An aerial inspection fire-fighting robot system for industrial park fire fighting

Abstract

The application relates to an aerial inspection fire-fighting robot system for industrial park fire fighting, which comprises an inspection guide rail, a parallel robot, a high-pressure fire extinguishing agent storage device and a control module. The inspection guide rail is provided with a guide rail and a rack. The base of the parallel robot is provided with a sliding block, a gear driving motor is installed on the sliding block, and the output end of the gear driving motor is connected with a gear. Four servo motors are uniformly distributed on the base, four vertical sliding rails are vertically arranged on the lower part of the base, a screw rod and a vertical sliding block are arranged on the vertical sliding rail, the output end of the servo motor is downwardly connected with the screw rod, the vertical sliding block is rotationally connected with a rotating arm, and the rotating arm is rotationally connected with a U-shaped fork. Two U-shaped forks in the four U-shaped forks are rotationally connected with the same movable platform. A spray gun is installed on the lower part of the movable platform, and a camera is arranged on the spray gun. The high-pressure fire extinguishing agent storage device is installed on the lower part of the base and is communicated with the spray gun through a high-pressure hose. The control module is installed on the base and is connected with all the motors. The system is stable and reliable in structure, has small application limitations, is flexible and mobile in work, and has good use effect.

Description

Technical Field

[0001] The present invention relates to the field of fire protection technology, and in particular to an aerial patrol firefighting robot system for industrial park firefighting. Background Art

[0002] With the rapid development of large-scale industrial parks, their scale and environmental complexity continue to increase. Manual fire inspections and fire protection systems based primarily on closed-loop sprinklers suffer from delayed fire detection and widespread water application, which can easily lead to widespread moisture damage and economic losses. Therefore, there is an urgent need to innovate fire inspection strategies and equipment within large industrial parks to improve fire prevention and emergency rescue capabilities.

[0003] With the continuous development of robotics and automation technology, robots have achieved a high level of autonomy and intelligence, capable of performing a variety of complex tasks. In industrial park fire prevention applications, robots can replace human operators in tasks such as inspection, early warning, and fire extinguishing, improving fire prevention efficiency. Internet of Things (IoT) technology enables real-time information exchange and data sharing between various devices and systems. In industrial park fire prevention applications, IoT technology can monitor fire hazards in real time, promptly identify fire sources, and improve fire prevention and early warning capabilities. Artificial intelligence technologies, such as machine learning and deep learning, empower robots with intelligent analysis and decision-making capabilities. In industrial park fire prevention applications, robots can learn from a large number of fire cases to independently assess fire risks and take appropriate fire prevention measures. Wireless communication technology provides industrial park fire prevention robots with real-time communication and data transmission capabilities. Through wireless communication, robots can interact with monitoring centers in real time, receive fire warning information, and take timely action. The integration of these technologies provides technical support for the application of industrial park fire prevention robots, helping to improve fire prevention and emergency rescue capabilities in large industrial parks.

[0004] Currently, the design and development of firefighting robots primarily utilizes a series structure to control the angle of the water cannon. This structure, however, suffers from lower rigidity than a parallel structure and cannot withstand the recoil caused by excessive water pressure during firefighting operations, thus affecting accuracy. In terms of locomotion, most firefighting robots utilize tracked vehicles that travel on the ground. However, these vehicles have certain requirements for road conditions and therefore present certain limitations.

[0005] Therefore, it is necessary to develop a parallel structure inspection fire-fighting robot for large industrial parks that can withstand high water pressure, has a wide working distance, a small installation space, and few usage limitations. Summary of the Invention

