High-rise building community fire-fighting emergency three-dimensional fire-fighting rescue robot system

Abstract

The invention relates to the technical field of high-rise fire fighting, in particular to a high-rise building community fire fighting emergency three-dimensional fire fighting rescue robot system which solves the problem that when a fire fighting rescue robot is used, the fire fighting rescue robot cannot be sprayed to a fire point due to the fact that the position of the fire point is too high and the pressure of a sprayed fire extinguishing agent is reduced. The problem that multiple unmanned aerial vehicles are out of control and fall due to the fact that a fire extinguishing pipe is easily wound when the unmanned aerial vehicles move when multiple unmanned aerial vehicles conduct fire extinguishing on different floors at the same time is solved, and the unmanned aerial vehicles comprise a robot module, a fire extinguishing module, a matching module, a monitoring module and an identification module. And a fire extinguishing module is arranged below the robot module. Through mutual cooperation of the two unmanned aerial vehicle mechanisms, the first unmanned aerial vehicle mechanism pulls a fire hose to the high altitude, and the fire extinguishing height of the device is increased in the manner that the connecting hose is connected with the second unmanned aerial vehicle mechanism, so that the situation that fire extinguishing cannot be carried out when the height of an ignition point is higher than that of the fire hose is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of high-rise fire fighting and extinguishing, and in particular to a high-rise building community fire emergency three-dimensional fire fighting and rescue robot system. Background Art

[0002] Fire is one of the most common disasters that threatens public property and life safety. In urban construction, various petrochemical enterprises are increasing, and urban gas pipelines are being built, which leads to frequent and harmful fires. In the process of firefighting, firefighters often suffer casualties and huge losses due to the complex and changeable environment, which seriously threatens personal safety and property safety, especially fires in high-rise buildings. Due to the high location, the water spraying height of fire trucks is limited. Fire trucks alone cannot spray fire water to the fire point, so robots are needed for firefighting and rescue;

[0003] A fire-fighting drone is an unmanned aircraft controlled by a radio remote control device and its own program, and is mainly used in the field of firefighting and rescue.

[0004] When using existing fire-fighting and rescue robots, it is often impossible to spray the fire-fighting agent to the fire point because the fire point is too high and the pressure of the fire-fighting agent is reduced. In addition, when a high-rise fire occurs, multiple layers will usually be on fire at the same time. When multiple drones are simultaneously extinguishing fires on different floors, the drones are prone to entangle in the fire hoses when moving, causing the drones to lose control and fall. Therefore, it does not meet the existing needs. In response to this, we have proposed a three-dimensional fire-fighting and rescue robot system for high-rise building community fire emergencies. Summary of the invention

[0005] The purpose of the present invention is to provide a three-dimensional fire-fighting and rescue robot system for high-rise building community fire emergency, so as to solve the problem that the fire-fighting and rescue robot proposed in the above background technology often cannot be sprayed to the fire point due to the fire point being too high and the pressure of the sprayed fire extinguishing agent being reduced when in use, and when a high-rise fire occurs, there will usually be a situation where multiple layers are on fire at the same time, and when multiple drones are simultaneously extinguishing fires on different floors, the drones are prone to entangle the fire hoses when moving, causing the drones to lose control and fall.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system, comprising a robot module, a fire-fighting module, a matching module, a monitoring module and an identification module, wherein a fire-fighting module is provided below the robot module, a matching module is provided on the surface of the fire-fighting module, a monitoring module is provided on one side of the robot module, and an identification module is provided inside the robot module. The monitoring module transmits the captured image to the identification module, and the identification module identifies the fire situation at the shooting location.

[0007] The robot module includes a drone mechanism, which includes a drone body, arms, propellers, stepper motors, connecting blocks, landing gears, anti-collision covers and cameras. Six arms are installed on the outer surface of the drone body by screws, and propellers are provided at the outer ends of the arms. A stepper motor is provided inside the drone body, and the output end of the stepper motor is connected to the connecting block through a coupling. Landing gears are fixedly installed on both sides of the bottom end of the drone body, and a plurality of anti-collision covers are connected to the bottom end surface of the landing gears. A camera is rotatably installed at the center of the top of the drone body.

[0008] Preferably, the drone body is any one of a four-axis, six-axis or eight-axis multi-rotor drone.

