Intelligent fireproof rescue robot and rescue system

Abstract

The invention discloses an intelligent fireproof rescue robot and a rescue system, and belongs to the technical field of fire rescue equipment. The rescue robot comprises a main body part, and a driving mechanism, a moving mechanism and a fire extinguishing mechanism are connected to the main body part; the intelligent reconnaissance mechanism comprises a reconnaissance device and a storage cabin; the reconnaissance device is connected with the rescue robot in a split manner and can be independently and movably controlled; the storage cabin is used for placing the reconnaissance device; and the rescue mechanism comprises a rescue mechanical arm and a rescue cabin, and the end of the rescue mechanical arm is connected with a rescue manipulator. Under the cooperative control effect of the control system, the rescue system is connected and communicated through a 5G network, when a mine fire occurs and after the ground command center receives an alarm, the site of the mine fire can be determined in time and monitored in real time, and an instruction whether to start or not is given to the rescue robot through the communication base station; the robot is started to carry out rapid intelligent rescue work, rescue is efficient, and the safety coefficient is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire rescue equipment, and more specifically, relates to an intelligent fire prevention and rescue robot and a rescue system. Background Art

[0002] At present, fires that occur in underground tunnels, working faces, chambers, goafs and other places in coal mines, and surface fires that affect and threaten underground safety are called mine fires. Fires in mines often lead to equipment loss, resource destruction, release of toxic and harmful gases to pollute the environment, and even cause explosions of gas, coal dust or sulfide dust, causing casualties, and seriously threatening the normal production of mines and the lives of underground personnel.

[0003] Faced with the severe situation, fire rescue is more urgent, and at the same time, there are huge risks in fire rescue. Especially in the field of coal mines, due to the complex conditions underground, explosions may occur at any time, and the air may be filled with toxic and harmful gases. Firefighters face great dangers and challenges when conducting fire rescue in mines with dangerous disasters such as lack of oxygen and thick smoke. Therefore, more intelligent equipment is needed to act as a rescue agent for rescue personnel in fire scene rescue.

[0004] Traditional room-temperature firefighting robots have limitations in use. They can only assist in the periphery and act as "mobile water cannons". They cannot reach the core of the fire scene and cannot rescue trapped people. They cannot replace firefighters to perform high-risk firefighting tasks. Ultimately, personnel are still needed to arrive at the scene for rescue. There are disadvantages. Rescue is not only time-consuming, but also lacks flexibility in complex terrain, has weak environmental perception capabilities, and a low level of intelligence. It is impossible to rescue trapped people in a timely manner, and may also cause rescuers to be injured by the fire. Therefore, there is an urgent need for an intelligent robot and rescue system that can replace humans in fire scene reconnaissance and rescue work. Summary of the invention

[0005] The present invention aims at solving the technical problems existing in the prior art and provides an intelligent fire prevention and rescue robot and a rescue system.

[0006] In order to solve the above technical problems, the present invention first provides an intelligent fire prevention and rescue robot, comprising:

[0007] The main body is connected with a driving mechanism, a moving mechanism and a fire extinguishing mechanism; and further comprises:

[0008] An intelligent reconnaissance mechanism, which includes a reconnaissance device that is separately connected to the rescue robot and can be independently moved and controlled, and a storage cabin for placing the reconnaissance device;

[0009] The rescue mechanism comprises a rescue mechanical arm and a rescue cabin, and the end of the rescue mechanical arm is connected with a rescue mechanical hand.

[0010] Preferably, the reconnaissance device and the storage cabin are connected in a split manner, the reconnaissance device can be independently controlled to move, and the reconnaissance device is connected to a fire extinguishing device and a control device.

[0011] Preferably, the reconnaissance device includes an intelligent drone, which is provided with a positioning device, a sensor device and a vital sign detection device, and the sensor device includes one or more of an infrared monitoring device, a temperature monitoring device, a visual monitoring device, and a gas monitoring device.

[0012] Preferably, the main body is connected to a vital sign detection device and an environment sensing module, and the front end of the main body is connected to an obstacle removal device;

[0013] The fire extinguishing mechanism comprises a water tank and a fire extinguishing box. Both the water tank and the fire extinguishing box are connected to the rescue mechanical arm. The rescue mechanical arm is provided with a fire extinguishing part.

[0014] Preferably, the rescue cabin is arranged in the main body, the rescue mechanical arm has multi-directional freedom, and the rescue mechanical arm can extend into the rescue cabin;

[0015] The rescue mechanical arm is connected to the fire extinguishing mechanism, and a fire extinguishing switch is provided on the rescue mechanical arm. At least two rescue mechanical arms are provided, and the rescue mechanical arms are respectively arranged on the left and right sides of the main body;

[0016] The rescue cabin includes a rescue inner cabin and a rescue outer cabin. An isolation device is provided between the rescue inner cabin and the rescue outer cabin. Multiple intelligent control doors are provided at the outer end of the rescue outer cabin. A flame detection device, an intelligent fire extinguishing device and a drainage device are provided in the rescue outer cabin. An oxygen regulating device, a temperature regulating device and a medical rescue device are provided in the rescue inner cabin.

[0017] Preferably, the main body includes a main body shell, and an intelligent spray circulation mechanism is provided on the main body shell. The intelligent spray circulation mechanism includes a spray device, a condenser and a water tank that are interconnected.

[0018] Preferably, the water tank is connected to a water tank cooling circulation system, which includes a water circulation system and a coolant circulation system. The water circulation system is connected to the coolant circulation system. The water circulation system includes a power unit and a circulation filter unit. The coolant circulation system includes a condensing mechanism, which is connected to the water tank.

[0019] Preferably, an umbrella shell protection mechanism is connected to the main body, and the umbrella shell protection mechanism includes a protective umbrella shell and a support frame. The protective umbrella shell is arranged at the upper end of the main body through the support frame, and an annular spray water flow collection device is provided at the lower part of the protective umbrella shell.

[0020] Furthermore, the present invention also provides an intelligent fire prevention and rescue system, comprising:

[0021] The rescue robot is provided with a control center, which controls the various actuators of the robot;

[0022] Communication base station, which provides data transmission signals for the rescue robot;

[0023] Ground command center, which is equipped with control terminals and real-time data display systems;

[0024] Fire monitoring system, which includes several visual monitoring devices and environmental data monitoring sensors deployed underground;

[0025] Control system: The control system connects the rescue robot, ground command center and fire monitoring system to achieve information sharing and real-time monitoring.

