Explosive disposal fire-fighting robot and fault diagnosis control method thereof

Abstract

The application discloses a bomb disposal fire-fighting robot and a fault diagnosis control method thereof, wherein the robot comprises a moving platform and a matched control system; the moving platform comprises a carrying table which is used for carrying a person or an object and serving as an equipment integrated carrier; a driving mechanism which comprises combined movable wheel sets respectively installed on two sides of the carrying table; a sensing mechanism which comprises an image sensing unit and a collision sensing unit installed on the carrying table; the control system comprises a processing module and a communication module, and the processing module is connected to the sensing mechanism, the driving mechanism and the communication module. The fault diagnosis control method is based on historical fault data to identify faults and based on prior knowledge to diagnose faults. The application can help fire-fighting and public security personnel to transfer a person or a dangerous object and has a fault diagnosis effect on equipment.

Description

Technical Field

[0001] This application relates to the field of firefighting robot technology, and in particular to an explosive ordnance disposal firefighting robot and its fault diagnosis and control method. Background Technology

[0002] In fire rescue operations, firefighters need to go deep into the fire scene to transfer people trapped in the fire and major dangerous goods.

[0003] Currently, the transfer of the aforementioned people or objects relies on manual labor. In cases involving multiple people or objects of significant weight, firefighters need to enter the fire scene multiple times, requiring coordinated efforts from multiple firefighters. This increases the risk of injury to firefighters, especially when transferring explosive or hazardous materials. Furthermore, it may delay other rescue efforts. Therefore, this application proposes a new technical solution. Summary of the Invention

[0004] To assist firefighters in transferring people or objects from a fire scene, this application provides an explosive ordnance disposal and firefighting robot and its fault diagnosis and control method.

[0005] Firstly, this application provides an explosive ordnance disposal and firefighting robot, which adopts the following technical solution:

[0006] A bomb disposal and firefighting robot includes a mobile platform and an adapted control system, wherein the mobile platform includes:

[0007] A platform is used to support people or objects and to serve as a carrier for equipment integration.

[0008] The drive mechanism includes a set of combined movable wheels respectively mounted on both sides of the platform;

[0009] The sensing mechanism includes an image sensing unit and a collision sensing unit mounted on the stage;

[0010] The combined movable wheel assembly includes a main shaft, a movable connecting rod, a single motor, and a wheel body; the main shaft is fixed to the side of the platform, one end of the movable connecting rod is rotatably connected to the main shaft, the other end is tilted downward and mounted with the single motor, and the wheel body is fixed to the output shaft of the single motor;

[0011] The control system includes a processing module and a communication module, wherein the processing module is connected to the sensing mechanism, the individual motor, and the communication module.

[0012] Optionally, the stage has multiple main shafts distributed on the same side, and they are interconnected by connecting rods.

[0013] One or more movable links are rotatably connected to the same main shaft, and when there are multiple movable links, their lower ends face the two sides of the main shaft respectively.

[0014] Optionally, the lower end of the movable link is provided with a C-shaped wheel frame, the C-shaped wheel frame is vertically connected to the movable link with its upper end rotatably connected to the movable link, and the lower end is fixed with a single motor.

[0015] Optionally, it also includes a robotic arm connected to the processing module;

[0016] A plate frame is fixed to the bottom of the platform, and a robotic arm is fixed to one end of the plate frame that extends outward from the platform.

[0017] Another image sensing unit is fixed to the end of the robotic arm.

[0018] Optionally, the platform has a placement groove with an upper opening and an end opening along its length, and the robotic arm rests in the placement groove when idle.

[0019] Optionally, a horizontal groove is provided on the upper section of the side wall of the storage groove, and a horizontal plate is slidably connected in the horizontal groove. An interconnecting plate is fixed at one end of the horizontal plate, and a through hole is provided on the interconnecting plate.

[0020] Optionally, rope buckles are installed at both ends of the side wall of the platform.

[0021] Optionally, the processing module is also connected to an audible and visual warning unit, which is installed on the platform.

[0022] Secondly, this application provides a fault diagnosis and control method for an explosive ordnance disposal and firefighting robot as described above, employing the following technical solution:

[0023] A fault diagnosis and control method for any of the above-described bomb disposal and firefighting robots, wherein the processing module is configured as follows:

[0024] Used to acquire interactive data generated by the communication module in communication with a specified remote end;

[0025] Identify the interactive data and determine if there is a motor adjustment command. If so, search the preset database according to the motor adjustment command, call the matching motor action logic, and send control parameters to each individual motor according to the motor action logic.