[0009] Preferably, a limiting mechanism is provided inside the drone mechanism, and the limiting mechanism includes a vertical track, a horizontal track, a push rod, a connecting inclined rod, a limiting plug plate, an inclined surface, a fixing plate and a compression spring, and four movable grooves are provided on the bottom surface of the drone body, and an assembly groove is provided at the center of the bottom of the drone body, and the inside of the movable groove is connected with the inside of the assembly groove, and the inner wall of the movable groove near the bottom of the drone body is provided with a vertical track, and the inner wall of the movable groove near the assembly groove is provided with a horizontal track;

[0010] The top end of the pushing rod is rotatably installed with the connecting rod, and the bottom end of the pushing rod extends to the outer side of the bottom end of the drone body. The top end of the pushing rod is rotatably connected with a connecting oblique rod through a rotating shaft, and the top end of the connecting oblique rod is rotatably connected to a limited plug plate through a rotating shaft. Limiting protrusions are fixedly installed on both sides of the pushing rod and the limiting plug plate, and the limiting protrusions on both sides of the pushing rod are slidably inserted into the interior of the vertical rail, and the limiting protrusions on both sides of the limiting plug plate are slidably inserted into the interior of the horizontal rail. One end of the limiting plug plate is movably inserted into the interior of the assembly groove, wherein the outer ends of the limiting plug plates on both sides are fixedly installed with square joints, and the outer ends of the limiting plug plates on the other two sides are fixedly installed with circular joints, the bottom end surfaces of the circular joint and the square joint are both provided with inclined surfaces, and the top end surface of the inside of the movable groove is provided with a spring groove, and the top end of the limiting plug plate is fixedly installed with a fixing plate, and the fixing plate is slidably inserted into the interior of the spring groove, and a compression spring is movably installed between the fixing plate and the inside of the spring groove.

[0011] Preferably, the limiting mechanism also includes a water tank mounting groove, a water tank, a spiral water pipe, a water inlet, a connecting pipe, a water mist nozzle and a filter screen, the inner wall surface of the movable groove is provided with a water tank mounting groove, the top of the water tank mounting groove is fixedly installed with a water tank, the bottom end of the water tank is provided with four water outlets, the surface of the water outlets are movably installed with spiral water pipes, the surface of the push rod (push rod) close to the water tank is provided with a water inlet, the water inlet is movably inserted into one end of the spiral water pipe, the bottom end of the push rod (push rod) is fixedly installed with a connecting pipe, the outer surface of the connecting pipe is rotatably installed with a water mist nozzle, the outer surface of the water mist nozzle is provided with a filter screen, a water inlet is provided on one side of the outer surface of the drone body, the water inlet is through-connected with the interior of the water tank, and the outer surface of the water inlet is provided with a cover plate.

[0012] Preferably, the fire extinguishing module includes a first fire extinguishing mechanism, which includes a first fixed platform, a first limiting plug block, a first mounting frame, a first rotating rod, a placement platform, a fire extinguishing agent tank, an agent inlet pipe and an agent outlet pipe. The first fixed platform is movably installed at the bottom end of the drone body, the first limiting plug block is fixedly installed at the top end of the first fixed platform, both side surfaces of the first limiting plug block are provided with square positioning grooves, the first mounting frame is rotatably installed at the bottom end of the first fixed platform, the first rotating rod is fixedly installed at the top end of the first mounting frame, the first rotating rod movably passes through the first fixed platform and the first limiting plug block and extends to the interior of the drone body, the placement platform is fixedly installed at the bottom end of the first mounting frame, the fire extinguishing agent tank is fixedly installed on the outer surface of the first mounting frame, one side of the fire extinguishing agent tank is provided with an agent inlet pipe, the other side of the fire extinguishing agent tank is provided with an agent outlet pipe, and a water pump is provided near the agent outlet pipe inside the fire extinguishing agent tank.

[0013] Preferably, the square joint is movably inserted into the interior of the square positioning groove, the first limiting plug block is movably inserted into the interior of the assembly groove, and the top end of the first rotating rod is movably inserted into the bottom end of the connecting block.