[0026] Preferably, the control center includes:

[0027] Body control module;

[0028] Environmental perception module: cooperate with various sensor devices to realize real-time monitoring and transmission of various environmental indicators and fire distribution conditions;

[0029] Positioning and navigation module: Based on inertial navigation and laser radar technology, combined with the geographic information of the mine, it can achieve accurate positioning and rescue path planning;

[0030] Communication module: The communication module connects the communication base station and the ground command center to achieve remote control and real-time information feedback;

[0031] Fire extinguishing module;

[0032] Rescue control module: The rescue control module controls the actions of the rescue organization.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The embodiment of the present invention provides an intelligent fire prevention and rescue robot with high safety factor, which is efficient in rescue and can replace the front-line rescue personnel to rescue the trapped persons in time, thereby improving the survival rate of the trapped persons. The reconnaissance device provided by the present invention can be separated from the rescue robot for independent movement, and can be flexibly moved by virtue of its more compact design, so as to conduct dynamic information exploration of a larger range of the fire scene, timely discover the location of the trapped persons, and then timely move the trapped persons to the rescue cabin through the rescue mechanism, cooperate with the remote collaborative control on the ground, break the limitation of putting out the fire first and then saving people, provide assistance for subsequent rescue, and can perform fire extinguishing work through the fire extinguishing mechanism while rescuing the trapped persons. The present invention can flexibly move in a complex underground environment, reduce the risks and limitations of traditional manual rescue, has a strong environmental perception ability, and can make response strategies in time, and is suitable for fire prevention and rescue work in multiple places such as complex underground environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 It is a structural schematic diagram of an embodiment of a rescue robot of the present invention;

[0037] Figure 2 A schematic diagram of the rear view structure of a rescue robot embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of an embodiment of an intelligent drone of the present invention;

[0039] Figure 4 It is a structural schematic diagram of an embodiment of a rescue mechanical arm of the present invention;

[0040] Figure 5 It is a structural schematic diagram of an embodiment of a rescue cabin of the present invention;

[0041] Figure 6 It is a structural schematic diagram of an embodiment of an umbrella shell protection mechanism of the present invention;

[0042] Figure 7 It is a structural schematic diagram of an embodiment of a water tank cooling circulation system of the present invention;

[0043] Figure 8 It is a structural schematic diagram of an embodiment of the arc-shaped obstacle remover of the present invention;

[0044] Fig. 9 It is a schematic diagram of the arrangement of a rescue system embodiment of the present invention.

[0045] Explanation of symbols in the figure:

[0046] 1. Main body; 11. Main body shell; 2. Mobile mechanism; 21. Mobile crawler; 22. Mechanical leg; 23. Guide wheel; 24. Driving wheel; 25. Rotary switch; 3. Fire extinguishing mechanism; 31. Fire extinguishing box; 4. Storage cabin; 5. Rescue mechanical arm; 51. Rescue manipulator; 52. Fixed arm unit; 53. Rotating joint; 54. Fire extinguishing switch; 55. Fire extinguishing pipe; 6. Rescue cabin; 61. Rescue inner cabin; 62. Rescue outer cabin; 63. First rescue cabin door; 6 4. Second rescue hatch; 65. Intelligent connector; 66. Flame detection device; 67. Intelligent fire extinguishing device; 68. Drain valve; 69. Isolation door; 610. Oxygen regulator; 611. Temperature and humidity regulator; 612. Small medical cabinet; 613. Toxic gas absorption device; 7. Control center; 8. Vital sign detector; 9. Environmental perception module; 10. Rotating base; 12. Intelligent drone; 121. Power system; 122. Drone fuselage; 123. Human-machine control center; 124, positioning device; 125, vital signs detection device; 126, infrared camera; 127, temperature sensor; 128, protective shell; 129, fire extinguisher; 1210, control switch; 13, water tank; 14, water inlet; 15, umbrella shell protection mechanism; 151, umbrella shell protection; 152, bracket; 153, support column; 16, annular collector; 17, filter device; 18, spray device; 19, condenser; 20, water tank cooling cycle Ring system; 201, collector; 202, filter; 203, water inlet pipe; 204, first high-pressure clean water pump; 205, second high-pressure clean water pump; 206, check valve; 207, condenser; 208, hydraulic pump; 209, liquid inlet; 210, liquid outlet; 211, third high-pressure clean water pump; 212, water supply port; 30, arc-shaped obstacle remover; 301, rotating shaft; 302, connector; 303, arc-shaped push plate; 304, water outlet pipe; 40, lighting lamp. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the following is a further detailed description of an intelligent fire prevention and rescue robot and rescue system provided by the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] See also Figure 1 , Figure 2 The embodiment of the present invention provides an intelligent fire prevention and rescue robot, comprising:

[0049] The main body 1 is connected with a driving mechanism, a moving mechanism 2 and a fire extinguishing mechanism 3; and further includes:

[0050] An intelligent reconnaissance mechanism, the intelligent reconnaissance mechanism comprising a reconnaissance device which is separately connected to the rescue robot and can be independently moved and controlled, and a storage cabin 4 for placing the reconnaissance device;

[0051] The rescue mechanism comprises a rescue mechanical arm 5 and a rescue cabin 6, and the end of the rescue mechanical arm is connected with a rescue mechanical hand.

[0052] The embodiment of the present invention provides an intelligent fire prevention and rescue robot with high safety factor, which has efficient rescue and can replace the front-line rescue personnel to rescue the trapped persons in time, thereby improving the survival rate of the trapped persons. The reconnaissance device provided by the present invention can be separated from the rescue robot for independent movement, and can be flexibly moved by virtue of its more compact design, so as to conduct dynamic information exploration of a larger range of the fire scene, timely discover the position of the trapped persons, and then timely move the trapped persons to the rescue cabin through the rescue mechanism, cooperate with the remote collaborative control on the ground, break the limitation of putting out the fire first and then saving people, provide assistance for subsequent rescue, and can perform fire extinguishing work through the fire extinguishing mechanism 3 while rescuing the trapped persons. The present invention can flexibly move in a complex underground environment, reduce the risks and limitations of traditional manual rescue, has strong environmental perception ability, can make response strategies in time, and is suitable for fire prevention and rescue work in multiple places such as complex underground environments.

[0053] In this embodiment, the main body 1 is the main structure of the rescue robot. The main body 1 includes a main body shell 11. The intelligent reconnaissance mechanism and the rescue mechanism are both arranged in the main body shell 11 of the main body 1. At the same time, the driving mechanism and the mobile mechanism 2 are both arranged around the main body 1. The mobile mechanism 2 is arranged at the lower part of the main body 1. The driving mechanism drives the mobile mechanism 2 to move and then drives the rescue robot to perform mobile rescue work.

