A forest fire tree-climbing fire-fighting robot

Abstract

The present invention relates to a forest fire tree-climbing fire-fighting robot, which includes a vehicle component. Above the vehicle component, there is a fire-fighting component for spraying high-pressure water jets to extinguish fires, a tree-climbing component for carrying a fire-fighting nozzle to climb up the tree tops to extinguish fires, and a detection component for detecting fire situations. The present invention replaces manual fire-fighting with machine fire-fighting, eliminating potential safety hazards for personnel. At the same time, high-altitude fire-fighting can be achieved through the tree-climbing function, the location of the fire source can be determined through video monitoring, and the angle can be adjusted using a high-pressure spray gun to accurately extinguish the fire source. Multiple groups of fire-fighting robots can form a fire-fighting water wall at high altitude to achieve all-round fire-fighting. In addition, this fire-fighting robot can supply water for a long time, and the position of the fire-fighting robot can also be adjusted at any time according to the fire situation. This fire-fighting robot can effectively shorten the fire-fighting time and increase the fire-fighting efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of forest fire extinguishing, and particularly relates to a forest fire tree climbing fire extinguishing robot. Background Art

[0002] Forest fires are the most dangerous enemies of forests and the most terrifying disasters in forestry. They can bring the most harmful and destructive consequences to forests. Forest fires not only damage forest resources, but also cause serious harm to the local economic development and people's lives and safety. Most importantly, the smoke and dust generated during forest fires cause extremely serious damage to the natural environment and ecological environment.

[0003] At present, forest fire extinguishing mainly relies on manual fire fighting and aerial fire fighting. Manual fire fighting can achieve precise fire extinguishing, but there are certain limitations in the safety of rescue personnel and the problem of rescue water sources. Aerial fire fighting has a better effect. The fire fighting helicopter is flexible in scheduling and has a high support frequency, which can overcome the difficulty of rescue personnel entering. However, the water capacity of the helicopter is very small and the cost is relatively high. Summary of the Invention

[0004] The purpose of the present invention is to provide a forest fire tree climbing fire extinguishing robot to solve the above problems.

[0005] The present invention realizes the above purpose through the following technical solutions:

[0006] A forest fire tree climbing fire extinguishing robot includes a vehicle component, and the following components are arranged above the vehicle component:

[0007] A fire extinguishing component for spraying high-pressure water flow to extinguish fires, including a water tank, a high-pressure pump, pipelines, fire extinguishing nozzles arranged on the vehicle component, and a retractable frame for retracting and releasing the pipelines;

[0008] A tree climbing component for carrying the fire extinguishing nozzles to climb to the treetops to extinguish fires, including a frame, crawlers arranged on the surface of the frame, driving wheels surrounded by the crawlers, and cutting parts arranged at the top of the frame.

[0009] By setting the tree climbing component, the fire extinguishing nozzles in the fire extinguishing component can be carried to high altitudes, reducing the influence of forest trees on the fire extinguishing nozzles. The increased height can also increase the spraying range of the fire extinguishing nozzles, improve the fire extinguishing coverage area. The fire extinguishing nozzles are not unique and can spray straight over a long distance or spray in a circular shape to form a water curtain.

[0010] As a further optimized solution of the present invention, the vehicle component includes mobile wheels with a driving structure and a power supply system. The vehicle component is used to carry the water tank to serve as a backup water source, and the power supply system is used to supply power to each device to improve the stability of the device's outdoor operation.

[0011] As a further optimized solution of the present invention, a hydraulic motor for driving the crawler by the user is further provided on the surface of the frame. The power required for the vertical movement of the frame and the gravity of the full-load water pipe are relatively large, and the use of a hydraulic motor can meet the requirements.

[0012] As a further optimized solution of the present invention, the cutting member is an annular cutter or a hacksaw.