[0014] Preferably, the outer end of the agent outlet pipe is movably connected to an extension pipe, the outer end of the extension pipe is movably connected to a three-way pipe, one end of the three-way pipe is connected to a fire extinguishing nozzle, the other end of the three-way pipe is connected to a connecting hose, the outer end of the connecting hose is movably inserted into the interior of the agent inlet pipe on the surface of the first fire extinguishing mechanism located above, the outer end of the agent inlet pipe on the surface of the first fire extinguishing mechanism located below is connected to a fire hose, and the bottom end of the fire hose is connected to a fire truck.

[0015] Preferably, the fire extinguishing module includes a second fire extinguishing mechanism, which includes a second fixed platform, a second limiting plug block, a second mounting frame, a second rotating rod, a connecting plate, an adjusting shaft, a servo motor, a U-shaped connecting frame, a movable clamping plate, a reduction motor and a connecting shaft. The second fixed platform is movably installed at the bottom end of the drone body, the second limiting plug block is fixedly installed at the top end of the second fixed platform, the second mounting frame is fixedly installed at the bottom end of the second fixed platform, the second rotating rod is fixedly installed at the top end of the second mounting frame, the second rotating rod movably passes through the interior of the second fixed platform and the second limiting plug block and extends to the interior of the drone body, two connecting plates are fixedly installed at the bottom end of the second mounting frame, an adjusting shaft is rotatably connected between the two connecting plates, a servo motor is fixedly installed on the outer side of one of the connecting plates, and the output end of the servo motor is connected to the adjusting shaft through a coupling.

[0016] Preferably, a U-shaped connecting frame is fixedly installed on the outer surface of the adjusting shaft, and a connecting shaft is rotatably connected to the inner side of the bottom end of the U-shaped connecting frame, and a reduction motor is fixedly installed on the outer surface of the U-shaped connecting frame, and the output end of the reduction motor is connected to one end of the connecting shaft through a coupling, and fixed clamping plates are provided at both ends of the outer surface of the connecting shaft, and a movable clamping plate is fixedly installed at the middle position of the outer surface of the connecting shaft, and both ends of the fixed clamping plate are fixedly connected to the U-shaped connecting frame, and the movable clamping plate and the fixed clamping plate are installed in cooperation with each other, and circular positioning grooves are provided on both side surfaces of the second limit plug, and the circular joint is movably inserted into the inside of the circular positioning groove.

[0017] Preferably, an extension tube is fixedly installed on the outer end of the fixed clamping plate, a fire hose is movably installed between the fixed clamping plate and the inside of the movable clamping plate, and the bottom end of the fire hose is connected to a fire truck.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention cooperates with the drone mechanism and the first fire extinguishing mechanism, so that when the device is in use, the two drone mechanisms cooperate with each other, so that the first drone mechanism pulls the fire hose to a high altitude, and the connecting hose is connected to the second drone mechanism to extend the height at which the device can extinguish the fire, thereby avoiding the situation where the drone mechanism cannot be used to extinguish the fire when the fire point is higher than the fire hose, and the water pumps inside the two fire extinguishing agent tanks increase the injection pressure, thereby avoiding the situation where the fire extinguishing agent spray pressure is low and cannot be sprayed to the fire point when the drone mechanism is located at an excessively high position;

[0020] 2. The present invention cooperates with the drone mechanism and the second fire extinguishing mechanism so that when the device is in use, the fire hose can be clamped and pulled into the air for fire extinguishing through the movable clamping plate and the fixed clamping plate, and the spacing between the movable clamping plate and the fixed clamping plate can be adjusted through the rotatable movable clamping plate, so that the device can clamp fire hoses of different sizes, which is convenient for the use of the device. The angle between the movable clamping plate and the fixed clamping plate and the ground is adjusted by driving the adjustment shaft to rotate through the servo motor, so that the device can spray at different positions, which is convenient for the fire extinguishing operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention when the whole fire is extinguished;

[0022] Figure 2 It is a structural schematic diagram of the first embodiment of the present invention;

[0023] Figure 3 It is a cross-sectional front view of a first embodiment of the present invention;

[0024] Figure 4 is a cross-sectional side view of a first embodiment of the present invention;

[0025] Figure 5 is a schematic structural diagram of a second embodiment of the present invention;

[0026] Figure 6 is a cross-sectional front view of a second embodiment of the present invention;

[0027] Figure 7 is a cross-sectional side view of a second embodiment of the present invention;

[0028] Figure 8 For the present invention Figure 4 Schematic diagram of the local structure of part A;

[0029] Fig. 9 For the present invention Figure 7 Schematic diagram of the local structure of part B;

[0030] Fig.10 It is a schematic diagram of the exploded structure of the position of the movable clamping plate in the second embodiment of the present invention;

[0031] Fig.11 For the present invention Fig. 9 Schematic diagram of the local structure of part C.