[0054] Specifically, Figure 1 As shown, the main body 1 is provided with a control center 7, which is the "brain" of the rescue robot, used to analyze relevant information and control the robot's various actuators, and at the same time supports large-capacity long-term image storage and retrieval, supports remote viewing and control of some functions through intelligent terminals, etc. The main body 1 is provided with a vital sign detection device and an environmental perception module 9. The vital sign detection device is a vital sign detector 8 set at the front end of the main body shell 11. The vital sign detector 8 is used to detect trapped personnel in the underground environment, judge the vital signs of the personnel, and monitor whether the trapped personnel are still likely to survive; there are multiple environmental perception modules 9, all of which are set on the main body shell 11. The robot detects various indicators of the complex underground environment through the environmental perception module 9, which provides a reference for the command center to plan the rescue plan and ensure the best rescue effect.

[0055] Furthermore, in the present embodiment, the main shell 11 is made of fireproof and heat-insulating material and is coated with a thermal barrier coating on the surface. The base material has a solid structure and is fireproof and heat-insulating. The main shell 11 constitutes a protective barrier for the rescue robot, which can not only protect the internal structure of the shell, but also provide reliable protection for the rescued personnel to avoid secondary injuries.

[0056] In this embodiment, Figure 1 As shown, the mobile mechanism of the rescue robot adopts an intelligent fire rescue robot track-leg composite mobile mechanism. It can choose to use the tracks alone or the mechanical legs to move forward. It can also be used in combination according to the rescue environment to increase the stability and efficiency of the movement and ensure timely rescue.

[0057] Specifically, the mobile mechanism 2 includes a mobile crawler 21 and a mechanical leg 22. The lower part of the main body 1 is provided with two mobile crawlers 21, which are respectively arranged on the left and right sides and cooperate with each other to move stably. The mobile crawler 21 includes a crawler wheel and a crawler arranged on the crawler wheel. The crawler wheel includes a guide wheel 23 at the front end and a driving wheel 24 at the rear end. The crawler connects the guide wheel 23 and the driving wheel 24 and moves under the action of the driving component. The driving wheel 24 can provide power for the robot to move forward, and the guide wheel 23 guides the direction during the movement, ensuring that the robot can move according to the predetermined path and quickly enter the fire scene. The guide wheel enhances the maneuverability of the robot.

[0058] Furthermore, the present embodiment adopts a crawler-type forward mode, and the contact area of ​​the crawler wheels is large, which can better disperse the weight and improve the stability and carrying capacity of the robot. Moreover, on soft, rugged, muddy and other complex terrains, the crawler wheels can better adapt to avoid the wheels from sinking into the mud or slipping. Due to the strong adhesion between the crawler tracks and the ground, the vehicle is more stable when driving and is not prone to rollover or overturning. The use of crawler wheels can reduce the maintenance cost and operating cost of the vehicle. Since the mobile crawler tracks have less wear and a long life, the frequency and cost of replacing wheels are reduced.

[0059] In this embodiment, there are four mechanical legs 22, two mechanical legs 22 are symmetrically arranged on the left and right sides of the main body 1, and they move in coordination with each other. The mechanical legs 22 are controlled by the rotary switch 25 arranged on the main body 1. The mechanical legs 22 are composed of a flexible and movable mechanical support mobile leg structure composed of multiple joints. When facing the difficult situation of moving forward, the mobile crawler 21 cannot ensure the fast and stable movement of the rescue robot. At this time, by switching the forward mode, the mechanical legs 22 can be used to move forward according to the complex on-site situation, so as to better adapt to the complex environment underground.

[0060] The mechanical legs 22 can be retracted by rotating the switch 25 and can be opened by issuing a command when needed. The mechanical legs 22 give the robot better freedom and flexibility, enabling it to complete more complex actions and tasks and to turn flexibly in a narrow space. The mobile crawler 21 has a certain obstacle-crossing ability due to its large ground contact area and continuous ground contact. When combined with the mechanical legs 22, the robot can climb over higher steps and obstacles and even maintain stable movement on irregular terrain.

[0061] Furthermore, a rotating base 10 is provided between the main body 1 and the mobile mechanism 2 of the robot. The rotating base 10 can be rotated under the action of the driving component, so that the upper body of the robot can be horizontally rotated through the rotating base 10 to adjust its "front, back, left, right" direction, thereby increasing the adaptability and usability of the rescue robot.

[0062] Furthermore, as a preferred embodiment of the present invention, the mobile mechanism 2 can also be adaptively adjusted according to the use scenario of the rescue robot and the change of the rescue environment to meet the use requirements of the robot to move flexibly and stably and ensure the rescue efficiency and rescue stability. The specific setting size of the mobile crawler 21 and the setting number of the mechanical legs 22 can be adaptively adjusted according to the use requirements of different rescue environments.

[0063] In this embodiment, the driving mechanism is not only provided with a driving structure adapted to be connected with the mobile mechanism 2 to drive the mobile mechanism 2 to perform corresponding actions, but also includes a driving component for providing power for driving the rescue robot to perform tasks such as fire extinguishing and rescue.

[0064] In this embodiment, the intelligent reconnaissance mechanism is arranged inside the main shell 11, the storage cabin 4 is a storage cabin space structure fixedly arranged inside the main shell 11, the reconnaissance device is arranged in the storage cabin 4, and the reconnaissance device and the storage cabin 4 are connected in a split manner. When the reconnaissance device needs to move, the reconnaissance device can be controlled to separate from the storage cabin 4 and move out of the cabin independently to perform reconnaissance tasks.

[0065] Specifically, Figure 2 As shown, the storage compartment 4 is arranged at the inner rear part of the main body 1, and the outlet of the storage compartment 4 is arranged at the rear end of the main body shell 11 to protect its safety in use.

[0066] like Figure 3As shown, the reconnaissance device includes an intelligent UAV 12. The intelligent UAV 12 is a wingman device of the rescue robot, which can realize disaster inspection, monitoring and tracking, and auxiliary rescue. Since the intelligent UAV 12 has a flexible structure and a compact body, it can reach areas that the robot cannot explore. First of all, the intelligent UAV 12 is not restricted by the rugged ground environment and can fly into narrow passages. Moreover, it is maneuverable and flexible, has a certain load-bearing capacity, can perform reconnaissance and detection tasks, has a wide monitoring range, and can provide the robot and the ground command center with various dynamic information of the fire scene in a timely manner.

[0067] Specifically, the intelligent drone 12 includes a power system 121, a drone body 122 and a drone control center 123. The power system 121 drives the drone body 122 to fly, and the drone control center 123 is a control device of the drone, which receives and transmits commands. The drone body 122 is provided with a positioning device 124, a sensor device and a vital sign detection device 125. The positioning device 124 can lock the position of the drone and provide the precise position of the trapped person. The sensor device can detect and monitor various dynamic information at the fire scene, and the vital sign detection device 125 can lock the position of the trapped person in time. Through the coordinated actions of the various drone mechanisms, the ground command center can more clearly view various dynamic information at the fire scene, timely discover and lock the position of the trapped person, monitor the situation of the trapped person through the vital sign detection device 125, and provide a more accurate position and real-time on-site situation, plan the optimal rescue route, and save rescue time.

