagnet bracket 20, the electromagnet 19 is connected to the pull fire rope 18, the electromagnet 19 itself has a hole at the end and a pin hole on the side, and the nylon pull fire rope 18 extends from the tail hole and protrudes from a pin hole, and then it can be knotted and fixed.

[0056] The other end of the pull fire rope 18 is connected to the cross-shaped latch 37. The cross-shaped latch 37 is installed at the upper end of the disposable body of the nail driver, and at the upper end of the disposable body of the nail driver, there is an inclined latch stop surface 38. The latch stop surface 38 is connected to a latch groove 39. In the inclined direction of the latch stop surface 38, the side where the latch groove 39 is located is higher than the other side; the lower side body of the cross-shaped latch 37 is a striker rod body 36. The striker rod body 36 is inserted into the nail barrel 32 opened in the disposable body of the nail driver, and a strike spring 35 is sleeved on the striker rod body 36. On the striker rod body 36, there is a strike spring stop block to prevent the strike spring 36 from falling; at the end of the striker rod body 36, there is a striker head 34. The lower end of the disposable body of the nail driver is connected to the nail driver fixing body 31. To ensure proper connection and normal throwing, the disposable body of the nail driver and the nail driver fixing body are only bonded with hot melt glue. The amount of glue used is measured by experiments. In the nail barrel opened in the nail driver fixing body 31, a nail 33 is placed; corresponding to the nail outlet, a nail through hole 24 is opened on the vehicle chassis.

[0057] When the vehicle reaches an appropriate position near the fire point, it is necessary to open the water valve to supply water to the water hose. At this time, due to the high water pressure, to prevent the additional load from being greater than the effective load of the vehicle and causing overturning, two nail driving and fixing structures are equipped on the vehicle to drive nails and fix the vehicle body near the fire point.

[0058] The working process is as follows:

[0059] Step 1: In the initial factory state, the cross-shaped catch 37 stops on the catch stop surface 38; the cross-shaped catch 37 is manually pulled out from the catch groove 39 and rotates as it is pulled, and stops on the catch stop surface 38; the catch stop surface 38 has a 5° inclined plane to prevent the cross-shaped catch 37 from slipping by itself;

[0060] Step 2: The push-pull electromagnet generates a pulling force of up to 5 kg. When firing, the cross-shaped catch 37 is pulled by the pull cord 18, causing it to rotate and fall into the catch groove 39. After the firing spring 35 fires, the head of the firing pin hits the nail 33 at high speed, causing the nail 33 to be fired into the wall inside the barrel; after firing, the projectile can be thrown backward to offset the recoil force. In addition, the pull cord 18 is connected and will not be lost when connected to the vehicle.

[0061] Example 4

[0062] A working method of a negative pressure adsorption type building climbing remote control fire truck, characterized by including the following steps:

[0063] Step 1: The DC motor 8 drives the synchronous belt 3 to move to the vicinity of the fire point;

[0064] Step 2: After reaching the position, the nailing and fixing structure nails to fix the whole vehicle on the wall;

[0065] Step 3: The water hose is filled with water, and the pan-tilt stepping motor 25 and the pan-azimuth stepping motor 26 work together to adjust the spraying angle of the nozzle and spray water to extinguish the fire;

[0066] In addition, when installing the camera, the spraying position is based on the image signal transmitted back by the camera, and the spraying angle adjustment is more accurate.

[0067] The following are more data to prove the feasibility of the remote control fire truck:

[0068]

[0069]

[0070]