[0026] Feedback data used to identify the various electronic devices of the bomb disposal and firefighting robot;

[0027] Fault diagnosis is performed based on prior feature indicators from the feedback data; where prior feature indicators are known fault characteristics defined based on experience; and,

[0028] Used to send fault diagnosis and motor adjustment command response results to a designated remote end via the communication module, and to perform online confirmation of the robot and obtain online feedback from the designated remote end;

[0029] If online feedback is lost and the duration reaches a preset time threshold, local control logic is triggered.

[0030] Optionally, the local control logic includes:

[0031] Based on prior characteristic indicators, determine the fault type; and,

[0032] Search the preset database according to the fault type and call the matching fault scenario control logic;

[0033] The prior feature index includes the mean. Average frequency absolute average and weighted average ;

[0034] Data standardization yields a prior feature set based on prior feature metrics. ;

[0035] The standardization method is ;in, For natural numbers, The mean of the dataset. For variance;

[0036] Specific characteristics of a certain type of feedback Extraction is performed using a depthwise convolutional autoencoder.

[0037] In summary, this application includes at least one of the following beneficial technical effects: it can utilize a mobile platform to help firefighters move items in a fire scene, and can achieve remote control through a communication unit, allowing relevant personnel outside the fire scene to cooperate with rescue personnel in the fire scene to carry out rescue work, penetrate into dangerous areas that are inconvenient for firefighters to enter, or be used to replace firefighters in transferring certain dangerous goods, such as gas cylinders. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the robot described in this application;

[0039] Figure 2 yes Figure 1 A schematic diagram of a localized explosion;

[0040] Figure 3 This is a schematic diagram of the control architecture of the robot in this application;

[0041] Figure 4 This is a partial flowchart of the method of this application.

[0042] Explanation of reference numerals in the attached drawings: 1. Platform; 2. Combined movable wheel assembly; 21. Main shaft; 211. Connecting shaft; 22. Movable connecting rod; 221. C-shaped wheel frame; 23. Individual motor; 24. Wheel body; 3. Image sensing unit; 4. Collision sensing unit; 51. Processing module; 52. Communication module; 53. Audible and visual warning unit; 6. Robotic arm; 61. Storage groove; 7. Plate frame; 8. Horizontal plate; 81. Interconnecting perforated plate; 9. Rope buckle. Detailed Implementation

[0043] The following is in conjunction with the appendix Figures 1-4 This application will be described in further detail.

[0044] This application also discloses an explosive ordnance disposal and firefighting robot.

[0045] Reference Figure 1 , Figure 2 and Figure 3 The bomb disposal and firefighting robot includes a mobile platform and an adapted control system. The mobile platform includes a platform 1, a drive mechanism, and a sensing mechanism. The control system includes a processing module 51 connected to the drive mechanism and the sensing mechanism, and a communication module 52 connected to the processing module 51.

[0046] In use, the drive mechanism moves the platform 1 into areas such as fire scenes; the sensing mechanism collects environmental data and feeds it back to the processing module 51. The processing module 51 analyzes and processes the response according to the local preset logic program and controls the drive mechanism; on the other hand, it uploads data to a designated remote end via the communication module 52 and receives response data from the remote end based on the above data, thereby controlling the drive mechanism.

[0047] Reference Figure 1 In one embodiment of this application, the platform 1 is rectangular in plan view, with its length ends being the front and rear ends of the robot, respectively.

[0048] The drive mechanism includes a combination of movable wheels 2 installed on both sides of the platform 1; the combination of movable wheels 2 includes a main shaft 21, a movable connecting rod 22, a single motor 23, and a wheel body 24.

[0049] Reference Figure 2 The main shaft 21 is fixed to the side of the platform 1 and is perpendicular to it. In order to cooperate with the subsequent structure and increase the structural strength, two main shafts 21 are arranged on the same side of the platform 1, and the two main shafts 21 are interconnected by the connecting rod 211 in the middle, that is, the end of the connecting rod 211 is fixed to the fixed.