[0068] The vital sign detection device 125 is a set vital sign detector, and the sensor device includes an infrared camera 126 and a temperature sensor 127. The infrared camera 126 can realize high-definition shooting and real-time image transmission. High-altitude monitoring can enable the ground command center to view various dynamic information of the fire scene more clearly. The upper end of the infrared camera 126 is connected to a protective shell 128, which protects the camera to prevent the camera from being damaged by falling objects from the top of the underground fire scene.

[0069] Furthermore, the drone body 122 is equipped with a fire extinguishing device, which includes a number of fire extinguishing bombs 129. A control switch 1210 is provided on the lower supporting structure of the fire extinguishing bomb 129. The fire extinguishing bomb 129 is released by the control switch 1210. By dropping the fire extinguishing bomb 129, the fire around the trapped persons can be extinguished in advance, changing the traditional mode of only detecting first and then extinguishing the fire. Thus, the trapped persons can be rescued in time, avoiding wasting the best rescue time, improving the rescue efficiency, and minimizing the fire damage to the trapped persons as much as possible.

[0070] Furthermore, as a preferred embodiment of the present invention, the type of sensor device carried on the drone body 122 can be adjusted according to actual rescue needs. The sensor device may include one or more of an infrared monitoring device, a temperature monitoring device, a visual monitoring device, and a gas monitoring device, which together perform real-time detection of environmental information at the fire scene to facilitate the formulation of rescue strategies.

[0071] In this embodiment, Figure 1 , Figure 4 As shown, the rescue robot arm 5 is arranged at the front end of the robot main body 1, and the rescue cabin 6 is arranged in the main body 1. The rescue robot arm 5 has multi-directional freedom, and the rescue manipulator 51 can be extended into the rescue cabin 6. The trapped persons are rescued by the rescue robot arm 5 and transferred to the rescue cabin 6 to ensure the safety of the trapped persons. The trapped persons can be sent out in time according to the situation, saving time for the next rescue and treatment.

[0072] Specifically, two rescue mechanical arms 5 are provided, which are respectively arranged on the left and right sides of the main shell 11. The rescue mechanical arms 5 can move flexibly, and the rescue manipulator 51 can perform actions such as rotation and grasping. The two rescue mechanical arms 5 cooperate with each other to perform rescue work.

[0073] like Figure 4 As shown, the rescue mechanical arm 5 is a flexible mechanical arm structure. The two rescue mechanical arms 5 have the same structure, and are both flexible mechanical arm structures composed of a number of fixed arm units 52. The flexibility and elasticity of the flexible mechanical arm can reduce the risk of collision and injury with the surrounding environment, and prevent violent rescue from causing secondary injury to the trapped person. The fixed arm units 52 are connected by a rotating joint 53, so that the rescue mechanical arm 5 has multi-directional degrees of freedom, and can be controlled to move or rotate in multiple directions according to the use requirements. The inner end of the rescue mechanical arm 5 is connected to the driving component set on the main body 1, and the rescue manipulator 51 is set at the outer end of the rescue mechanical arm 5. The rescue manipulator 51 is a flexible clamping claw structure. When the robot finds the trapped person, it controls the rescue mechanical arm 5 to rescue the trapped person through the rescue manipulator 51 and puts it into the rescue cabin 6 for subsequent processing.

[0074] Furthermore, the rescue mechanical arm 5 is connected to the fire extinguishing mechanism 3, and a fire extinguishing switch 54 is provided on the rescue mechanical arm 5. The fire extinguishing device on the rescue mechanical arm 5 is operated by controlling the opening and closing of the fire extinguishing switch 54 to perform fire extinguishing work.

[0075] In this embodiment, Figure 1 As shown, the fire extinguishing mechanism 3 includes a water tank 13 and a fire extinguishing box 31, both of which are arranged in the main shell 11. A water inlet 14 is arranged on the water tank 13, and the water inlet 14 is arranged at the rear end of the rescue robot body 1 to facilitate water replenishment in the water tank.

[0076] The fire extinguishing box 31 is provided with a fire extinguishing agent, and the type of the fire extinguishing agent can be dry powder, foam, or carbon dioxide. When a fire occurs in the underground environment and cannot be extinguished with water, the fire extinguishing box 31 is activated at this time, which can not only complete the fire fighting and rescue, but also assist the water tank 13 in the fire fighting work and speed up the fire fighting process.

[0077] Furthermore, the water tank 13 and the fire extinguishing box 31 are connected to the fire extinguishing device on the rescue robot arm 5. The fire extinguishing device arranged on the rescue robot arm 5 is a fire extinguishing pipe 55 arranged inside the rescue robot arm 5. The end of the fire extinguishing pipe 55 is arranged at the inner end of the rescue manipulator 51, and the fire extinguishing switch 54 is arranged at the end of the fire extinguishing pipe 55 for opening and closing the fire extinguishing device.

[0078] In this embodiment, the left and right rescue robotic arms are respectively connected to different parts of the fire extinguishing mechanism 3, wherein the fire extinguishing pipe 55 arranged in the left rescue robotic arm is connected to the water tank 13, and the fire extinguishing pipe 55 arranged in the right rescue robotic arm is connected to the fire extinguishing box 31, so that the fire extinguishing method can be selected as needed according to the complex causes of fire underground. The fire extinguishing pipes 55 of the robotic arms can be used independently or in conjunction with each other. The robot control center can correctly select the fire extinguishing method according to the fire situation, ensure the safety of trapped personnel, and reduce the restrictions of fire extinguishing.

[0079] Furthermore, as a preferred embodiment of the present invention, at least two rescue mechanical arms 5 are provided, and the specific number of the rescue mechanical arms 5 can be adjusted according to the actual rescue environment and rescue use requirements.

[0080] In this embodiment, Figure 1 As shown, the opening of the rescue cabin 6 is arranged at the front end of the main shell 11. The rescue cabin 6 is a rescue space arranged inside the main shell 11, which can be used to temporarily place trapped persons and corresponding emergency rescue equipment. The rescue cabin 6 can be used to provide preliminary treatment to the trapped persons or prevent them from further harm.

[0081] like Figure 5 As shown, the rescue cabin 6 includes a rescue inner cabin 61 and a rescue outer cabin 62 , an isolation device is provided between the rescue inner cabin 61 and the rescue outer cabin 62 , and a plurality of intelligent control doors are provided at the outer end of the rescue outer cabin 62 .