[0006] The purpose of the present invention is to provide an aerial patrol fire-fighting robot system for industrial park firefighting, which has a stable and reliable structure, small application limitations, flexible and maneuverable operation, and good use effect.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an aerial patrol fire-fighting robot system for industrial park fire fighting, comprising a patrol guide rail, a parallel robot, a high-pressure storage device for fire extinguishing agent and a control module; the patrol guide rail is suspended in the air at a set height above the ground in the industrial park, and a guide rail and a rack are provided on the patrol guide rail along the extension direction of the guide rail; the parallel robot comprises a base, a slider which cooperates with the guide rail is provided on the base, a gear drive motor is installed on the slider, and the output end of the gear drive motor is connected to a gear which meshes with the rack to drive the parallel robot to move along the patrol guide rail; four servo motors are evenly distributed on the base, and four vertical slide rails are respectively erected at the lower part of the base corresponding to the positions of the four servo motors, and each vertical slide rail is respectively provided with a matching screw rod and a vertical slider, and each servo The output ends of the motors pass downward through the base and are connected to the screw rods, so as to drive the vertical sliders to slide along the vertical slide rails through the screw rods, and each vertical slider is rotatably connected to a rotating arm, and the lower end of each rotating arm is rotatably connected to a U-shaped fork; two opposite ones of the four U-shaped forks are rotatably connected to the same moving platform, and the two moving platforms are arranged up and down and rotatably connected, and a spray gun driven to rotate by a spray gun drive motor is installed at the lower part of the lower moving platform, and a camera is also provided on the spray gun; the high-pressure storage device for fire extinguishing agent is installed at the lower part of the base, and the high-pressure storage device for fire extinguishing agent is connected downward to a high-pressure hose, and the high-pressure hose is connected downward to the spray gun; the control module is installed on the base of the parallel robot, and is electrically connected to the gear drive motor, the servo motor and the spray gun drive motor to control the operation of the gear drive motor, the servo motor and the spray gun drive motor.

[0008] Furthermore, two left and right guide rails and two left and right racks are provided on the inspection guide rail along the extension direction of the guide rail; two left and right sliders are provided on the base of the parallel robot corresponding to the two guide rails, and gear drive motors are respectively installed on the left and right sliders, and the output ends of the two gear drive motors are respectively connected to gears to engage with the left and right racks respectively.

[0009] Furthermore, the slider, servo motor and control module are respectively fixedly connected to the base through threaded fasteners.

[0010] Furthermore, the servo motor, vertical slide rail, lead screw, vertical slider, rotating arm and U-shaped fork form a branch chain, and the four branch chains are evenly arranged around the center of the base and connected to the four rotating pairs of the two moving platforms.

[0011] Furthermore, the fire extinguishing agent high-pressure storage device stores the fire extinguishing agent required for fire extinguishing and provides fire extinguishing agent and injection pressure to the spray gun during fire extinguishing operation; a pressure sensor is provided in the fire extinguishing agent high-pressure storage device, and the pressure sensor is electrically connected to the control module to provide an injection pressure signal to the control module; the control module adjusts the spray gun angle of the parallel robot according to the injection pressure signal, and issues a warning signal when the pressure is insufficient.

[0012] Furthermore, the spray gun is provided with two nozzles, the first nozzle is perpendicular to the moving platform, and the second nozzle is at an angle of 45° to the first nozzle; the fire extinguishing agent high-pressure storage device is connected to the spray gun through a high-pressure hose, and the spray gun is respectively provided with two switch valves. The control module controls the opening and closing of the two nozzles by controlling the switching of the two switch valves on the spray gun to realize the release of fire extinguishing agent from the corresponding nozzles.

[0013] Furthermore, the camera is a thermal imaging camera.

[0014] Furthermore, the control module sends a command signal to the gear drive motor on the parallel robot according to the inspection task, and controls the parallel robot to perform inspection work along the inspection guide rail; when a fire is found, the parallel robot moves to a predetermined position, and controls the two moving platforms to adjust to a preset angle through four servo motors, and then controls the angle of the spray gun according to the water pressure to perform fire extinguishing operations at the location where the fire occurs; the control module captures images through the camera, and adjusts the angle of the spray gun in real time according to the deviation between the actual spray point and the expected spray position to ensure operation accuracy; when the fire spreads, the control module automatically determines the size of the fire by combining the images captured by the camera and the monitoring data of the smoke alarm, constructs a 3D map of the fire scene, and determines the fire location by combining the thermal imaging of the camera. The control module can monitor the internal situation of the disaster site, determine the type of fire and whether there are people still in danger, send out different alarm bells to warn people in the surrounding environment, and continuously adjust the platform and the angle of the spray gun to make the parallel robot always work in the most efficient fire extinguishing state; the control module also monitors the size and direction of the water column sprayed by the spray gun through the camera to assist in detecting the working status of the spray gun and record the working data, so as to facilitate the post-disaster inspection and maintenance of the parallel robot; during the fire extinguishing operation, the control module continuously records and updates the fire scene map and fire status through the camera, and uploads the fire scene 3D map, the internal structure of the fire site and status data information to the data center to facilitate manual judgment of the severity of the fire and make further rescue measures.