[0050] One end of the movable link 22 is fixed with a collar, which is sleeved on the main shaft 21 to achieve a rotatable connection between the two. It is understood that the rotating part can be reinforced with a bearing; the installation of the bearing is existing technology and will not be described further. The other end of the movable link 22 is inclined downwards, and the movable link 22 as a whole is parallel to the length direction of the platform 1.

[0051] A C-shaped wheel frame 221 is provided at the lower end of the movable connecting rod 22; the upper end of the C-shaped wheel frame 221 is rotatably connected to the lower end of the movable connecting rod 22 via a pivot, and the rotation surface is transverse. A tube structure is fixed to the lower end of the C-shaped wheel frame 221, and the tube structure is sleeved on the pivot of the wheel body 24. A single motor 23 is embedded in the tube structure, and its output shaft is fixed to the pivot of the wheel body 24.

[0052] According to the above configuration, on the one hand, the height of each wheel 24 of the mobile platform can be adjusted to adapt to various uneven terrains and obstacles; on the other hand, each wheel 24 can swing laterally, and the difference between the two sides of the mobile platform can be used to achieve more flexible turning, thereby better meeting the needs of following firefighters into the fire scene to help with transportation as described in this application.

[0053] The reason this application does not use tracked wheels is that although tracked wheels can handle various terrains, their speed is relatively slower and their weight is greater than that of rollers; and time is especially critical in fire rescue, so the drive system of this application was chosen. Furthermore, because each wheel 24 is equipped with a single motor 23, as long as one set of single motors 23 is still running, movement can continue, resulting in better adaptability to harsh working conditions. At the same time, the single motors 23 of this application can be controlled individually, selectively activating different single motors 23 according to different working conditions.

[0054] It is understood that this application is made of flame-retardant and high-temperature resistant materials, or coated with flame-retardant and heat-insulating coatings, to better meet the needs of fire rescue. At the same time, the power supply battery pack of this application is installed at the bottom of one end of the platform 1. If necessary, the wiring (power supply circuit, etc.) of the individual motor 23 can be built into the main shaft 21, the movable connecting rod 22, and the C-shaped wheel frame 221 for protection.

[0055] Reference Figure 2 and Figure 3 The sensing mechanism of this application includes an image sensing unit 3 and a collision sensing unit 4; the image sensing unit 3, i.e., a camera, is connected to the processing module 51 (built into the platform 1) and installed at the lower part of one end of the platform 1, so as to avoid affecting the upper loading of the platform 1 as much as possible.

[0056] The collision sensing unit 4 can be selected from vehicle-mounted sensing radar or acoustic ranging sensor, which is connected to the processing module 51 and used to sense the distance between the mobile platform and surrounding objects; multiple collision sensing units 4 can be distributed along the periphery of the platform 1 to achieve omnidirectional perception.

[0057] The movement methods of this application are broadly divided into two types: one is to realize movement and other functions by responding to feedback data from the local sensing mechanism; the other is to realize remote control of this application by relevant personnel outside the fire scene through remote communication equipment communicating with the communication module 52. It is understood that the communication module 52 can be a GPRS communication module, a radio frequency module, etc., and the specific type can be determined by the transmission distance.

[0058] Reference Figure 1 and Figure 2 In another embodiment of this application, the application further includes a robotic arm 6, which is connected to the processing module 51.

[0059] It is understandable that robotic arm 6 is existing technology, and manufacturers can choose the appropriate model according to their needs; taking robotic arm 6 in the figure as an example, it uses a chassis to achieve horizontal rotation and an arm joint to achieve vertical rotation, and it has a three-fold mechanical structure.

[0060] To mount the robotic arm 6, a plate frame 7 is fixed to the bottom of one end of the platform 1. One end of the plate frame 7 extends out of the platform 1, and the upper part of the extended section is used to fix the chassis of the robotic arm 6. The robotic arm 6 and the battery pack of this application are located at opposite ends of the platform 1 to balance the weight at both ends, making the robotic arm 6 more stable when grasping and transporting objects.

[0061] Understandably, another image sensing unit 3 is installed at the end of the robotic arm 6 so that remote control personnel can clearly see the position of the gripper of the robotic arm 6.

[0062] Reference Figure 2 In order to store the robotic arm 6 and avoid unnecessary deployment that would affect the stability of the mobile platform, a storage groove 61 is provided on the platform 1. The storage groove 61 has an upper opening and an end opening structure and extends along the length of the platform 1.

