Fire-fighting robot for mountain forest fire prevention

Abstract

The application discloses a mountain forest fire prevention robot, and belongs to the field of fire-fighting equipment, characterized in that the robot comprises a robot and a detection device; the robot comprises a robot main body, a mechanical arm and a plurality of mechanical legs; a fire extinguisher is arranged on the robot main body; a Mecanum wheel is arranged at the lower end of each mechanical leg; the mechanical legs comprise walking legs and climbing legs; the mechanical arm is provided with a clamping mechanism at the tail end; and the detection device comprises a detection module, a wireless signal transceiving module, a storage battery, a solar cell panel and a clamp. Compared with the prior art, the robot has the characteristics of being capable of automatically installing the detection device, early warning and detecting fire and extinguishing fire.

Description

TECHNICAL FIELD

[0001] The present application relates to a fire-fighting equipment, in particular to a fire-fighting robot suitable for forest fire prevention. BACKGROUND

[0002] Forest is a valuable resource for human survival and sustainable development, which can provide various valuable timber and raw materials for production and life, and has the functions of purifying air and eliminating noise, etc., but often due to human factors and natural factors, forest resources are severely damaged by fire.

[0003] The most effective first segment to deal with forest fires is "prevention", which can prevent the occurrence of fire. For artificial fire and spontaneous combustion, there is usually a high-temperature heat source when the fire occurs. If the high-temperature heat source can be found and eliminated in time, the occurrence of fire can be avoided. Secondly, after the fire occurs, it can be found and extinguished in time to avoid large-scale spread.

[0004] Therefore, it is necessary to set up a fire detection device in the forest, which can find and eliminate the fire in time before or at the initial stage of the fire. In order to improve the detection range, the detection device is usually installed on a relatively high tree. Because the forest area is large and the trees are many, a large number of detection devices need to be installed, and the workload of the artificial tree climbing installation method is too large, so the installation equipment that can replace the workers is urgently needed.

[0005] Once the fire occurs in the forest, it takes a certain time for the fire-fighting personnel to arrive at the scene. Because of the large number of forest vegetation in the forest, the fire is easy to spread. If the initial fire cannot be extinguished in time, it is easy to cause the fire to expand and increase the difficulty of extinguishing. SUMMARY

[0006] The technical task of the present application is to solve the above problems of the prior art, and provide a forest fire-fighting robot.

[0007] The technical scheme for solving the technical problems of the present application is: a forest fire prevention robot, characterized in that: comprising a robot and a detection device; the robot comprises a robot main body, a mechanical arm and a plurality of mechanical legs; the lower end of each mechanical leg is provided with a Mecanum wheel; the mechanical leg comprises a walking leg and a climbing leg; a power device is arranged at each joint of the mechanical leg, for driving the movement of each joint and keeping the joint at a specific angle; a power device is arranged on each Mecanum wheel, capable of driving the Mecanum wheel to rotate at a certain direction and speed; the end of the mechanical arm is respectively provided with a clamping mechanism; the clamping mechanism can clamp the detection device; the detection device comprises a detection module, a fire signal camera, a wireless signal transceiver module, a battery, a solar panel and a clamp; the detection module is installed on the clamp, and the detection device is fixed on the branch through the clamp; the clamp or the detection device is further provided with a solar panel.

[0008] The walking leg has four, respectively located at the four corners of the robot main body, the climbing leg has two, respectively located at the left and right sides of the robot main body; the walking leg comprises a thigh and a calf; the first end of the thigh is installed on the robot main body, the first end of the calf is installed on the end of the thigh, and the end of the calf is provided with a Mecanum wheel; the first end of the climbing leg is installed on the robot main body, and the end of the climbing leg is also provided with a Mecanum wheel.

[0009] The end of the mechanical arm is provided with an electric screwdriver, and the electric screwdriver is matched with a fastening screw; the clamp, the solar panel and the clamp, and the detection module and the clamp are respectively provided with a fastening screw.