[0082] Specifically, the rescue inner cabin 61 and the rescue outer cabin 62 are independent closed rescue space structures that can be interconnected. The rescue outer cabin 62 is arranged at the front end of the robot main body 1, and the rescue inner cabin 62 is arranged at the rear end of the robot main body 1. There are two intelligent control cabin doors, namely the first rescue cabin door 63 and the second rescue cabin door 64. The first rescue cabin door 63 and the second rescue cabin door 64 are tightly connected, and the inner concave structure of the first rescue cabin door 63 and the outer concave structure of the second rescue cabin door 64 are fitted together. The intelligent control cabin door is provided with an intelligent connector 65, which receives the control signal from the robot control center 7 by wireless means and is responsible for transmitting the control signal, and the intelligent control cabin door is operated reliably through intelligent control.

[0083] When the trapped persons are rescued by the rescue robotic arm, the intelligent connector 65 controls the first rescue hatch 63 to open first, and then the second rescue hatch 64 to open, placing the trapped persons in the rescue outer cabin 62, which can effectively ensure the safety of personnel entering. The setting of multiple intelligent control doors ensures the safety and effective sealing of the internal space, and prevents toxic and harmful gases or substances from entering the rescue cabin.

[0084] In this embodiment, a flame detection device 66, an intelligent fire extinguishing device 67 and a drainage device are provided in the rescue outer cabin 62. The flame detection device 66 includes a composite flame detector, and the intelligent fire extinguishing device 67 is provided with a fire extinguishing device. The composite flame detector and the intelligent fire extinguishing device 67 are both arranged on the top of the rescue outer cabin 62. The drainage device is provided with a drainage valve 68, and the drainage valve 68 is connected to the drainage pipe to connect to the external space. The drainage valve 68 is arranged at the bottom of the rescue outer cabin 62, and is used for timely discharge of the fire extinguishing water discharged by the fire extinguishing equipment. After the trapped person is rescued into the rescue outer cabin 62, the composite flame detector detects whether the trapped person has a flame. The composite flame detector combines multiple detection principles such as ultraviolet and infrared, and improves the accuracy and reliability of detection by detecting multiple flame characteristics in parallel; when the trapped person is sent into the rescue cabin, the intelligent fire extinguishing device identifies whether to start the fire extinguishing function through the feedback given by the flame detector. After the fire is extinguished, the drainage valve 68 is opened to discharge the water in time.

[0085] Furthermore, a poisonous gas absorption device 613 is provided in the rescue outer cabin 62, which can absorb the poisonous and harmful gases entering the cabin from the outside to ensure that the environment inside the cabin is not polluted.

[0086] Furthermore, the isolation device provided between the rescue inner cabin 61 and the rescue outer cabin 62 is an isolation door 69, which can be controlled to open as needed. When the fire in the rescue outer cabin 62 is extinguished and the water in the outer cabin is removed, the isolation door 69 is opened, and the trapped persons can provide first aid by themselves through the rescue equipment in the rescue inner cabin 61. The rescue inner cabin 61 is provided with an oxygen regulating device, a temperature regulating device and a medical rescue device. The oxygen regulating device is provided with an oxygen regulator 610 for regulating oxygen in the cabin, the temperature regulating device is provided with a temperature and humidity regulator 611 for regulating temperature and humidity in the cabin, and the medical rescue device is provided with a small medical cabinet 612, and the medical cabinet is provided with necessary emergency rescue equipment, including but not limited to various medicines and rescue facilities.

[0087] In this embodiment, the isolation door 69 can effectively protect the internal cabin equipment and environment from being contaminated. When the trapped persons need emergency treatment, the isolation door 69 can be opened to adjust the oxygen, temperature and humidity in the cabin, and the trapped persons can also provide first aid by themselves through the small medical cabinet 612.

[0088] Furthermore, as a preferred embodiment of the present invention, Figure 1 As shown, the upper end of the main body 1 is connected to an umbrella shell protection mechanism 15, which can protect the lower robot main body from being damaged by falling objects and reduce direct impact on the robot.

[0089] Specifically, Figure 6 As shown, the umbrella shell protection mechanism 15 includes a protective umbrella shell 151 and a support frame. The support frame is provided with four brackets 152 and a support column 153. The support column 153 is vertically arranged on the upper part of the main body 1. The protective umbrella shell 151 is supported on the support column 153 by four brackets 152. The brackets 152, the support column 153 and the protective umbrella shell 151 are connected together. The brackets 152 and the support column 153 bear the tasks of support and load-bearing to ensure the stability and safety of the overall structure. The brackets 152 and the support column 153 form a triangular structure with stronger stability. The protective umbrella shell 151 can protect the top of the robot from being damaged. At the same time, it is set into an umbrella-shaped structure, so that objects falling on the protective umbrella shell will roll away from the top of the robot under the action of gravity, which can better prevent the impact of falling obstacles on the robot.

[0090] Furthermore, Figure 1As shown, an annular spray water flow collecting device is provided at the lower part of the protective umbrella shell 151, and the annular spray water flow collecting device is provided with an annular collector 16 and a filtering device 17. The filtering device 17 is connected to the annular collector 16, and the water droplets falling on the upper part of the umbrella shell protection mechanism due to shell cooling or fire extinguishing of the robot can be collected through the annular collector 16. The filtering device 17 can perform preliminary filtering on the collected water. When the robot goes deep into the fire rescue scene, it is necessary to spray to cool the main shell 11. The protective umbrella shell 151 can collect the water droplets sprayed on the upper part to reduce water loss. The water flows into the annular collector 16, and then flows back to the water tank 13 after treatment, so as to avoid waste of water resources and realize recycling.

[0091] like Figure 1 As shown, in this embodiment, a fire barrier is provided on the main shell 11 of the rescue robot. The fire barrier can form a protective water curtain on the surface of the robot, which can withstand the high temperature caused by the fire. At the same time, it cooperates with the high-strength umbrella shell protection mechanism 15 to protect the life and health of the rescued personnel while protecting the rescue robot body, thereby buying time for rescue for subsequent personnel and saving more precious lives.

[0092] Specifically, the fire barrier is an intelligent spray circulation mechanism arranged on the main shell 11. The intelligent spray circulation mechanism includes a spray device 18, a condenser 19 and a water tank 13 that are interconnected. The spray device 18 is connected to the water tank 13 through the condenser 19 to achieve water supply. The spray device 18 is arranged on the inner side of the protective umbrella shell 151. The spray device 18 is provided with a power device and a spray nozzle. The spray nozzle sprays water mist from top to bottom under the driving action of the power device to reduce the temperature of the main shell 11. Under the effect of thermal protection of the main shell 11 using fireproof and heat-insulating materials and a combination of thermal barrier coating materials, matrix materials and heat-insulating materials, efficient insulation against external high temperatures is achieved through the auxiliary effect of the intelligent spray circulation mechanism.