[0013] As a further optimized solution of the present invention, the driving wheel is arranged on the side surface of the frame through a hydraulic tightening frame, and the surrounding radius can be changed to be applicable to trees with different diameters. The crawler and the driving wheel can increase the friction between the robot and the tree, facilitating vertical movement, and once the height is determined, the surrounding radius can be fixed.

[0014] As a further optimized solution of the present invention, the winding and unwinding frame is arranged above the water tank, and the pipeline is wound around the surface of the winding and unwinding frame. One end of the pipeline is connected to the high-pressure pump through a docking pipe, and the connection between the pipeline and the docking pipe is detachably connected through a pipe connector. The winding and unwinding frame is used to release the pipeline when climbing the tree.

[0015] As a further optimized solution of the present invention, the end of the pipeline far from the docking pipe is fixedly connected to the frame, and one end of the pipeline close to the frame is communicated with the fire extinguishing nozzle through a universal swivel joint.

[0016] As a further optimized solution of the present invention, a detection component is further provided at the upper end of the frame. The detection component includes a video camera and an infrared camera. The universal swivel joint is provided with a driving device, and the driving device is electrically connected to the detection component for determining the fire location and remotely controlling the spraying angle and pressure of the fire extinguishing nozzle by the fire extinguishing personnel.

[0017] As a further optimized solution of the present invention, an atomizing nozzle communicated with the pipeline is further provided at the top end of the frame, which is used to protect the fire extinguishing device once the fire spreads to the near field.

[0018] The beneficial effects of the present invention are as follows:

[0019] (1) By combining the vehicle body with the tree-climbing fire-fighting robot, the present invention can carry the fire extinguishing nozzle to increase the height of the fire extinguishing nozzle for the complex terrain of the forest, improve the coverage range of the water gun, and improve the field of vision through the video camera to quickly and accurately extinguish the fire source, saving the fire-fighting time and eliminating the potential safety hazards of personnel.

[0020] (2) By providing the atomizing nozzle, the present invention can not only cool the surrounding of the device to improve the safety of the device during use, but also the water wall formed by the atomizing nozzle can block the spread of the fire.

[0021] (3) The forest fire tree-climbing fire-fighting robot can determine the fire location and collect video images of the fire scene by setting up a video camera and an infrared camera, which is convenient for observing and recording the real-time situation of the fire, and facilitating the fire-fighting personnel to remotely control the spraying angle and pressure of the high-pressure spray gun to achieve remote fire-fighting. Description of the Drawings

[0022] Figure 1 is the overall three-dimensional structure schematic diagram of the present invention;

[0023] Figure 2 is the enlarged schematic diagram of the detection component of the present invention;

[0024] Figure 3 is the overall top view structure schematic diagram of the present invention;

[0025] Figure 4 is the cross-sectional view of the main frame in Embodiment 2 of the present invention;

[0026] Figure 5 is the cross-sectional view of the main frame after removing the hose in Embodiment 2 of the present invention;

[0027] Figure 6 is the present invention Figure 4 the enlarged view of the structure of part A;

[0028] In the figure: 1. Detection component; 11. Video camera; 12. Infrared camera; 2. Fire-fighting component; 21. Water tank; 22. High-pressure pump; 23. Pipeline; 24. Fire-fighting nozzle; 25. Universal joint; 26. Retracting and deploying frame; 27. Docking pipe; 28. Hard pipe; 29. Rotating motor; 210. Hose; 211. Fixed block; 212. Fixed ring; 213. Side rod; 214. Clamping block; 215. Flexible connecting pipe; 3. Tree-climbing component; 31. Cutting piece; 32. Crawler belt; 33. Hydraulic motor; 34. Driving wheel; 35. Atomizing nozzle; 36. Frame; 3601. Side groove; 3602. Card slot; 37. Hydraulic tightening frame; 4. Vehicle component; 41. Power supply system; 42. Mobile wheel hub. Detailed Embodiments

[0029] The following further describes the present application in detail with reference to the drawings. It is necessary to point out here that the following detailed embodiments are only used to further illustrate the present application and cannot be understood as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0030] Embodiment 1