[0010] The clamp comprises two upper and lower clamp pieces, the two clamp pieces are hinged at the middle position, the solar panel is hinged with the clamp, and the detection module is hinged with the clamp; in each group of hinged structures, one part is provided with a threaded hole matched with the fastening screw, and the other part is provided with an arc-shaped slot; the fastening screw passes through the threaded hole and the arc-shaped slot respectively.

[0011] The end of the mechanical arm is provided with an electric saw.

[0012] The robot further comprises an ultrasonic ranging module, a camera, a control module and a wireless signal transceiver module.

[0013] The detection module comprises a thermal imager and a smoke sensor.

[0014] The detection module comprises a temperature sensor and a humidity sensor.

[0015] Compared with the prior art, the present application has the following outstanding beneficial effects:

[0016] 1. It can automatically move through the mountains and forests, climb trees, and install detection devices, saving manual labor;

[0017] 2. This invention enables the immediate arrival at the scene to extinguish the initial fire and prevent its further spread.

[0018] 3. The walking legs and Mecanum wheels work together to adapt to rugged mountain roads, and the chainsaw can clear vegetation blocking the ground.

[0019] 4. The detection device can provide timely warnings or detect fires, enabling timely handling of the fire. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the robot structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the robot and detection device of the present invention.

[0022] Figure 3 This is a schematic diagram of the detection device of the present invention.

[0023] Figure 4 This is a schematic diagram of the installation operation on a tree according to the present invention.

[0024] The components include: 1. Chainsaw, 2. Clamping mechanism, 3. Electric screwdriver, 4. Robotic arm, 5. Robot body, 6. Lower leg, 7. Thigh, 8. Climbing leg, 9. Mecanum wheel, 10. Walking leg, 11. Solar panel, 12. Clamp, 13. Detection module, 14. Fastening screw, and 15. Nozzle. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 4 As shown, the present invention includes a robot and a detection device. The robot is used to carry the detection device through forests and can climb trees to mount the detection device on the trees. The detection device is used to detect fire signals.

[0027] The robot includes a robot body 5, a robotic arm 4, and multiple robotic legs. A fire extinguisher is installed inside the robot body, and the nozzle 15 of the fire extinguisher is fixed to the robotic arm 4. The direction of the nozzle is adjusted by the robotic arm 4 to aim at the flames and extinguish the fire.

[0028] The lower end of each mechanical leg is provided with a Mecanum wheel 9. The mechanical legs include walking legs 10 and climbing legs 8. The walking legs 10 are four in number and are located at the four corners of the robot body 5, and the climbing legs 8 are two in number and are located at the left and right sides of the robot body 5. The walking legs 10 include thighs 7 and shanks 6. The first end of the thigh 7 is mounted on the robot body 5, the first end of the shank 6 is mounted on the last end of the thigh 7, and the last end of the shank 6 is provided with a Mecanum wheel 9. The first end of the climbing leg 8 is mounted on the robot body 5, and the last end of the climbing leg 8 is also provided with a Mecanum wheel 9. The positions where the robot body 5, the thigh 7, the shank 6 and the climbing leg 8 are connected to each other are joints, and each joint is provided with a power device for driving the movement of each joint and keeping the joint at a specific angle. Each Mecanum wheel 9 is provided with a power device for driving the Mecanum wheel 9 to rotate at a certain direction and speed.

[0029] When the robot is walking in the mountains, its state is as shown in Figure 1 、 2 The walking legs 10 are in an M-shaped structure, the Mecanum wheels 9 on the robot body 5 and the climbing legs 8 are off the ground, and the robot is driven to walk by the Mecanum wheels 9 on the walking legs 10. Due to the ruggedness of the mountain road and the presence of stones, potholes and vegetation on the ground, the wheels cannot travel. Through the action of the four walking legs 10, the Mecanum wheels 9 can be lifted up by the walking legs 10 to directly cross the obstacles on the ground, similar to the walking of mammalian limbs. When the robot climbs a tree, as shown in Figure 4 , three Mecanum wheels 9 on each side form a triangle, the tree trunk is held by the three Mecanum wheels 9, and the upward movement and rotational movement can be realized by the action of the Mecanum wheels 9. When the robot climbs a tree, the main movement is upward movement, and when encountering obstacles such as branches, the rotational movement can bypass the branches.