[0032] In the figure: 1. UAV mechanism; 101. UAV body; 102. Machine arm; 103. Propeller; 104. Stepper motor; 105. Connecting block; 106. Landing gear; 107. Anti-collision cover; 108. Camera; 2. First fire extinguishing mechanism; 201. First fixed platform; 202. First limit plug; 203. First mounting frame; 204. First rotating rod; 205. Placement platform; 206. Fire extinguishing agent tank; 207. Inlet pipe; 208. Outlet pipe; 209. Square positioning groove; 3. Three-way pipe; 4. Second fire extinguishing mechanism; 401. Second fixed platform; 402. Second limit plug; 403. Second mounting frame; 404. Second rotating rod; 405. Connecting plate; 406. Adjusting shaft; 407. Servo motor; 408. U-shaped Connecting frame; 409, movable clamping plate; 410, reduction motor; 411, connecting shaft; 412, circular positioning groove; 413, fixed clamping plate; 5, limiting mechanism; 501, movable groove; 502, vertical track; 503, horizontal track; 504, pushing rod; 505, connecting oblique rod; 506, limiting plug plate; 507, spring groove; 508, fixing plate; 509, compression spring; 510, inclined surface; 511, assembly groove; 512, circular card joint; 513, square card joint; 514, water tank installation groove; 515, water tank; 516, spiral water pipe; 517, water inlet; 518, connecting pipe; 519, water mist nozzle; 520, filter screen; 6, fire hose; 7, extension pipe; 8, fire extinguishing nozzle; 9, connecting hose. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0034] like Figures 1 to 4 and Figure 8 As shown, the first embodiment provided by the present invention relates to a high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system, including a robot module, a fire-fighting module, a matching module, a monitoring module and an identification module. A fire-fighting module is provided under the robot module, a matching module is provided on the surface of the fire-fighting module, a monitoring module is provided on one side of the robot module, and an identification module is provided inside the robot module. The monitoring module transmits the captured image to the identification module, and the identification module identifies the fire situation at the shooting location.

[0035] The above-mentioned robot module includes a drone mechanism 1, which includes a drone body 101, arms 102, propellers 103, stepper motors 104, connecting blocks 105, landing gears 106, anti-collision covers 107 and cameras 108; six arms 102 are installed on the outer surface of the drone body 101 by screws, and propellers 103 are provided at the outer ends of the arms 102. A stepper motor 104 is provided inside the drone body 101, and the output end of the stepper motor 104 is connected to the connecting block 105 through a coupling. Landing gears 106 are fixedly installed on both sides of the bottom end of the drone body 101, and multiple anti-collision covers 107 are connected to the bottom surface of the landing gears 106. A camera 108 is rotatably installed at the center of the top of the drone body 101.

[0036] A limiting mechanism 5 is provided inside the drone mechanism 1, and the limiting mechanism 5 includes a vertical track 502, a horizontal track 503, a push rod 504, a connecting inclined rod 505, a limiting plug plate 506, an inclined surface 510, a fixing plate 508 and a compression spring 509. Four movable grooves 501 are provided on the bottom surface of the drone body 101, and an assembly groove 511 is provided at the center of the bottom of the drone body 101;

[0037] The interior of the movable groove 501 is connected with the interior of the assembly groove 511, a vertical track 502 is provided on the inner wall of the movable groove 501 near the bottom end of the drone body 101, a horizontal track 503 is provided on the inner wall of the movable groove 501 near the assembly groove 511, and a push rod 504 is slidably installed inside the movable groove 501, and the bottom end of the push rod 504 extends to the outside of the bottom end of the drone body 101.