[0015] Furthermore, the inspection rail runs through the entire industrial park, and the parallel robot slides in cooperation with the inspection rail through a slider, and the gear drive motor drives the gear engaged with the rack on the inspection rail to rotate, driving the parallel robot to perform inspection work along the inspection rail; a groove is provided in the middle of the inspection rail for installing the rack and arranging wiring; robot fixed positions are arranged at intervals on the inspection rail, and each robot fixed position is provided with a robot position sensor for detecting the position of the parallel robot.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an aerial patrol firefighting robot system for industrial park firefighting. The system adopts a parallel robot. Compared with the traditional serial structure, the parallel structure has higher rigidity and can withstand the recoil caused by greater water pressure, thereby improving working accuracy and firefighting efficiency. In addition, the parallel robot of the system adopts a dual-action platform symmetrical redundant drive parallel operating head, so that the symmetrical posture of the robot in the workspace has the same mechanical properties and dexterity. In terms of movement mode, the system adopts a track walking mode, which solves the problem that wheeled fire trucks have certain requirements for road conditions. The parallel robot of the system is controlled by a control module and can patrol along the preset guide rails in the industrial park to detect and extinguish fires in time. Therefore, the aerial patrol firefighting robot system for industrial park firefighting provided by the present invention has high flexibility and maneuverability, and can effectively improve the fire safety level of the industrial park. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The structure of the aerial inspection fire-fighting robot system according to the embodiment of the present invention is shown as follows: Figure 1 ;

[0018] Figure 2 The structure of the aerial inspection fire-fighting robot system according to the embodiment of the present invention is shown as follows: Figure 2 ;

[0019] Figure 3 Schematic diagram of the coordination structure between the parallel robot and the inspection guide rail in an embodiment of the present invention;

[0020] Figure 4 Schematic diagram of the working state of the aerial inspection fire-fighting robot system according to an embodiment of the present invention Figure 1 ;

[0021] Figure 5 Schematic diagram of the working state of the aerial inspection fire-fighting robot system according to an embodiment of the present invention Figure 2 .

[0022] In the figure: 1. Gear; 2. Rack; 3. Control module; 4. Inspection rail; 5. Base; 6. Vertical slide rail; 7. Vertical slider; 8. Rotating arm; 9. U-shaped fork; 10. Spray gun; 11. Thermal imaging camera; 12. First moving platform; 13. Second moving platform; 14. High-pressure hose; 15. Servo motor; 16. Slider; 17. High-pressure storage device for fire extinguishing agent; 18. Gear drive motor; 19. Robot position sensor; 20. Stored goods; 21. Guide rail assembly; 22. Parallel robot. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] like Figure 1-3As shown, this embodiment provides an aerial patrol firefighting robot system for industrial park firefighting, including a patrol guide rail 4, a parallel robot, a high-pressure storage device 17 for fire extinguishing agent and a control module 3; the patrol guide rail 4 is horizontally suspended in the air at a set height above the ground in the industrial park, and a guide rail and a rack 2 are provided on the patrol guide rail 4 along the extension direction of the guide rail; the parallel robot includes a base 5, a slider 16 that cooperates with the guide rail is provided on the base 5, and a gear drive motor 18 is installed on the slider 16, and the output end of the gear drive motor 18 is connected to a gear 1 that meshes with the rack to drive the gear 1 to rotate and thereby drive the parallel robot to move along the patrol guide rail 4; four servo motors 15 are evenly distributed on the base 5, and four vertical slide rails 6 are respectively erected at the lower part of the base 5 corresponding to the positions of the four servo motors 15, and each vertical slide rail 6 is respectively provided with a matching screw rod and a vertical slider 7, and the output end of each servo motor 15 is respectively The lower part of the movable platform 12 is provided with a spray gun 10 driven by a spray gun drive motor, and the spray gun 10 is also provided with a camera 11; the fire extinguishing agent high-pressure storage device 17 is installed at the lower part of the base 5, and the fire extinguishing agent high-pressure storage device 17 is connected to a high-pressure hose 14 downward, and the high-pressure hose 14 passes through the two movable platforms downward and is connected to the spray gun 10; the control module 3 is installed on the base 5 of the parallel robot and is electrically connected to the gear drive motor 18, the servo motor 15 and the spray gun drive motor to control the operation of the gear drive motor, the servo motor and the spray gun drive motor.