[0031] As Figures 1-3 shown, a forest fire tree-climbing fire-fighting robot includes a vehicle component 4, and the following components are arranged above the vehicle component 4:

[0032] The fire extinguishing assembly 2, which is used to spray high-pressure water jets for fire extinguishing, includes a water tank 21, a high-pressure pump 22, a pipeline 23, a fire extinguishing nozzle 24, and a retractable frame 26 for retracting and releasing the pipeline 23, which are arranged on the vehicle assembly 4;

[0033] The tree climbing assembly 3, which is used to carry the fire extinguishing nozzle 24 of the fire extinguishing assembly 2 to climb to the treetop for fire extinguishing, includes a frame 36, a crawler 32 arranged on the surface of the frame 36, a driving wheel 34 surrounded by the crawler 32, and a cutting member 31 arranged at the top end of the frame 36.

[0034] A detection assembly 1 is further arranged at the upper end of the frame 36. The detection assembly 1 includes a video camera 11 and an infrared camera 12.

[0035] By setting the tree climbing assembly 3, the fire extinguishing nozzle 24 in the fire extinguishing assembly 2 can be carried to a high altitude, reducing the shielding effect of forest trees on the fire extinguishing nozzle 24. The increased height can also increase the spraying range of the fire extinguishing nozzle, improve the fire extinguishing coverage, and can also increase the visual field range of the camera, facilitating the judgment of the fire situation. The fire extinguishing nozzle is not unique and can spray linearly over a long distance or spray in a circular shape to form a water curtain.

[0036] The vehicle assembly 4 includes a moving wheel hub 42 with a driving structure and a power supply system 41. The vehicle assembly is used to carry the water tank to serve as a backup water source, and the power supply system is used to supply power to each device to improve the stability of the device during outdoor operation.

[0037] A hydraulic motor 33 for driving the crawler 32 by the user is further arranged on the surface of the frame 36. The power required for the vertical movement of the frame 36 and the gravity of the fully loaded water pipe are relatively large, and the use of the hydraulic motor 33 can meet the requirements.

[0038] The cutting member 31 is an annular tool or a hacksaw, which is convenient for cutting branches when climbing a tree.

[0039] The driving wheel 34 is arranged on the side surface of the frame 36 through a hydraulic tightening frame 37, and the surrounding radius can be changed to be applicable to trees with different diameters. The crawler 32 and the driving wheel 34 can increase the friction force between the frame 36 and the tree, facilitating vertical movement. Once the height is determined, the surrounding radius can be fixed.

[0040] The retractable frame 26 is arranged above the water tank 21, and the pipeline 23 is wound around the surface of the retractable frame 26. One end of the pipeline 23 is connected to the high-pressure pump 22 through a docking pipe 27, and the connection between the pipeline 23 and the docking pipe 27 is detachably connected through a pipe coupler. When the tree climbing assembly 3 climbs a tree, the pipeline 23 is stretched and released from the retractable frame 26. After the release is completed, the pipeline 23 is connected to the docking pipe 27 again, which can prevent the connection between the pipeline 23 and the docking pipe 27 from being twisted during the retracting and releasing process.

[0041] One end of the pipeline 23 far from the docking pipe 27 is fixedly connected to the frame 36. One end of the pipeline 23 close to the frame 36 is communicated with the fire extinguishing nozzle 24 through a universal joint 25. The universal joint 25 is provided with a driving device, and the driving device is electrically connected to the detection component 1.

[0042] The top end of the frame 36 is also provided with an atomizing nozzle 35 communicated with the pipeline 23, which is used to protect the fire extinguishing device once the fire spreads to the near field.