[0093] In this embodiment, the spray device 18, the condenser 19 and the water tank 13 form a circulation structure. The water released by the intelligent spray device is used to cool the robot shell. The water passing through the surface of the machine forms high-temperature water, and the temperature outside the machine is reduced. The flowing water is collected and filtered by the water tank 13 cooling circulation system and the annular collector 16 set inside the robot and then returned to the water tank 13. The water tank 13 reuses it, thereby improving the utilization rate of water, reducing energy waste, reducing operating weight, complying with green development, and realizing water recycling. The water after condensation treatment passes through the intelligent spray device again.

[0094] In this embodiment, Figure 7As shown, the water tank 13 is connected to a water tank cooling circulation system 20, which includes a water circulation system and a coolant circulation system. The water circulation system is connected to the coolant circulation system. The water circulation system includes a power unit and a circulation filter unit. The coolant circulation system includes a condensing mechanism, which is connected to the water tank 13.

[0095] Specifically, the water tank cooling circulation system 20 is connected to the outside through a water circulation system to form a recycling utilization. The water circulation system includes a collector 201, a filter 202, and a water inlet pipe 203 and a first high-pressure clean water pump 204 connected to the water tank 13. The outer end of the water inlet pipe 203 is provided with a water inlet. The upper end of the collector 201 is connected to the annular collector 16, and the lower end of the collector 201 is connected to the filter 202 through a connecting pipe. The filter 202 is provided with a second high-pressure clean water pump 205. The filter 202 cooperates with the filtering device 17 to form a double filtering structure to ensure the circulating filtering effect, and by adding the filter 202, the collected and recovered water with impurities can be filtered, and the filtered water enters the water tank 13 for continued use. The filter 202 is connected to the water tank 13 through a pipe, and a check valve 206 is provided between the filter 202 and the water tank 13 for liquid flow control.

[0096] In this embodiment, the coolant circulation system includes a condenser 207 and a hydraulic pump 208. The condenser 207 is provided with a liquid inlet 209, and the end of the hydraulic pump 208 is provided with a liquid outlet 210. The lower part of the condenser 207 is connected to the water tank 13 through a pipeline and the first high-pressure clean water pump 204. The lower end of the condenser 207 is connected to a third high-pressure clean water pump 211, and the third high-pressure clean water pump 211 is provided with a water supply port 212. The condenser 207 provides water sources for actuators such as intelligent spray devices, rescue mechanical arms, arc obstacle removers, and rescue cabins through high-pressure clean water pumps.

[0097] Furthermore, in this embodiment, the water circulation system is mainly composed of "three pumps, two filters and double barriers" to resist high temperatures. Three high-pressure clean water pumps provide power, double filtration circulates water, and the circulation system forms a double-layer protective barrier inside and outside the robot.

[0098] When the water tank cooling circulation system 20 is in use, water is injected into the water tank 13 after water filling, and the water is transported to the condenser 207 by the first high-pressure clean water pump 207. After cooling by the condenser 207, the water is supplied to each water-using actuator of the robot by the third high-pressure clean water pump 211, and the action of the actuator is controlled by the control center 7 of the rescue robot. The water released by the intelligent spray device is used to cool the robot shell. The water passing through the surface of the machine forms a protective "water curtain". The flowing water is filtered by the filter device 17 and then enters the water tank 13 through the annular collector 16. The collector 201 collects the circulating water collected by the annular collector 16 and generated by the rescue cabin 6, and performs secondary filtration on the water through the filter 202, and then supplies it to the water tank 13 through the second high-pressure clean water pump 205, and prevents backflow through the check valve 206. After filtering and condensing, it is sprayed out through the intelligent spray device to realize water circulation.

[0099] In this embodiment, the condenser 19 is laid in the main housing 11 of the robot. The mechanical protection capability can be further enhanced by laying the condenser 19. The combination of the condenser 19 and the housing makes the entire machine structure more solid, and can better resist the influence of high temperature and protect the internal components from damage. The condenser 19 is filled with coolant, which is cooled by the condenser 207 after entering the water tank 13. The coolant cools the main housing 11 of the robot, and the condenser 207 cools the coolant. The coolant circulation between the liquid inlet 209 and the liquid outlet 210 is realized by the hydraulic pump 208, forming a protective barrier inside the robot.

[0100] In this embodiment, Figure 1 As shown, the front end of the rescue robot is provided with an obstacle clearing device, which is provided with an arc-shaped obstacle clearer 30. The arc-shaped obstacle clearer 30 is used to clear obstacles that the robot may encounter during its movement. It can not only clear ground obstacles and push away obstacles that block the robot's way forward, but also protect the robot structure and reduce its direct impact with obstacles. At the same time, the existence of the obstacle clearer improves the passability of the rescue robot in complex environments, allowing the robot to easily cope with various terrain challenges, providing a strong guarantee for the smooth completion of the rescue mission.

[0101] Specifically, Figure 8As shown, the arc-shaped obstacle remover 30 includes a rotating shaft 301, a connecting body 302 and an arc-shaped push plate 303. The rotating shaft 301 is arranged on the main body 1, and the rotating shaft 301 is connected to the arc-shaped push plate 303 through the connecting body 302. The arc-shaped push plate 303 is arranged at the front end. The arc-shaped push plate 303 has a W-shaped push plate structure composed of two arc-shaped plates, and the position of the arc-shaped push plate 303 can be adjusted by the rotating shaft 301 for rotation. It is controlled by the control center 7 of the rescue robot, and the arc-shaped push plate 303 can be adjusted up and down according to the location of the obstacle, thereby improving the maneuverability of the robot. When the robot encounters an obstacle while moving forward, the control center 7 controls the arc-shaped obstacle clearer 30 to fall down to perform the obstacle clearing task. The obstacle can be pushed to both sides through the arc-shaped push plate 303, and obstacles such as gravel and rubble can be effectively pushed away, flattened or bypassed, ensuring that the rescue robot can move smoothly and quickly in a complex environment; and when the robot moves forward without encountering insurmountable obstacles, the control center 7 can control the arc-shaped obstacle clearer 30 to rise, and the rescue robot can continue to move forward without the need for the obstacle clearer to move.

[0102] Moreover, in this embodiment, the arc-shaped push plate 303 can also cooperate with the flexible robotic arm to perform rescue work. When the trapped person is trapped by heavy objects, the arc-shaped push plate 303 can cooperate with the flexible robotic arm to move the heavy objects away, rescue the trapped persons, increase the effectiveness of the rescue, and shorten the rescue time.