[0063] Understandably, the height of the chassis joint of the robotic arm 6 is slightly higher than the bottom of the storage groove 61 so that the robotic arm 6 can rest in the storage groove 61 when idle. In this application, the storage groove 61 is not only used to store the robotic arm 6, but also serves to stabilize the transport of items.

[0064] Taking the transfer of a gas cylinder from a fire as an example: the gas cylinder can be placed parallel to the platform 1. At this time, part of the cylinder falls into the placement groove 61. The two sides of the placement groove 61 restrict the gas cylinder to prevent it from rolling.

[0065] ReferenceFigure 2 A transverse groove is formed on the side wall of the storage recess 61, with one side and one end of the groove open. A matching transverse plate 8 slides within the groove, with a slider fixed to the lower part of the transverse plate 8. A sliding groove for the slider is formed at the bottom of the groove, with one end of the sliding groove open facing the storage recess 61. A sealing plate is fixed along the side wall of the storage recess 61 to block the opening at the end of the sliding groove, ensuring that the transverse plate 8 will not fall off. An interconnecting hole plate 81 with through holes is fixed to one end of the transverse plate 8.

[0066] When the robotic arm 6 is not required to provide the largest possible load surface, the horizontal plate 8 slides into the storage groove 61, and the two horizontal plates 8 abut against each other to cover the upper opening of the storage groove 61; at this time, the robotic arm 6 is located below the horizontal plate 8; the two horizontal plates 8 can be fixed by passing through the through hole of the interconnecting plate 81 through a buckle or the like.

[0067] Understandably, in the event of a failure of the individual motor 23, firefighters can still attach a rope to the interconnecting plate 81 and drag the application.

[0068] Reference Figure 2 Rope buckles 9 are installed at both ends of the side wall of the platform 1. Therefore, after placing the item on the platform 1, the rope buckles 9 on both sides of the platform 1 can be used to fix the ropes in a cross manner to strengthen the fixation of the item.

[0069] Reference Figure 2 An audible and visual warning unit 53 is installed at one corner of the upper part of the platform 1. The audible and visual warning unit 53 is such as an LED alarm light and is connected to the processing module 51.

[0070] The sound and light warning unit 53 can send signals to people in the vicinity with flashing lights when their field of vision or other conditions are affected, indicating the location of this application.

[0071] In another embodiment of the application, the above-mentioned sensing mechanism also includes a temperature and humidity sensing unit installed on the stage 1, a rotary encoder installed on the main shaft 21 for detecting the rotation of the movable link 22, or a built-in gyroscope. The above-mentioned sensing units are all connected to the processing module 51 to increase the environmental sensing capability of this application.

[0072] This application discloses a fault diagnosis and control method for an explosive ordnance disposal and firefighting robot.

[0073] The fault diagnosis and control method for the bomb disposal and firefighting robot is mainly implemented through the configuration of the processing module 51, specifically:

[0074] 1) Used to acquire interactive data generated by communication module 52 communicating with a specified remote end;

[0075] The system identifies interactive data and determines whether a motor adjustment command exists. If so, it searches the preset database based on the motor adjustment command, calls the matching motor action logic, and sends control parameters to each individual motor according to the motor action logic.

[0076] The aforementioned "remote end," based on the application environment of this application, generally refers to the communication terminal of relevant personnel located outside the fire scene, such as remote controls, computers, tablets, and other devices capable of communicating with the communication module 52. The interactive data here mainly refers to the interactive data sent from the remote end to the bomb disposal and firefighting robot.

[0077] 2) Feedback data used to identify the various electronic devices of the bomb disposal and firefighting robot (such as the motor speed control board, a motor vibration detection sensor and a temperature sensor that serve as supplementary sensing mechanisms);

[0078] Fault diagnosis is performed based on prior feature indicators in the feedback data; where prior feature indicators are features of known faults defined based on experience.

[0079] 3) Used to send fault diagnosis and motor adjustment command response results to a designated remote end via communication module 52, and to perform online robot confirmation and obtain online feedback from the designated remote end;

[0080] If online feedback is lost and the duration reaches a preset time threshold, the local control logic is triggered.