[0027] In this embodiment, the inspection guide rail 4 is provided with two left and right guide rails and two left and right racks 2 along the extension direction of the guide rail; the base 5 of the parallel robot is provided with two left and right sliders 16 corresponding to the two guide rails, and the left and right sliders 16 are respectively installed with gear drive motors 18, and the output ends of the two gear drive motors 18 are respectively connected to gears 1 to engage with the left and right racks respectively.

[0028] The slider 16 , the servo motor 15 and the control module 3 are fixedly connected to the base 5 via threaded fasteners.

[0029] The parallel robot is a symmetrical, redundantly driven parallel robot with dual-moving platforms. A servo motor 15, vertical slide rail 6, screw rod, vertical slider 7, rotating arm 8, and U-shaped fork 9 form a branch chain. The branch chain structure is: moving pair P + revolving pair R + Hooke's joint U. The moving pair P serves as the active joint of the four branches and is driven by the servo motor to achieve vertical movement of the branches. The four branches are evenly arranged around the center of the base and connected to the four revolving pairs of the two moving platforms 12 and 13. The two branches in the symmetrical directions are symmetrically connected to the same moving platform via U pairs, forming a branch chain-moving platform-branch chain structure. Two sets of moving platforms with this structure are superimposed and connected via revolving pairs to form a symmetrical parallel robot with dual-moving platforms. By controlling the movement of the four branches, the active platform, equipped with a fire extinguishing device, located below the dual-moving platform, can achieve two rotations and one translation within space. A control module is located on the parallel robot base and is used to control the movement of the four branches. Compared with serial robots, the parallel robot provided by the present invention has higher rigidity and can withstand greater water pressure in a smaller volume. In terms of firefighting, it can withstand the huge pressure brought by the water gun without causing deformation that affects the operation.

[0030] The high-pressure fire extinguishing agent storage device 17 stores the high-pressure fire extinguishing agent required for fire extinguishing and provides injection pressure to the spray gun during fire extinguishing operation; a pressure sensor is provided in the high-pressure fire extinguishing agent storage device, and the pressure sensor is electrically connected to the control module to provide an injection pressure signal to the control module; the control module adjusts the spray gun angle of the parallel robot according to the injection pressure signal, and sends a warning signal to remind the management personnel to replenish the fire extinguishing agent in time when the pressure is insufficient, so as to ensure that the parallel robot can operate normally.

[0031] In this embodiment, the spray gun 10 is provided with two nozzles, the first nozzle is perpendicular to the moving platform, and the second nozzle is at a 45° angle to the first nozzle; the fire extinguishing agent high-pressure storage device 17 is connected to the spray gun 10 through a high-pressure hose 14, and the spray gun is provided with two switch valves, respectively used to control the opening and closing of the two nozzles.

[0032] In this embodiment, the spray gun 10 is provided with two nozzles, the first nozzle is perpendicular to the moving platform, and the second nozzle is at a 45° angle to the first nozzle; the fire extinguishing agent high-pressure storage device 17 is connected to the spray gun 10 through a high-pressure hose 14, and the spray gun is respectively provided with two switch valves. The control module 3 controls the opening and closing of the two nozzles by controlling the opening and closing of the two switch valves on the spray gun 10 to realize the release of fire extinguishing agent from the corresponding nozzles.