[0103] Furthermore, the arc-shaped obstacle remover 303 is also connected to a water outlet pipe 304, which is arranged inside the connecting body 302. A water outlet is arranged at the end of the water outlet pipe 304, and the water outlet pipe 304 is connected to the water tank 13. Since the robot is at the fire scene, obstacles may sometimes burn and stick to the obstacle remover. Therefore, when the robot pushes the obstacle, water will flow out of the water outlet to flush the arc-shaped push plate 303, thereby preventing obstacles that appear in the fire from sticking to the arc-shaped push plate 303 for a long time and affecting the obstacle removal effect of the arc-shaped push plate.

[0104] Furthermore, as a preferred embodiment of the present invention, Figure 1 As shown, a lighting lamp is provided at the front end of the main body 1. By setting up a plurality of lighting lamps 40, it can not only play the role of fill-in lighting, but also enable the robot's visual detection equipment and other equipment to clearly capture the situation on the scene, improve the night vision effect, thereby helping rescue personnel to better understand the situation on the scene and make accurate judgments and decisions; and in a complex rescue environment, the lighting lamp 40 can also provide a certain degree of lighting and guidance for the rescue robot, helping it to more accurately locate the target position and navigation path, and play a role in auxiliary positioning and navigation.

[0105] The specific rescue process of the rescue robot in this embodiment is as follows:

[0106] When the robot arrives at the fire scene, it first opens the storage cabin 4 and starts the intelligent drone 12. The drone can transmit the underground tunnel situation to the robot as it moves forward, and finally transmits it to the ground command center through the communication base station. The command center plans the robot's forward path. After the robot arrives at the rescue site, it transmits the on-site situation to the command center, and at the same time uses the vital sign detector 8 to determine the vital signs of the personnel and monitor whether the trapped personnel are still likely to survive. The command center makes a plan to ensure the best rescue effect. When the robot arrives at the location of the trapped personnel, it further detects the vital signs of the trapped personnel to determine whether they are still likely to survive. If the trapped personnel are still likely to survive, the rescue mechanical arm 5 will be used to rescue the trapped personnel. After the rescue cabin 6 is opened, the trapped personnel will be placed inside the rescue cabin 6 and sent out in time to save time for the next rescue treatment. The trapped personnel can give first aid by themselves according to the injury.

[0107] Furthermore, if Fig. 9 As shown, the present invention also provides an intelligent fire prevention and rescue system, comprising:

[0108] The rescue robot is provided with a control center, which controls the various actuators of the robot;

[0109] Communication base station, which provides data transmission signals for the rescue robot;

[0110] Ground command center, which is equipped with control terminals and real-time data display systems;

[0111] Fire monitoring system, which includes several visual monitoring devices and environmental data monitoring sensors deployed underground;

[0112] Control system: The control system connects the rescue robot, ground command center and fire monitoring system to achieve information sharing and real-time monitoring.

[0113] An embodiment of the present invention provides an intelligent fire prevention and rescue system that integrates mobile Internet technology, big data and a 5G communication network. Under the coordinated control of the control system, the rescue system is connected through the 5G network. When a fire occurs in a mine, the fire monitoring system detects an abnormality, issues a fire alarm, and transmits the alarm to the ground command center. After receiving the alarm, the ground command center will promptly determine the location of the mine fire and monitor it in real time, grasp the distribution location and number of affected people, and compile and report to the ground command center based on the feedback from the robot rescue. The ground command center will make a timely judgment based on the flood situation and issue a start instruction to the rescue robot through the communication base station.

[0114] Specifically, the intelligent fire prevention and rescue system can deploy several rescue robots at the same time as needed. Multiple rescue robots work together underground. The robots can coordinate and assign tasks with each other through communication modules to ensure efficient fire rescue work in different areas.

[0115] The present invention ensures seamless data transmission of robots in mines by setting up several wireless communication base stations underground, solving the problem of weak communication signals in underground environments. The ground command center is responsible for global scheduling, and performs dynamic rescue mission planning based on real-time data provided by the mine fire monitoring system and feedback information from the rescue robots, and remotely controls the robots to issue instructions.

[0116] In this embodiment, the fire monitoring system is an underground monitoring network composed of monitoring cameras, sensors and other equipment deployed underground. It can obtain environmental information such as the temperature and gas concentration of the mine in real time, and cooperate with robots to provide a full range of fire scene conditions. The systems work together to quickly and accurately conduct fire reconnaissance, personnel search and rescue, and assist in fire extinguishing.

[0117] Furthermore, in this embodiment, the control center includes:

[0118] Body control module;

[0119] Environmental perception module: cooperate with various sensor devices to realize real-time monitoring and transmission of various environmental indicators and fire distribution conditions;

[0120] Positioning and navigation module: Based on inertial navigation and laser radar technology, combined with the geographic information of the mine, it can achieve accurate positioning and rescue path planning;

[0121] Communication module: The communication module connects the communication base station and the ground command center to achieve remote control and real-time information feedback;

[0122] Fire extinguishing module;

[0123] Rescue control module: The rescue control module controls the actions of the rescue organization.

[0124] Specifically, in this embodiment, the control center of the rescue robot mainly includes the following components:

[0125] Vehicle control module: It adopts a crawler-mechanical leg dual-power design, has high passability and stability, and can cope with complex terrain conditions in mines.

[0126] Environmental perception module: Equipped with a variety of sensors, including temperature sensors, gas sensors, smoke sensors, as well as infrared and optical cameras, to monitor the temperature, toxic gas concentration and flame distribution at the fire scene in real time.

[0127] Positioning and navigation system: Based on inertial navigation and lidar technology, combined with the geographic information of the mine, it can achieve accurate positioning in the absence of GPS signals and plan the best rescue route.

[0128] Communication module: Equipped with high-speed wireless communication device, it can maintain real-time data communication with the ground command center through the communication base station in the mine, realizing remote control and information feedback.

[0129] Fire extinguishing module: The robot is equipped with a variety of fire extinguishing devices. The fire extinguishing adopts high-pressure spray, which can prevent the fire source from damaging the main shell of the robot and protect the trapped people.

[0130] Rescue control module: The rescue manipulator arm is used to coordinate various rescue work actions. The robot is equipped with a flexible rescue manipulator arm to improve the maneuverability during rescue. The rescue control module also controls the rescue tools in the rescue chamber to provide necessary medical support for the trapped persons.

[0131] The embodiment of the present invention provides an intelligent fire prevention and rescue robot and a complete rescue system that integrates mobile Internet technology, big data and 5G communication network. Under the coordinated control of the control system, the rescue system is connected through the 5G network. When a fire occurs in a mine, the fire monitoring system detects the abnormality, issues a fire alarm, and transmits the alarm to the ground command center. After receiving the alarm, the ground command center will promptly determine the location of the mine fire and monitor it in real time, grasp the distribution location and number of affected people, and compile and report to the ground command center based on the feedback from the robot rescue. The ground command center will make a timely judgment based on the flood situation and issue a start instruction to the rescue robot through the communication base station.