Claims

1. A negative pressure adsorption type building climbing remote control fire truck, characterized in that, It includes a negative pressure part, a climbing and walking part, a hose carrying and adjusting part, and a controller; The negative pressure part includes a turbo fan and a sealing ring; multiple turbo fans are installed on the upper side of the fire truck chassis, and the air inlets of the turbo fans are on the lower side; a sealing ring is fixed on the lower circumference of the fire truck chassis; The climbing and walking part includes a synchronous belt, load wheels, a tensioning wheel, a DC motor, and a driving wheel; on both sides of the fire truck chassis, several angle irons are respectively fixed; on each side, the outermost angle iron is fixed with a tensioning wheel; on the fire truck chassis on the other side of the tensioning wheel, a DC motor is installed, and the output shaft of the DC motor is connected with a driving wheel; on the angle iron between the driving wheel and the tensioning wheel, a load wheel is connected; a synchronous belt is connected to the tensioning wheel, the driving wheel, and the load wheel; The hose carrying and adjusting part includes a fixing ring, a connecting ring, a nozzle, and an angle adjusting structure; the fixing ring is fixed on one side of the fire truck chassis, and an angle adjusting structure is fixed on the other side of the fire truck chassis; in the angle adjusting structure, there are a pan-tilt frame body, a pan-tilt left and right stepping motor, a pan-tilt left and right rotating disk, a pan-tilt pitching stepping motor, a pitching worm output shaft, and a nozzle support; the pan-tilt frame body is fixed on the fire truck chassis, in the pan-tilt frame body, a pan-tilt left and right stepping motor is installed, the output shaft of the pan-tilt left and right stepping motor is connected with a pan-tilt left and right rotating disk, on the pan-tilt left and right rotating disk, a support frame is fixed, in the support frame, a pan-tilt pitching stepping motor is installed, the output shaft of the pan-tilt pitching stepping motor is connected with a turbine and a worm, both ends of the worm output shaft are connected with a nozzle support, and the nozzle is fixed on the nozzle support; at the rear end of the nozzle, a connecting ring is connected; the hose passes through the fixing ring and is fixed, and extends to the connecting ring for fixation; Wires are connected to the controller, and the eddy current fan, the DC motor, the pan-tilt left and right stepping motor, and the pan-tilt pitching stepping motor are respectively electrically connected to the controller; The negative pressure adsorption type building climbing remote control fire truck also includes a nail driving and fixing structure; it includes a nail driver, an electromagnet, and a pull fire rope; the electromagnet is fixed on an electromagnet support, the electromagnet is connected with the pull fire rope, the other end of the pull fire rope is connected with a cross-shaped latch, the cross-shaped latch is installed at the upper end of the throwable body of the nail driver, and on the upper end of the throwable body of the nail driver, an inclined latch stop surface is provided, the latch stop surface is connected with a latch groove, in the inclined direction of the latch stop surface, the side where the latch groove is located is higher than the other side; the lower body of the cross-shaped latch is a striker rod body, the striker rod body is inserted into the nail barrel opened in the throwable body of the nail driver, and a striking spring is sleeved on the striker rod body, on the striker rod body, a striking spring stop block is formed to prevent the striking spring from falling; at the end of the striker rod body, a striker head is formed, the lower end of the throwable body of the nail driver is connected with a nail driver fixing body, in the nail barrel opened in the nail driver fixing body, a nail is placed; corresponding to the nail outlet, a nail through hole is opened on the vehicle chassis.

2. The negative pressure adsorption type building climbing remote control fire truck according to claim 1, characterized in that, The negative pressure adsorption type building climbing remote control fire truck also includes a camera; a connecting plate is installed at the connecting ring, and the camera is fixed on the connecting plate.

3. The negative pressure adsorption type building climbing remote control fire truck according to claim 1, wherein The nail driving and fixing structure is provided in two places.

4. The negative pressure adsorption type remote control fire truck for climbing buildings according to claim 1, characterized in that, The sealing ring is made of a silicone layer with a polytetrafluoroethylene layer attached.

5. A working method of the negative pressure adsorption type building climbing remote control fire truck according to claim 1, characterized in that, It includes the following steps: Step 1: The DC motor drives the synchronous belt to move to the vicinity of the ignition point; Step 2: After reaching the position, the nailing and fixing structure nails to fix the whole vehicle on the wall; Step 3: The water hose is filled with water. The pan-tilt stepping motor and the pan-stepping motor work together to adjust the water spraying angle of the nozzle for water spraying and fire extinguishing; In addition, when installing the camera, the water spraying position is based on the image signal transmitted back by the camera, and the water spraying angle adjustment is more accurate.

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