[0038] The top of the push rod 504 is rotatably connected to the connecting oblique rod 505 through the rotating shaft, and the top of the connecting oblique rod 505 is rotatably connected to the limiting plug plate 506 through the rotating shaft. The push rod 504 and the limiting plug plate 506 are fixedly installed on both sides of the limit protrusions. The limit protrusions on both sides of the push rod 504 are slidably inserted into the interior of the vertical track 502, and the limit protrusions on both sides of the limit plug plate 506 are slidably inserted into the interior of the horizontal track 503. One end of the limit plug plate 506 is movably inserted into the interior of the assembly groove 511, wherein the limit protrusions on both sides are fixedly installed on both sides of the push rod 504. A square joint 513 is fixedly installed on the outer end of the plate 506, and a circular joint 512 is fixedly installed on the outer end of the limiting plug plates 506 on the other two sides. The bottom surfaces of the circular joint 512 and the square joint 513 are provided with inclined surfaces 510, and the top surface inside the movable groove 501 is provided with a spring groove 507. A fixing plate 508 is fixedly installed on the top of the limiting plug plates 506, and the fixing plates 508 are slidably inserted into the inside of the spring groove 507, and a compression spring 509 is movably installed between the fixing plate 508 and the inside of the spring groove 507.

[0039] By setting the limiting mechanism 5, when the device is in use, the first fire extinguishing mechanism 2 or the second fire extinguishing mechanism 4 can be selected and installed at the bottom end of the drone mechanism 1 according to the actual fire situation. When the first fire extinguishing mechanism 2 is installed, the first limiting plug block 202 can be inserted into the assembly groove 511. At this time, the first rotating rod 204 will be inserted into the connecting block 105, so that the first mounting frame 203 can be controlled to rotate through the stepping motor 104, thereby adjusting the spraying direction.

[0040] At the same time, when the first limiting plug 202 is inserted into the assembly groove 511, it will squeeze the inclined surface 510 at the bottom end of the limiting plug plate 506. At this time, the limiting plug plate 506 will retract into the movable groove 501, and then the limiting plug plate 506 equipped with the square clamping joint 513 will be ejected by the elastic potential energy of the compression spring 509 and snap into the square positioning groove 209, thereby fixing the first limiting plug block 202 to prevent the first fire extinguishing mechanism 2 from falling off during flight.

[0041] When the second fire extinguishing mechanism 4 is installed, the second limiting plug block 402 can be inserted into the interior of the assembly groove 511. At this time, the second rotating rod 404 will be inserted into the interior of the connecting block 105, so that the second mounting frame 403 can be controlled to rotate through the stepping motor 104, thereby adjusting the spraying direction. At the same time, when the second limiting plug block 402 is inserted into the interior of the assembly groove 511, it will squeeze the inclined surface 510 at the bottom end of the limiting plug plate 506. At this time, the limiting plug plate 506 will retract to the interior of the movable groove 501, and then the limiting plug plate 506 equipped with the circular clamping joint 512 will be ejected by the elastic potential energy of the compression spring 509 and stuck into the interior of the circular positioning groove 412, thereby fixing the second limiting plug block 402 to prevent the second fire extinguishing mechanism 4 from falling off during flight.

[0042] The above-mentioned limiting mechanism 5 also includes a water tank 515, a spiral water pipe 516, a water inlet 517, a connecting pipe 518, a water mist nozzle 519 and a filter screen 520. The inner wall surface of the movable groove 501 is provided with a water tank mounting groove 514. The water tank 515 is fixedly installed at the top of the water tank mounting groove 514, and the bottom end of the water tank 515 is provided with four water outlets.

[0043] A spiral water pipe 516 is movably installed on the surface of the water outlet, a water inlet 517 is provided on the surface of the side of the push rod 504 close to the water tank 515, the water inlet 517 is movably inserted into one end of the spiral water pipe 516, a connecting pipe 518 is fixedly installed on the bottom end of the push rod 504, a water mist nozzle 519 is rotatably installed on the outer surface of the connecting pipe 518, a filter net 520 is provided on the outer surface of the water mist nozzle 519, a water inlet is provided on one side of the outer surface of the drone body 101, the water inlet is connected with the inside of the water tank 515, and a cover is provided on the outer surface of the water inlet.