[0132] When the rescue robot is started, the fire rescue robot will determine the location of the fire according to the data information transmitted by the mine fire monitoring system, and go to the fire location in time for rescue. The rescue robot can determine the location of the trapped person in time according to the positioning device on the trapped person, and provide a more accurate location and real-time on-site conditions, and go to the location of the trapped person. At the same time, the robot can start the drone to observe the robot's forward route in advance, select the best route for the robot, and detect the fire scene. The remote control function of the rescue system ensures the flexibility and real-time nature of the rescue work. The command center can adjust the task at any time to ensure the best rescue effect. Ground command, air first, robot rescue, the rescue system of the present invention realizes a multi-in-one rescue strategy combining "ground-air-land", realizes accurate and effective rescue, and saves time for subsequent further rescue by rescuing the affected people in time.

[0133] The present invention can be applied to the field of fire rescue in complex environments such as underground coal mines, breaking the drawbacks of traditional rescue robots. The robot provided by the present invention can replace fire rescue personnel to enter the scene of dangerous disaster accidents such as flammable, explosive, toxic, hypoxic, and thick smoke to conduct reconnaissance and rescue work, effectively solving the personal safety problems faced by firefighters in the above-mentioned places, and at the same time replacing going to the front line to rescue trapped persons in time. At the same time, the robot has a powerful fireproof barrier, forming a protective water curtain for the robot, which can withstand the high temperature caused by the fire, and cooperate with a high-strength protective umbrella barrier to protect the life and health of the rescued personnel, buy rescue time for subsequent personnel, save more precious lives of people, break the traditional limitation that people can only be rescued by detecting first and then extinguishing the fire, provide help for subsequent rescue, and can rescue trapped persons whose fire has not been completely extinguished into a rescue cabin for further fire extinguishing and rescue treatment, so that the trapped persons can be rescued in time, avoid wasting the best rescue time, improve the rescue efficiency, and minimize the fire damage to the trapped persons.

[0134] In the description of the present invention, it is necessary to understand that the orientation or positional relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0135] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0136] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent fire prevention and rescue robot, comprising: The main body is connected with a driving mechanism, a moving mechanism and a fire extinguishing mechanism; it is characterized by further comprising: An intelligent reconnaissance mechanism, the intelligent reconnaissance mechanism comprising a reconnaissance device which is separately connected to the rescue robot and can be independently moved and controlled, and a storage cabin for placing the reconnaissance device; The rescue mechanism comprises a rescue mechanical arm and a rescue cabin, and the end of the rescue mechanical arm is connected to a rescue mechanical hand.

2. The intelligent fire prevention and rescue robot according to claim 1, characterized in that: The reconnaissance device is connected to the storage cabin in a split-type manner, the reconnaissance device can be independently controlled to move, and the reconnaissance device is connected to a fire extinguishing device and a control device.

3. The intelligent fire prevention and rescue robot according to claim 2, characterized in that: The reconnaissance device includes an intelligent drone, which is provided with a positioning device, a sensor device and a vital sign detection device. The sensor device includes one or more of an infrared monitoring device, a temperature monitoring device, a visual monitoring device and a gas monitoring device.

4. The intelligent fire prevention and rescue robot according to claim 1, characterized in that: The main body is connected to a vital sign detection device and an environment sensing module, and the front end of the main body is connected to an obstacle removal device; The fire extinguishing mechanism comprises a water tank and a fire extinguishing box, both of which are connected to the rescue mechanical arm, and the rescue mechanical arm is provided with a fire extinguishing part.

5. The intelligent fire prevention and rescue robot according to claim 1, characterized in that: The rescue cabin is arranged in the main body, the rescue mechanical arm has multi-directional freedom, and the rescue mechanical arm can extend into the rescue cabin; The rescue mechanical arm is connected to the fire extinguishing mechanism, and a fire extinguishing switch is provided on the rescue mechanical arm. At least two rescue mechanical arms are provided, and the rescue mechanical arms are respectively arranged on the left and right sides of the main body; The rescue cabin includes a rescue inner cabin and a rescue outer cabin, an isolation device is provided between the rescue inner cabin and the rescue outer cabin, a plurality of intelligent control doors are provided at the outer end of the rescue outer cabin, a flame detection device, an intelligent fire extinguishing device and a drainage device are provided in the rescue outer cabin, and an oxygen regulating device, a temperature regulating device and a medical rescue device are provided in the rescue inner cabin.

6. The intelligent fire prevention and rescue robot according to claim 1, characterized in that: The main body comprises a main body shell, on which an intelligent spray circulation mechanism is arranged, and the intelligent spray circulation mechanism comprises a spray device, a condenser pipe and a water tank which are interconnected.

7. The intelligent fire prevention and rescue robot according to claim 6, characterized in that: The water tank is connected to a water tank cooling circulation system, which includes a water circulation system and a coolant circulation system. The water circulation system is connected to the coolant circulation system. The water circulation system includes a power unit and a circulation filter unit. The coolant circulation system includes a condensing mechanism, which is connected to the water tank.

8. An intelligent fire prevention and rescue robot according to claim 1 or 6, characterized in that: The main body is connected with an umbrella shell protection mechanism, which includes a protective umbrella shell and a support frame. The protective umbrella shell is arranged at the upper end of the main body through the support frame, and an annular spray water flow collection device is arranged at the lower part of the protective umbrella shell.

9. An intelligent fire prevention and rescue system, characterized in that: include: A rescue robot, wherein the rescue robot is provided with a control center, and the control center controls each actuator of the robot; A communication base station, wherein the communication base station provides a data transmission signal for the rescue robot; A ground command center, wherein the ground command center is provided with a control terminal and a real-time data display system; A fire monitoring system, the fire monitoring system comprising a number of visual monitoring devices and environmental data monitoring sensors arranged underground; A control system, wherein the control system is connected to the rescue robot, a ground command center and a fire monitoring system to achieve information sharing and real-time monitoring.

10. The intelligent fire prevention and rescue system according to claim 9, characterized in that: The control center includes: Body control module; Environmental perception module: cooperate with various sensor devices to realize real-time monitoring and transmission of various environmental indicators and fire distribution conditions; Positioning and navigation module: Based on inertial navigation and laser radar technology, combined with the geographic information of the mine, it can achieve accurate positioning and rescue path planning; Communication module; the communication module is connected to the communication base station and the ground command center to achieve remote control and real-time information feedback; Fire extinguishing module; Rescue control module; the rescue control module controls the actions of the rescue organization.

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