A fire extinguishing system suitable for a quadruped robot

Abstract

The application belongs to the technical field of fire-fighting quadruped robots, and particularly relates to a fire-fighting system suitable for a quadruped robot, which comprises a quadruped robot, wherein the upper part of the quadruped robot is provided with a double-layer mounting rack, the first layer of the double-layer mounting rack is provided with an industrial computer, an edge computer and a voltage stabilizer, the second layer of the double-layer mounting rack is provided with a direct-current power supply, an exchange, a positioning camera and a fire extinguisher, the end of the second layer of the double-layer mounting rack is further provided with a support frame, the upper end of the support frame is provided with a laser radar, and the side of the upper end of the support frame is provided with a binocular depth camera. A video transmitter is fixedly installed on the fire extinguisher, a first pipeline is connected to the outlet end of the fire extinguisher, the end of the first pipeline penetrates through the partition plate of the double-layer mounting rack and is connected with the voltage stabilizer, and the output end of the voltage stabilizer is connected with a spray pipe. The application can keep excellent mobility and stability, can stably work in a high-temperature environment, can effectively resist smoke interference, and can easily cope with various complex terrains.

Description

Technical Field

[0001] This invention belongs to the field of fire-fighting quadruped robot technology, specifically relating to a fire-fighting system suitable for quadruped robots. Background Technology

[0002] With the rapid pace of urbanization, high-rise buildings and complex structures are becoming increasingly prevalent, rendering traditional firefighting equipment and methods inadequate in the face of complex fire environments. Quadruped robots, with their superior mobility and stability, have demonstrated great application potential in fields such as search and rescue and reconnaissance. However, existing quadruped robots still have shortcomings in fire source identification, smoke interference prevention, and adaptation to complex terrain, making it difficult to fully meet the high standards required for fire rescue.

[0003] To overcome this bottleneck, this invention focuses on developing a novel quadruped robot that not only maintains excellent mobility and stability but also operates reliably in high-temperature environments, effectively resists smoke interference, and easily handles various complex terrains. The advent of this robot will bring revolutionary progress to the field of fire and rescue, greatly improving rescue efficiency and ensuring the safety of rescue personnel. Summary of the Invention

[0004] The purpose of this invention is to provide a fire extinguishing system suitable for quadruped robots, which can maintain excellent mobility and stability, work stably in high-temperature environments, effectively resist smoke interference, and easily cope with various complex terrains.

[0005] The specific technical solution adopted by this invention is as follows:

[0006] A fire extinguishing system suitable for quadruped robots includes a fire extinguishing robot and a control system. The fire extinguishing robot is a quadruped robot with a double-layer mounting frame on its upper part. The first layer of the double-layer mounting frame is equipped with an industrial control computer, an edge computer, and a voltage regulator. The second layer of the double-layer mounting frame is equipped with a DC power supply, a switch, a positioning camera, and a fire extinguisher. A support frame is also installed at the end of the second layer of the double-layer mounting frame. A lidar is installed on the upper end of the support frame, and a binocular depth camera is installed on the side of the upper end of the support frame.

[0007] Preferably, a video transmitter is fixedly installed on the fire extinguisher, a first pipe is connected to the outlet end of the fire extinguisher, the end of the first pipe passes through the partition of the double-layer mounting frame and is connected to the voltage stabilizer, and a nozzle is connected to the output end of the voltage stabilizer.

[0008] Preferably, a first fixing ring is fixedly connected to the double-layer mounting frame, the nozzle passes through the first fixing ring, an electric first telescopic rod is provided on the side of the double-layer mounting frame, an electric second telescopic rod is provided at the output end of the electric first telescopic rod, and a collar is connected to the output end of the electric second telescopic rod, the collar being fitted onto the nozzle.

[0009] Preferably, the electric first telescopic rod and the electric second telescopic rod are perpendicular to each other, and the collar is located on one side of the first fixed ring.

[0010] Preferably, the industrial control computer is used to calculate the control algorithm and communicates with the edge computer.

[0011] Preferably, the binocular depth camera identifies the fire source at the fire scene through the edge computer, and the edge computer adjusts the nozzle angle according to the fire source location through the electric first telescopic rod and the electric second telescopic rod.

[0012] Preferably, the lidar is used for mapping and positioning via the edge computer.

[0013] Preferably, the positioning camera performs calculations via the industrial control computer to obtain the global positioning of the quadruped robot.

[0014] Preferably, the control system includes a sensing system, a communication system, a software system, and a hardware system.