[0081] Regarding local control logic, for example:

[0082] Logic 1: Before the feedback continues to be lost for a preset time threshold, if the interactive data received in this stage (e.g., within 1 minute) contains a preset offline exploration instruction, then the movement control is performed based on the output of the image perception unit 3 and the collision perception unit 4 (refer to the movement mode of the sweeping robot). After the preset return conditions are met (e.g., human features are recognized in the image, offline for a specified time), the automatic return logic similar to that of a drone is executed.

[0083] Logic 2: If the received interactive data does not contain a preset offline pathfinding instruction before the feedback continues to be lost for a preset time threshold, then return travel control will be executed.

[0084] Based on the above settings, the bomb disposal and firefighting robot can perform some offline exploration and can also actively return when it accidentally loses control, thereby improving its environmental adaptability.

[0085] Logic 3: Based on prior characteristic indicators, determine the fault type; and,

[0086] The system searches the preset database based on the fault type and calls the matching fault scenario control logic.

[0087] Example of fault scenario control logic: Suppose that motor A is diagnosed as overheating and abnormal speed (shutdown), then when moving straight, the output of other motors on the same side of the robot as motor A is reduced to a specified value, while the output of other motors on the other side of the robot is maintained to balance the power output on both sides of the robot and ensure its movement capability.

[0088] As can be seen from the above, after the remote control signal is lost, the robot can adjust its operating parameters according to the preset fault scenario control logic to maintain the robot's basic functions.

[0089] The following provides a detailed explanation of the aforementioned prior characteristic indicators and fault type determination.

[0090] Establish prior feature indicators, among which This represents a sampled signal containing N data points. It is a fault occurrence spectrum. Representing the The value of each frequency.

[0091]

[0092] In this embodiment, fault diagnosis is accomplished using a deep neural network model;

[0093] 1. The characteristic indicators of the monitoring signals (such as vibration and motor speed in the feedback) serve as the data source for the prior diagnosis of this model, and are used to determine the health status of the machine.

[0094] Using the indicators in the table above as data, the data is standardized using the prior feature set:

[0095] ;

[0096] The standardization method is as follows: ;in, For natural numbers, The mean of the dataset. For variance;

[0097] In addition to the prior features mentioned above, the system may have new fault features. In this case, the above standardization method can still be used to obtain j fusion feature sets.

[0098] 2. Extracting specific features of a certain type of feedback (such as vibration) using a deep convolutional autoencoder. .

[0099] Deep neural networks learn general characteristics and involve two network models: a deep convolutional autoencoder and a deep convolutional neural network. The deep convolutional autoencoder consists of a convolutional encoder with four convolutional layers and four pooling layers, and a convolutional decoder with four convolutional layers and four upsampling layers.

[0100] It should be noted that, depending on the features, the number of features, pooling layers, convolutional layers, and sampling layers can be adjusted according to actual needs.

[0101] Given the first The kernel of each convolutional layer is The deviation is Output It can be calculated as follows:

[0102] ;

[0103] in It is the first Feature vectors of convolutional layers It is the activation function of LeakyReLu:

[0104] ;

[0105] The above yes Output of the pooling layer: ;

[0106] in It is the size of the pool window. It's the step length.

[0107] ;

[0108] in, The output of the fully connected layer. This is the output of the fourth pooling layer. and This represents the weight matrix and bias of this layer. To achieve fault classification, the extracted features... Given a softmax classifier as input, the output of the softmax classifier is... :

[0109] ;

[0110] in Here are the parameters for the softmax classifier, y is the output, i.e., the fault category, and x is the input data.

[0111] The training of the above model involves three steps:

[0112] 1) Label construction: Calculate and standardize samples 4 prior feature sets The samples were extracted using a depthwise convolutional autoencoder. General characteristics Prior features and general features are fused and standardized to form a fused feature set. , as a proxy tag.

[0113] Deep convolutional autoencoders optimize data reconstruction. The purpose is to extract general features:

[0114] ;

[0115] in, For reconstructed data samples.

[0116] 2) Self-supervised pre-training: The samples are... Input a deep convolutional neural network and optimize the self-supervised loss. The output of the fully connected layer in the deep convolutional neural network is used to fit the surrogate label. Optimize self-monitoring :

[0117] ;

[0118] in, This is the output of a fully connected layer in a deep convolutional neural network.