[0043] The specific implementation method is as follows: When there is an available water source near the ignition source, it is directly connected to the water source through the high-pressure pump 22, and the water is supplied to the fire extinguishing nozzle 24 and the atomizing nozzle 35 through the pipeline 23. When there is no available water source near the ignition source, it is connected to the high-pressure pump 22 through the water tank 21 for water supply. Due to the limited water volume of the water tank 21, the water supply from the water tank is only used for small fires or emergency situations.

[0044] During a fire, the tree climbing component 3 realizes the vertical movement of the robot through the cooperation of the crawler 32 and the driving wheel 34. The cutting piece 31 cuts off the tree branches during the movement, facilitating the rapid movement of the tree climbing component 3 to reach an appropriate height. The fire location is accurately positioned by the video camera 21 and the infrared camera 22, and the tree climbing component 3 is controlled to move to the designated fire extinguishing position through the remote control system.

[0045] After moving to the designated position, the fire extinguishing nozzle 24 at the top of the tree climbing component 3 starts to work through the remote control system. The spraying angle and pressure of the fire extinguishing nozzle 24 are remotely controlled by the operator according to the on-site situation captured by the video camera 21 and the infrared camera 22. The spraying direction of the fire extinguishing nozzle 24 is remotely controlled by the universal joint 25, and it rotates up and down, left and right, and back and forth for fire extinguishing according to the on-site conditions.

[0046] While the tree climbing component 3 is moving, several atomizing nozzles 35 fixedly installed on the circumferential outer wall above the frame 36 are opened through the remote controller to cool the surrounding area of the device, protecting the safety of the robot during use. At the same time, the water wall formed by the annular atomizing nozzles 35 can also block the spread of the fire.

[0047] After the fire extinguishing is completed, the tree climbing component 3 is remotely controlled by the controller to descend to the ground and is retrieved by the staff.

[0048] When the fire is relatively large, multiple tree climbing components 3 can be used in combination to establish a fire extinguishing area barrier, and all the tree climbing components 3 are remotely controlled by the controller.

[0049] Embodiment 2

[0050] As Figures 4-6As shown, different from Embodiment 1, in Embodiment 2, the rotation angle of the universal joint 25 is restricted to prevent its rotation angle from being too large. When water flows through the universal joint 25, the flow rate is affected due to too large a bend, which in turn affects the head of the water flow. In this embodiment, a hinged rigid pipe 28 is provided on the surface of the frame 36. The rigid pipe 28 is driven by a rotating motor 29 to adjust the elevation angle. The universal joint 25 and the fire sprinkler 24 are both provided at the end of the rigid pipe 28. The rigid pipe 28 and the pipeline 23 are connected through a hose 210. A fixing ring 212 is fixedly connected to the surface of the hose 210. Side rods 213 are provided on both side surfaces of the fixing ring 212. A clamping block 214 is provided at the end of the side rod 213 along the radial direction. Corresponding to the side rod 213 and the clamping block 214, a side groove 3601 and a clamping groove 3602 are provided on the inner wall of the frame 36.

[0051] The hose 210 is provided to enable the rigid pipe 28 to change the elevation angle and cancel the right-angle bends or small-radius sharp bends in the pipeline, and replace them with uniform large-radius arc bends. When the rigid pipe 28 changes the elevation angle, the hose 210 will become slack. Under the impact of high-pressure water flow, as Figure 4 shown, the position of the hose 210 located at the fixing ring 212 will be impacted upward by the water flow, causing the hose 210 to have a tendency to straighten upward. If the hose 210 straightens upward, a small-radius sharp bend will be formed at the connection between the hose 210 and the rigid pipe 28, and even the hose 210 will be folded and stuck. Therefore, the fixing ring 212, the side rod 213 and the clamping block 214 are provided to protect the curvature of the hose 210 at this place, so that the hose 210 forms a uniform S bend, reducing the impact on the flow rate.