[0015] The technical effects achieved by this invention are as follows:

[0016] This invention proposes a quadruped robot system specifically designed for fire rescue scenarios, aiming to significantly improve rescue efficiency and ensure the safety of rescue personnel at fire scenes. This quadruped robot integrates a series of advanced sensors and artificial intelligence algorithms, possessing a high degree of autonomy. It can navigate independently, accurately identify fire sources and toxic gases, and intelligently select and execute the most effective fire extinguishing strategies based on the fire situation. These functions not only improve fire extinguishing efficiency but also reduce reliance on firefighters, thereby lowering their risks when performing dangerous tasks. Furthermore, the quadruped robot is equipped with a series of specialized tools and equipment designed for fire rescue. It can carry fire extinguishers and suppress fires through precise spraying. To further improve rescue efficiency, the quadruped robot also has the ability to work collaboratively with other rescue equipment. It can maintain real-time communication with the command center and other rescue robots through a wireless communication system, sharing critical information and dynamically adjusting rescue strategies according to the situation on site.

[0017] The firefighting robot proposed in this invention can operate stably in high-temperature and smoky environments and adapt to various complex terrains, performing tasks such as fire source identification, fire extinguishing, and material transportation. Furthermore, this invention provides a system for controlling this quadruped robot, enabling it to intelligently adjust its movement strategy according to the fire scene environment, thereby improving rescue efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a fire-fighting quadruped robot in a fire-fighting system applicable to quadruped robots according to the present invention;

[0019] Figure 2 This is a front view schematic diagram of a fire-fighting quadruped robot in a fire-fighting system applicable to quadruped robots according to the present invention;

[0020] Figure 3 This is a structural framework diagram of a fire extinguishing system applicable to quadruped robots according to the present invention.

[0021] The attached diagram lists the components represented by each number as follows:

[0022] 1. Quadruped robot; 2. Double-layer mounting frame; 3. Industrial computer; 4. Edge computer; 5. Voltage regulator; 6. DC power supply; 7. Switch; 8. Positioning camera; 9. Fire extinguisher; 10. Support frame; 11. LiDAR; 12. Binocular depth camera; 13. Image transmission; 14. First pipe; 15. Nozzle; 16. First fixing ring; 17. Electric first telescopic rod; 18. Electric second telescopic rod; 19. Collar. Detailed Implementation

[0023] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0024] like Figure 1 As shown, a fire extinguishing system suitable for quadruped robots includes a fire extinguishing robot and a control system. The fire extinguishing robot includes a quadruped robot 1. The quadruped robot 1 is provided with a double-layer mounting frame 2 on its upper part. The first layer of the double-layer mounting frame 2 is equipped with an industrial control computer 3, an edge computer 4, and a voltage regulator 5. The second layer of the double-layer mounting frame 2 is equipped with a DC power supply 6, a switch 7, a positioning camera 8, and a fire extinguisher 9. A support frame 10 is also installed at the end of the second layer of the double-layer mounting frame 2. A lidar 11 is provided on the upper end of the support frame 10. A binocular depth camera 12 is installed on the upper side of the support frame 10.

[0025] Preferably, a display screen 13 is fixedly installed on the fire extinguisher 9, and a first pipe 14 is connected to the outlet end of the fire extinguisher 9. The end of the first pipe 14 passes through the partition of the double-layer mounting frame 2 and is connected to the voltage stabilizer 5. The output end of the voltage stabilizer 5 is connected to a nozzle 15.

[0026] Preferably, a first fixing ring 16 is fixedly connected to the double-layer mounting frame 2, the nozzle 15 passes through the first fixing ring 16, an electric first telescopic rod 17 is provided on the side of the double-layer mounting frame 2, an electric second telescopic rod 18 is provided at the output end of the electric first telescopic rod 17, a collar 19 is connected to the output end of the electric second telescopic rod 18, and the collar 19 is fitted on the nozzle 15; the electric first telescopic rod 17 and the electric second telescopic rod 18 are perpendicular to each other, and the collar 19 is located on one side of the first fixing ring 16.

[0027] Preferably, the industrial control computer 3 is used to calculate the control algorithm and communicates with the edge computer 4.

[0028] Preferably, the binocular depth camera 12 identifies the fire source at the fire scene through the edge computer 4, and the edge computer 4 adjusts the angle of the nozzle 15 according to the location of the fire source through the electric first telescopic rod 17 and the electric second telescopic rod 18.

[0029] In practical use, the edge computer 4 adjusts the position of the collar 19 by driving the output end of the first electric telescopic rod 17 to slide laterally or by driving the output end of the second electric telescopic rod 18 to slide laterally. This, in conjunction with the first fixed ring 16, changes the angle of the nozzle 15, thereby adjusting the angle of the extinguishing agent and achieving high-precision fire extinguishing. Specifically, this is achieved by processing and locating the fire source image to adjust the extinguishing angle.