[0033] When this system is working, the control module sends a signal to the servo motor to control the moving platform to drive the spray gun to swing, so that the first nozzle can be adjusted at an angle of -45°~45° with the vertical direction. If a larger angle between the nozzle and the horizontal direction is required, the second nozzle is called. The relative rotation between the spray gun and the moving platform driven by the spray gun drive motor can achieve the control of the second nozzle at an angle of -90°~90° with the vertical direction. If the spray pressure decreases during operation, the spray gun angle is raised to increase the spray distance to meet the needs of fire extinguishing operations.

[0034] In this embodiment, the camera 11 is a thermal imaging camera.

[0035] The control module sends a command signal to the gear drive motor on the parallel robot according to the inspection task, and controls the parallel robot to perform inspection work along the inspection guide rail; when a fire is found, the parallel robot moves to a predetermined position, and controls the two moving platforms to adjust to a preset angle through four servo motors, and then controls the angle of the spray gun according to the water pressure to perform fire extinguishing operations at the location where the fire occurs; the control module captures images through the camera, and adjusts the spray gun angle in real time according to the deviation between the actual spray point and the expected spray position to ensure operation accuracy; when the fire spreads, the control module automatically determines the size of the fire by combining the images captured by the camera and the monitoring data of the smoke alarm, constructs a 3D map of the fire scene, and judges the internal situation of the fire place by combining the thermal imaging of the camera The control module can detect the fire situation, judge the fire type and whether there are people still in danger, send out different alarm bells to warn people in the surrounding environment, and continuously adjust the platform and the angle of the spray gun to make the parallel robot always work in the most efficient fire extinguishing state; the control module also monitors the size and direction of the water column sprayed by the spray gun through the camera to assist in detecting the working status of the spray gun and record the working data, so as to facilitate the post-disaster inspection and maintenance of the parallel robot; during the fire extinguishing operation, the control module continuously records and updates the fire scene map and fire status through the camera, and uploads the 3D map of the fire scene, the internal structure and status of the fire place and other data information to the data center to facilitate manual intervention, manual judgment of the severity of the fire, and further rescue measures.

[0036] like Figure 4-5 As shown, the inspection rail 4 runs through the entire industrial park, and the parallel robot slides in cooperation with the inspection rail 4 through the slider 16, and drives the gear 1 engaged with the rack 2 on the inspection rail to rotate through the gear drive motor 18, driving the parallel robot to perform inspection work along the inspection rail 4; a groove is provided in the middle of the inspection rail 4 for installing the rack and arranging wiring; robot fixed positions are arranged at intervals on the inspection rail 4, and each robot fixed position is provided with a robot position sensor for detecting the position of the parallel robot.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

Claims

1. An aerial patrol firefighting robot system for industrial park firefighting, characterized in that: It includes an inspection guide rail, a parallel robot, a high-pressure storage device for fire extinguishing agent and a control module; the inspection guide rail is suspended in the air at a set height from the ground in the industrial park, and a guide rail and a rack are provided on the inspection guide rail along the extension direction of the guide rail; the parallel robot includes a base, a slider that cooperates with the guide rail is provided on the base, a gear drive motor is installed on the slider, and the output end of the gear drive motor is connected to a gear that meshes with the rack to drive the parallel robot to move along the inspection guide rail; four servo motors are evenly distributed on the base, and four vertical slide rails are erected at the lower part of the base corresponding to the positions of the four servo motors, and each vertical slide rail is provided with a matching screw rod and a vertical slider, and the output end of each servo motor passes downward through the base and is connected to the screw rod. The vertical slider is driven by a screw rod to slide along the vertical slide rail, and each vertical slider is rotatably connected to a rotating arm, and the lower end of each rotating arm is rotatably connected to a U-shaped fork; two opposite ones of the four U-shaped forks are rotatably connected to the same moving platform, and the two moving platforms are arranged up and down and rotatably connected, and a spray gun driven to rotate by a spray gun drive motor is installed at the lower part of the lower moving platform, and a camera is also provided on the spray gun; the high-pressure storage device for fire extinguishing agent is installed at the lower part of the base, and the high-pressure storage device for fire extinguishing agent is connected downwardly to a high-pressure hose, and the high-pressure hose is connected downwardly to the spray gun; the control module is installed on the base of the parallel robot and is electrically connected to the gear drive motor, the servo motor and the spray gun drive motor to control the operation of the gear drive motor, the servo motor and the spray gun drive motor.

2. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The inspection guide rail is provided with two left and right guide rails and two left and right racks along the extension direction of the guide rail; the base of the parallel robot is provided with two left and right sliders corresponding to the two guide rails, and the left and right sliders are respectively installed with gear drive motors, and the output ends of the two gear drive motors are respectively connected to gears to engage with the left and right racks respectively.

3. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The slider, servo motor and control module are respectively fixedly connected to the base through threaded fasteners.

4. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The servo motor, vertical slide rail, lead screw, vertical slider, rotating arm and U-shaped fork form a branch chain, and the four branch chains are evenly arranged around the center of the base and connected to the four rotating pairs of the two moving platforms.

5. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The high-pressure fire extinguishing agent storage device stores the fire extinguishing agent required for fire extinguishing and provides the fire extinguishing agent and injection pressure to the spray gun during fire extinguishing operation; a pressure sensor is provided in the high-pressure fire extinguishing agent storage device, and the pressure sensor is electrically connected to the control module to provide an injection pressure signal to the control module; the control module adjusts the spray gun angle of the parallel robot according to the injection pressure signal and issues a warning signal when the pressure is insufficient.

6. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The spray gun is provided with two nozzles, the first nozzle is perpendicular to the moving platform, and the second nozzle is at a 45° angle to the first nozzle; the fire extinguishing agent high-pressure storage device is connected to the spray gun through a high-pressure hose, and the spray gun is respectively provided with two switch valves. The control module controls the opening and closing of the two nozzles by controlling the switching of the two switch valves on the spray gun to realize the release of fire extinguishing agent from the corresponding nozzles.

7. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The camera is a thermal imaging camera.

8. The aerial patrol firefighting robot system for industrial park firefighting according to claim 7 is characterized in that: The control module sends a command signal to the gear drive motor on the parallel robot according to the inspection task, controlling the parallel robot to perform inspection work along the inspection guide rail. When a fire is detected, the parallel robot moves to a predetermined position and uses four servo motors to control the two moving platforms to adjust to a preset angle. The spray gun angle is then controlled according to the water pressure to extinguish the fire at the fire location. The control module captures images through a camera and adjusts the spray gun angle in real time according to the deviation between the actual spray point and the expected spray position to ensure operation accuracy; When the fire spreads, the control module automatically determines the size of the fire by combining the camera images and the smoke alarm monitoring data, constructs a 3D map of the fire scene, and combines the camera's thermal imaging to determine the internal situation of the fire site, the type of fire and whether there are people still in danger, and issues different alarm bells to alert people in the surrounding environment, and continuously adjusts the platform and the angle of the spray gun to ensure that the parallel robot always works in the most efficient fire extinguishing state; the control module also monitors the size and direction of the water column sprayed by the spray gun through the camera to assist in detecting the working status of the spray gun and record the working data to facilitate post-disaster inspection and maintenance of the parallel robot; during the fire extinguishing operation, the control module continuously records and updates the fire scene map and fire status through the camera, and uploads the 3D map of the fire scene, the internal structure of the fire site and status data information to the data center to facilitate manual judgment of the severity of the fire and take further rescue measures.

9. The aerial patrol firefighting robot system for industrial park firefighting according to claim 1 is characterized in that: The inspection guide rail runs through the entire industrial park. The parallel robot slides in cooperation with the inspection guide rail through a slider, and the gear driven motor drives the gear engaged with the rack on the inspection guide rail to rotate, driving the parallel robot to perform inspection work along the inspection guide rail; a groove is provided in the middle of the inspection guide rail for installing the rack and arranging wiring; robot fixed positions are arranged at intervals on the inspection guide rail, and each robot fixed position is provided with a robot position sensor for detecting the position of the parallel robot.

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