[0030] The end of the mechanical arm 4 is respectively provided with a clamping mechanism 2, an electric screwdriver 3 and an electric saw 1. The clamping mechanism 2 is used to clamp a detection device; the electric screwdriver 3 is used to lock the position of the detection device; and the electric saw 1 is used to trim excess branches and leaves, and in addition, when the ground vegetation blocks the way of the robot, the electric saw 1 can clean the ground vegetation.

[0031] The robot further includes an ultrasonic ranging module, a camera, a control module and a wireless signal transceiver module. The ultrasonic ranging module is used to detect obstacles; the camera enables the operator to see the surrounding environment of the robot; the wireless signal transceiver module enables the operator to remotely control the robot; and the control module is used to control the movement of each structure of the robot.

[0032] The detection device comprises a detection module 13, a camera, a wireless signal transceiver module, a battery, a solar panel 11 and a clamp 12.

[0033] The detection module 13 is used for detecting fire signals, comprising a thermal imager and a smoke sensor, which can timely find fire. It also comprises a temperature sensor, a humidity sensor and the like, which are used for detecting the weather conditions of the mountain forest. The camera enables the staff to observe the scene; the wireless transceiver module realizes information transmission, enabling the staff to remotely monitor the mountain forest; the battery stores electric energy, enabling the device to normally work in rainy days and at night.

[0034] The detection module 13 is installed on the clamp 12, which fixes the detection device on the branches through the clamp 12; the clamp 12 or the detection device is also provided with a solar panel 11, which supplies power for the device.

[0035] The clamp 12, the solar panel 11 and the clamp 12 and the detection module 13 and the clamp 12 are respectively provided with fastening screws 14. The clamp 12 comprises two upper and lower clamps 12, which are hingedly connected at the middle position. The solar panel 11 is hingedly connected with the clamp 12, and the detection module 13 is hingedly connected with the clamp 12. In each of the above three hinged structures, one part is provided with a threaded hole matched with the fastening screw 14, and the other part is provided with an arc-shaped strip hole. The fastening screw 14 passes through the threaded hole and the arc-shaped strip hole, respectively. In the natural state, the hinged structure can rotate at a certain angle. When the rotation angle is adjusted, the fastening screw 14 can fix the hinged structure.

[0036] The work of the robot includes two parts of installing the detection device and extinguishing the fire. When installing the detection device, the operation process is as follows: first, divide the mountain forest into several areas according to the coordinates; select a tree with a wide field of view and a relatively high height in each area by an unmanned aerial vehicle or manually for installing the detection device, and record the position coordinates and image features of the tree; then control the robot to carry the detection device into the mountain forest to find the specified tree for installing the detection device. Through the joint action of the walking legs 10 and the Mecanum wheels 9, the robot can walk in the rugged mountain forest until it reaches the specified tree. The robot first approaches the tree on one side, then moves laterally towards the tree until the side is against the tree. Then the Mecanum wheels 9 on the climbing leg 8 near the tree are used to climb up the tree. When climbing to a certain height, the three Mecanum wheels 9 on the side hold the tree and continue to climb upwards until they reach a certain height and select a suitable branch. The detection device is installed on the branch through the mechanical arm 4.

[0037] The mechanical arm 4 clamping mechanism 2 is used to clamp the handle end of the clamp 12, so that the front end of the clamp 12 is opened, and the clamp 12 is clamped on the branch, and then the clamping mechanism 2 is loosened, and then the positions of the clamp 12, the detection mechanism and the solar panel 11 are adjusted through the clamping mechanism 2 respectively, and after adjustment, each fastening screw 14 is locked through the electric screwdriver 3 respectively, so that the position is fixed. The obstructive branches are trimmed by the electric saw 1, including the branches that obstruct the climbing and the installation of the detection device, the branches that block the line of sight of the camera and the thermal imager, and the branches that block the sunlight of the solar panel 11, so as to ensure that the detection device can work normally.