[0030] Preferably, the lidar 11 performs mapping and positioning through the edge computer 4.

[0031] Preferably, the positioning camera 8 performs calculations through the industrial control computer 3 to obtain the global positioning of the quadruped robot 1.

[0032] The working principle of this invention is as follows: This firefighting quadruped robot 1 is modified from a conventional quadruped robot 1, and its structural diagrams in all directions are shown below. Figure 1 as well as Figure 2 As shown, Figure 1 as well as Figure 2 The various components of the firefighting quadruped robot 1 are specifically shown; the main structure of the control system can be divided into four parts: a sensing system, a communication system, a software system, and a hardware system. A detailed structural framework diagram is shown below. Figure 3 As shown.

[0033] Its perception system consists of a binocular depth camera 12, a lidar 11, and a T265 positioning camera 8. This system is primarily responsible for identifying and locating the fire scene. The binocular depth camera 12 acquires depth information of the environment, aiding the firefighting quadruped robot 1 in accurate environmental perception and fire source location. The lidar 11 measures the distance and speed of surrounding objects, assisting the firefighting quadruped robot 1 in environmental modeling and obstacle avoidance. The T265 positioning camera 8 is used for the precise positioning and navigation of the firefighting quadruped robot 1, including visual odometry and simultaneous localization and mapping (SLAM) functions. These three components work together to transmit the acquired fire scene map information to the edge computer 4 and the upper-level controller, which then integrate the information. In summary, the main task of the perception system is to identify and locate the fire scene.

[0034] The communication system consists of a PC terminal and a switch 7. Operators can remotely monitor and control the fire-fighting quadruped robot 1 via a computer. The robot 1 can also connect different controllers and computing units internally via a local area network. All internal and external components rely on the internal UDP communication protocol of the switch 7 to ensure reliable data transmission.

[0035] The software system of this firefighting quadruped robot 1 consists of numerous functional modules, including fire source detection, fire source localization, autonomous navigation, image transmission 13, path planning, communication protocols, SLAM, and sensor configuration. This module contains a large number of sensors, which play a crucial role in the operation of the firefighting quadruped robot 1. Only after the software system identifies and maps the fire scene through the sensors can it send commands to the controller, thereby controlling the hardware system.

[0036] In addition to the joint motor device of the conventional quadruped robot 1, the fire-fighting robot is equipped with an additional fire extinguisher 9 control device. The fire extinguisher 9 is controlled by the industrial control computer 3, which controls the voltage regulator 5 and the corresponding solenoid valve.

[0037] The operation of this firefighting quadruped robot 1 can be described as follows:

[0038] Step 1: Preparation Stage

[0039] Equipment inspection: Before deploying the firefighting quadruped robot 1, check that all hardware components and sensors are working properly, including the binocular depth camera 12, lidar 11, T265 positioning camera 8, etc.

[0040] Communication test: Test the communication connection between the PC terminal and the fire-fighting quadruped robot 1 to ensure that the local area network and UDP protocol are working properly.

[0041] Step 2: Deployment Phase

[0042] Start the fire-fighting quadruped robot 1: Turn on the industrial control computer 3 and the edge computer 4 to start the software system of the fire-fighting quadruped robot 1.

[0043] Initialize sensors: Start the perception system, including binocular depth camera 12, lidar 11 and T265 positioning camera 8, to perform environmental perception and self-localization.

[0044] Connecting to PC terminal: The operator connects to the fire-fighting quadruped robot 1 via PC terminal to prepare for remote control or monitoring, and to intervene remotely when necessary.

[0045] Step 3: Task Planning Phase

[0046] Task input: Operators input task instructions via PC terminal, including target location, fire extinguishing strategy and search route.

[0047] Path planning: The upper-level controller plans the best path to the target location based on the input task instructions and sensor data.

[0048] Step 4: Task Execution Phase

[0049] Autonomous navigation: The firefighting quadruped robot 1 starts its joint motors according to the planned path and begins autonomous navigation to the fire source.

[0050] Fire source detection and location: The fire-fighting quadruped robot 1 uses a sensing system to detect fire sources and accurately locate their positions.

[0051] SLAM mapping: During movement, the firefighting quadruped robot 1 uses SLAM technology for simultaneous localization and mapping to adapt to environmental changes.

[0052] Step 5: Fire Extinguishing Stage

[0053] Fire extinguisher 9 automatic control: After the fire-fighting quadruped robot 1 reaches the fire source, it automatically activates the fire extinguisher 9 to perform fire extinguishing operations.

[0054] Fire source monitoring: Through the image transmission system 13, the operator can monitor the fire source situation and the fire extinguishing effect of the four-legged fire-fighting robot 1 in real time.