[0052] When there is no water pressure inside the hose 210, the side rod 213 falls to the lowest end of the side groove 3601, and the clamping block 214 corresponds to the clamping groove 3602. When there is water pressure in the lower pipeline 23, the inner wall of the hose 210 is pushed up, and the clamping block 214 is stuck with the clamping groove 3602 to prevent the fixing ring 212 from moving upward, thereby protecting the curvature of the hose 210. When the rigid pipe 28 needs to lower the elevation angle, the rigid pipe 28 rotates counterclockwise, and the upper end of the hose 210 is subjected to a pulling force to the upper right, causing the fixing ring 212 to rotate clockwise along the side rod 213 (the upper right and the clockwise and counterclockwise here are based on the Figure 4 orientation description of the view). The clamping block 214 rotates out of the clamping groove and points to the side groove 3801, then the locking of the fixing ring 212 is automatically released, and the side rod 213 can slide freely along the side groove 3601, so that the hose 210 can be straightened upward.

[0053] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. A forest fire tree-climbing fire extinguishing robot, comprising a vehicle assembly (4), characterized in that: Above the vehicle component (4), the following components are provided: A fire extinguishing component (2) for spraying high-pressure water jets to extinguish fires, including a water tank (21), a high-pressure pump (22), a pipeline (23), a fire extinguishing nozzle (24), and a retractable rack (26) for retracting and releasing the pipeline (23), which are arranged on the vehicle component (4); A tree climbing component (3) for carrying the fire extinguishing nozzle (24) to climb to the top of the tree to extinguish fires, including a frame (36), a crawler belt (32) arranged on the surface of the frame (36), a driving wheel (34) surrounded by the crawler belt (32), and a cutting member (31) arranged at the top of the frame (36); The retractable rack (26) is arranged above the water tank (21), and the pipeline (23) is wound around the surface of the retractable rack (26). One end of the pipeline (23) is connected to the high-pressure pump (22) through a docking pipe (27), and the connection between the pipeline (23) and the docking pipe (27) is detachably connected through a pipe connector; One end of the pipeline (23) away from the docking pipe (27) is fixedly connected to the frame (36), and one end of the pipeline (23) close to the frame (36) is communicated with the fire extinguishing nozzle (24) through a universal joint (25); An articulated rigid pipe (28) is arranged on the surface of the frame (36). The rigid pipe (28) is driven by a rotary motor (29) to adjust the elevation angle. The universal joint (25) and the fire extinguishing nozzle (24) are both arranged at the end of the rigid pipe (28). The rigid pipe (28) is communicated with the pipeline (23) through a flexible pipe (210). A fixing ring (212) is fixedly connected to the surface of the flexible pipe (210). Side rods (213) are arranged on both side surfaces of the fixing ring (212). A clamping block (214) is arranged at the end of the side rod (213) along the radial direction. Corresponding to the side rod (213) and the clamping block (214), a side groove (3601) and a clamping groove (3602) are arranged on the inner wall of the frame (36).

2. The climbing fire extinguishing robot for forest fires according to claim 1, wherein: The vehicle component (4) includes a moving wheel hub (42) with a driving structure and a power supply system (41).

3. The forest fire tree climbing fire extinguishing robot according to claim 1, wherein: A hydraulic motor (33) for driving the crawler belt (32) by the user is also arranged on the surface of the frame (36).

4. The climbing fire extinguishing robot for forest fires according to claim 1, characterized in that: The cutting member (31) is an annular cutter or a hacksaw.

5. The forest fire tree-climbing fire extinguishing robot according to claim 1, characterized in that: The driving wheel (34) is arranged on the side surface of the frame (36) through a hydraulic tightening frame (37).

6. The forest fire tree-climbing fire extinguishing robot according to claim 1, wherein: A detection component (1) is also arranged at the upper end of the frame (36). The detection component (1) includes a video camera (11) and an infrared camera (12). The universal joint (25) is provided with a driving device, and the driving device is electrically connected to the detection component (1).

7. The climbing fire extinguishing robot for forest fires according to claim 1, characterized in that: An atomizing nozzle (35) communicated with the pipeline (23) is also arranged at the top of the frame (36).

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