[0038] When the robot carries out fire extinguishing work, the operation process is as follows: first, the detection device carries out fire risk assessment on the mountain forest, and the dry, high-temperature and human activity frequent area can be identified as a high-risk area. The robot is dispatched to the mountain forest to wait on duty, especially in the high-risk area of the mountain forest. Once the fire is found, the robot can arrive on site in the first time before the fire fighters, so as to extinguish the initial fire in time and avoid the spread of the fire.

[0039] The initial fire caused by lightning often locates in the tree crown, and since the robot has the climbing ability, it can climb to the tree to extinguish the fire in the tree crown.

[0040] If the forest fire has spread, the robot can also be used to open an isolation belt. The vegetation such as trees and grasses on the ground is cut by the electric saw, and then the cut trees and grasses are cleaned away by the clamping device, so that a wide ground can be opened to isolate the fire and prevent further spread.

[0041] It should be noted that the specific embodiments of the present application have been described in detail, and various obvious modifications made by those skilled in the art without departing from the spirit and scope of the present application are within the protection scope of the present application.

Claims

1. A forest fire prevention and firefighting robot, characterized in that: The system includes a robot and a detection device. The robot comprises a robot body, a robotic arm, and multiple robotic legs. A fire extinguisher is installed inside the robot body, with its nozzle fixed to the robotic arm. Each robotic leg has a Mecanum wheel at its lower end. The robotic legs include walking legs and climbing legs. There are four walking legs, located at the four corners of the robot body, and two climbing legs, located on the left and right sides of the robot body. Each walking leg includes a thigh and a lower leg. The proximal end of the thigh is mounted on the robot body, and the proximal end of the lower leg is mounted on the distal end of the thigh, with a Mecanum wheel at the distal end. The proximal end of each climbing leg is mounted on the robot body, and a Mecanum wheel is also located at the distal end. Each joint of the robotic leg is equipped with a power unit to drive the movement of each joint and maintain the joint at a specific angle. Each Mecanum wheel is equipped with a power unit capable of driving a Mecanum wheel. The wheels rotate in a certain direction and speed; each end of the robotic arm is equipped with a clamping mechanism; the clamping mechanism can clamp the detection device; the detection device includes a detection module for detecting fire signals, and also includes a wireless signal transceiver module, a battery, a solar panel, and a clamp; the detection module is mounted on the clamp, and the clamp fixes the detection device to a tree branch; the clamp or detection device is also equipped with a solar panel; the robot is used to walk in the forest through the combined action of the walking legs and Mecanum wheels; when climbing trees, the robot first approaches one side of the tree, then moves sideways towards the tree until the side touches the tree, and then climbs upward by using the Mecanum wheels on the climbing legs on the side closest to the tree to push against the tree. After climbing a certain height, the three Mecanum wheels on that side simultaneously hug the tree and continue climbing upward until a suitable branch is selected, and the detection device is installed on the branch by the robotic arm.

2. The forest fire prevention and firefighting robot according to claim 1, characterized in that: The robotic arm is equipped with an electric screwdriver at its end, which is matched with a fastening screw; fastening screws are respectively provided on the clamp, between the solar panel and the clamp, and between the detection module and the clamp.

3. The forest fire prevention and firefighting robot according to claim 2, characterized in that: The clamp includes two clamp pieces, one above the other, which are hinged together at the middle. The solar panel is hinged to the clamp, and the detection module is hinged to the clamp. In the above three sets of hinged structures, each set of hinged structures has a part with a threaded hole that matches the fastening screw, and another part with an arc-shaped slot hole. The fastening screw passes through the threaded hole and the arc-shaped slot hole respectively.

4. The forest fire prevention and firefighting robot according to claim 1, characterized in that: The robotic arm is equipped with an electric saw at its end.

5. The forest fire prevention and firefighting robot according to claim 1, characterized in that: The robot also includes an ultrasonic ranging module, a camera, a control module, and a wireless signal transceiver module.

6. The forest fire prevention and firefighting robot according to claim 1, characterized in that: The detection module includes a thermal imager and a smoke sensor.

7. The forest fire prevention and firefighting robot according to claim 1, characterized in that: The detection module includes a temperature sensor and a humidity sensor.

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