[0119] 3) Fine-tuning parameters: Adjusting the sample... The input is fed into a deep convolutional neural network, and the crossover is optimized. Directly output the predicted labels :

[0120] ;

[0121] in, It is a function, if If the condition is met, return 1; otherwise, return 0. Here, the... It refers to the contents within the parentheses, not the multiplication symbol.

[0122] The types of faults can be identified from the above. Then, based on the fault type and expert data, appropriate control logic is given to ensure the safe operation of the robot, especially after errors occur due to disconnection from remote control.

[0123] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A bomb disposal and firefighting robot, comprising a mobile platform and an adapted control system, characterized in that, The mobile platform includes: Platform (1), which is used to support people or objects and to serve as a carrier for equipment integration; The drive mechanism includes a combination of movable wheels (2) respectively installed on both sides of the platform (1); The sensing mechanism includes an image sensing unit (3) and a collision sensing unit (4) mounted on the stage (1). The combined movable wheel assembly (2) includes a main shaft (21), a movable connecting rod (22), a single motor (23), and a wheel body (24); the main shaft (21) is fixed to the side of the platform (1), one end of the movable connecting rod (22) is rotatably connected to the main shaft (21), and the other end is tilted downward and mounted on the single motor (23); the wheel body (24) is fixed to the output shaft of the single motor (23). The control system includes a processing module (51) and a communication module (52), wherein the processing module (51) is connected to the sensing mechanism, the individual motor (23) and the communication module (52). The stage (1) has multiple main shafts (21) distributed on the same side, and they are interconnected by connecting rods (211); One or more movable links (22) are rotatably connected to the same main shaft (21), and when there are multiple movable links (22), their lower ends face the two sides of the main shaft (21); The lower end of the movable link (22) is provided with a C-shaped wheel frame (221). The C-shaped wheel frame (221) is vertical and its upper end is rotatably connected to the movable link (22), and the lower end is fixed with a single motor (23). The processing module (51) is configured as follows: Used to acquire interactive data generated by communication between the communication module (52) and a specified remote end; Identify the interactive data and determine if there is a motor adjustment command. If so, search the preset database according to the motor adjustment command, call the matching motor action logic, and send control parameters to each individual motor according to the motor action logic. Feedback data used to identify the various electronic devices of the bomb disposal and firefighting robot; Fault diagnosis is performed based on prior feature indicators from the feedback data; where prior feature indicators are known fault characteristics defined based on experience; and, Used to send fault diagnosis and motor adjustment command response results to a designated remote end via the communication module (52), and to perform online robot confirmation and obtain online feedback from the designated remote end; If online feedback is lost and the duration reaches a preset time threshold, the local control logic is triggered. The local control logic includes: Based on prior characteristic indicators, determine the fault type; and, Search the preset database according to the fault type and call the matching fault scenario control logic; The prior feature index includes the mean. Average frequency absolute average and weighted average ; Data standardization yields a prior feature set based on prior feature metrics. ; The standardization method is ;in, For natural numbers, The mean of the dataset. For variance; Specific characteristics of a certain type of feedback Extraction is performed using a depthwise convolutional autoencoder.

2. The bomb disposal and firefighting robot according to claim 1, characterized in that: It also includes a robotic arm (6) connected to the processing module (51); The bottom of the platform (1) is fixed with a plate frame (7), and a mechanical arm (6) is fixed on one end of the plate frame (7) that extends out of the platform (1). Another image sensing unit (3) is fixed to the end of the robotic arm (6).

3. The bomb disposal and firefighting robot according to claim 2, characterized in that: The platform (1) has a placement groove (61) with an upper opening and an end opening along its length. When idle, the robotic arm (6) is stationary in the placement groove (61).

4. The bomb disposal and firefighting robot according to claim 3, characterized in that: The upper side wall of the storage groove (61) is provided with a horizontal groove, and a horizontal plate (8) is slidably connected in the horizontal groove. One end of the horizontal plate (8) is fixed with an interconnecting hole plate (81), and a through hole is provided on the interconnecting hole plate (81).

5. The bomb disposal and firefighting robot according to claim 1, characterized in that: The platform (1) has rope buckles (9) installed at both ends of its side wall.

6. The bomb disposal and firefighting robot according to claim 1, characterized in that: The processing module (51) is also connected to an audio-visual warning unit (53), which is installed on the platform (1).

Images