[0055] Adjustment Strategy: Depending on the fire source, the operator can adjust the fire extinguishing strategy, and the four-legged firefighting robot 1 will operate according to the new instructions.

[0056] Step 6: Task Completion Phase

[0057] Mission Assessment: After the fire was extinguished, the firefighting quadruped robot 1 conducted a final probe of the fire source area to ensure that the fire had been completely extinguished.

[0058] Return to base: After completing the mission, the firefighting quadruped robot 1 returns to the base or a designated safe area according to the preset path.

[0059] Step 7: Maintenance and Charging

[0060] Equipment inspection: Conduct a comprehensive inspection of the fire-fighting quadruped robot 1 to ensure there is no damage and perform necessary maintenance.

[0061] Charging: Charge the firefighting quadruped robot 1 in preparation for the next mission.

[0062] Throughout its use, the autonomous nature of the firefighting quadruped robot 1 is combined with remote control by the operator to ensure safety and efficiency in performing tasks in hazardous environments.

[0063] This invention proposes a quadruped robot system specifically designed for fire rescue scenarios, aiming to significantly improve rescue efficiency and ensure the safety of rescue personnel at fire scenes. This firefighting quadruped robot 1 integrates a series of advanced sensors and artificial intelligence algorithms, possessing a high degree of autonomy. It can navigate independently, accurately identify fire sources and toxic gases, and intelligently select and execute the most effective firefighting strategy based on the fire situation. These functions not only improve firefighting efficiency but also reduce reliance on firefighters, thereby lowering their risks when performing dangerous tasks. Furthermore, the firefighting quadruped robot 1 of this invention is equipped with a series of specialized tools and equipment designed specifically for fire rescue. It can carry a fire extinguisher 9, using precise spraying to suppress the fire. To further improve rescue efficiency, the firefighting quadruped robot 1 of this invention also has the ability to work collaboratively with other rescue equipment. It can maintain real-time communication with the command center and other rescue robots through a wireless communication system, sharing critical information and dynamically adjusting rescue strategies according to the situation on site.

[0064] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A fire extinguishing system suitable for quadruped robots, characterized in that: The application relates to a fire-fighting robot and a control system, wherein the fire-fighting robot comprises a quadruped robot (1), the upper portion of the quadruped robot (1) is provided with a double-layer mounting rack (2), the first layer of the double-layer mounting rack (2) is provided with an industrial computer (3), an edge computer (4) and a voltage stabilizer (5), the second layer of the double-layer mounting rack (2) is provided with a direct-current power supply (6), a switch (7), a positioning camera (8) and a fire extinguisher (9), the end portion of the second layer of the double-layer mounting rack (2) is further provided with a support frame (10), the upper end of the support frame (10) is provided with a laser radar (11), and the upper end side of the support frame (10) is provided with a binocular depth camera (12). A video transmitter (13) is fixedly installed on the fire extinguisher (9), a first pipeline (14) is connected to the outlet end of the fire extinguisher (9), the end portion of the first pipeline (14) penetrates through the partition plate of the double-layer mounting rack (2) and is connected with the voltage stabilizer (5), and a spray pipe (15) is connected to the output end of the voltage stabilizer (5). A first fixing ring (16) is fixedly connected to the double-layer mounting rack (2), the spray pipe (15) penetrates through the first fixing ring (16), an electric first telescopic rod (17) is arranged on the side of the double-layer mounting rack (2), an electric second telescopic rod (18) is arranged at the output end of the electric first telescopic rod (17), a sleeve ring (19) is connected to the output end of the electric second telescopic rod (18), and the sleeve ring (19) is sleeved on the spray pipe (15). The electric first telescopic rod (17) and the electric second telescopic rod (18) are perpendicular to each other, and the sleeve ring (19) is located on one side of the first fixing ring (16).

2. The fire extinguishing system for quadruped robot according to claim 1, wherein: The industrial computer (3) is used for calculating a control algorithm and communicating with the edge computer (4).

3. The fire extinguishing system for quadruped robot of claim 1, wherein: The binocular depth camera (12) identifies a fire source at a fire scene through the edge computer (4), the edge computer (4) adjusts the angle of the spray pipe (15) through the electric first telescopic rod (17) and the electric second telescopic rod (18) according to the position of the fire source.

4. The fire extinguishing system for quadruped robot of claim 1, wherein: The laser radar (11) maps and positions through the edge computer (4).

5. The fire extinguishing system for quadruped robot of claim 1, wherein: The positioning camera (8) calculates through the industrial computer (3), so that the global positioning of the quadruped robot (1) is obtained.

6. The fire extinguishing system for a quadruped robot of claim 1, wherein: The control system comprises a perception system, a communication system, a software system and a hardware system.

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