[0044] Through the cooperation of the water tank 515 and the spiral water pipe 516, when the device is in use, water is first filled into the water tank 515 through the water filling port. When the drone body 101 takes off and approaches the fire point, water can be transported to the inside of the spiral water pipe 516 through the water tank 515. At this time, the water will enter the inside of the push rod 504 through the water inlet 517 on the surface of the push rod 504, and be transported to the connecting pipe 518 along the inside of the push rod 504, and then sprayed out as a conical water mist through the water mist nozzle 519, so that the drone body 101 is covered by the conical water mist all around, thereby preventing the smoke at the fire point from affecting the flight of the drone body 101. By rotating the water mist nozzle 519 installed on the surface of the connecting pipe 518, the angle of the water mist nozzle 519 can be adjusted to prevent the water mist sprayed by the water mist nozzle 519 from affecting the flight of the drone body 101.

[0045] In a specific technical solution, the fire extinguishing module includes a first fire extinguishing mechanism 2, which includes a first fixed platform 201, a first limiting plug 202, a first mounting frame 203, a first rotating rod 204, a placement platform 205, a fire extinguishing agent tank 206, an agent inlet pipe 207 and an agent outlet pipe 208. The first fixed platform 201 is movably installed at the bottom end of the drone body 101, and the first limiting plug 202 is fixedly installed at the top end of the first fixed platform 201. Square positioning grooves 209 are provided on the two side surfaces of the first limiting plug 202.

[0046] A first mounting frame 203 is rotatably mounted on the bottom end of the first fixed platform 201, a first rotating rod 204 is fixedly mounted on the top end of the first mounting frame 203, the first rotating rod 204 movably passes through the first fixed platform 201 and the first limiting plug block 202 and extends to the inside of the UAV body 101, a placing platform 205 is fixedly mounted on the bottom end of the first mounting frame 203, a fire extinguishing agent tank 206 is fixedly mounted on the outer surface of the first mounting frame 203, an agent inlet pipe 207 is provided on one side of the fire extinguishing agent tank 206, an agent outlet pipe 208 is provided on the other side of the fire extinguishing agent tank 206, and a water pump is provided inside the fire extinguishing agent tank 206 near the agent outlet pipe 208.

[0047] Through the cooperation between the drone mechanism 1 and the first fire extinguishing mechanism 2, when the device is in use, the two drone mechanisms 1 can cooperate with each other, so that the first drone mechanism 1 can pull the fire hose 6 to a high altitude, and by connecting the connecting hose 9 to the second drone mechanism 1, the height at which the device can extinguish the fire is extended, thereby avoiding the situation where the drone mechanism 1 cannot be used to extinguish the fire when the fire point is higher than the fire hose 6, and the injection pressure is increased by the water pumps inside the two fire extinguishing agent tanks 206, thereby avoiding the situation where the fire extinguishing agent spray pressure is low and cannot be sprayed to the fire point when the drone mechanism 1 is located at an excessively high position.

[0048] The square joint 513 is movably inserted into the square positioning groove 209 , the first limiting insert block 202 is movably inserted into the assembly groove 511 , and the top end of the first rotating rod 204 is movably inserted into the bottom end of the connecting block 105 .

[0049] The outer end of the agent outlet pipe 208 is movably connected to the extension pipe 7, the outer end of the extension pipe 7 is movably connected to the three-way pipe 3, one end of the three-way pipe 3 is connected to the fire extinguishing nozzle 8, the other end of the three-way pipe 3 is connected to the connecting hose 9, the outer end of the connecting hose 9 is movably inserted into the inside of the agent inlet pipe 207 located on the surface of the first fire extinguishing mechanism 2 above, the outer end of the agent inlet pipe 207 located on the surface of the first fire extinguishing mechanism 2 below is connected to the fire hose 6, and the bottom end of the fire hose 6 is connected to the fire truck.

[0050] Through the cooperation of the three-way pipe 3 and the extension pipe 7, when the device is in use, multiple drone mechanisms 1 can be connected through the extension pipe 7. Therefore, when the fire point is divided into multiple layers, a drone mechanism 1 can be set at the fire point position on each floor, and the multiple drone mechanisms 1 are connected through the extension pipe 7 and the connecting hose 9, so that the fire extinguishing agent can be sprayed on the positions of floors of different heights, avoiding the risk of the fire hoses 6 being entangled with each other during the flight of the drone mechanisms 1 when multiple drone mechanisms 1 are pulling a fire hose 6, thereby causing the drone mechanisms 1 to lose control and fall.

[0051] like Figure 1 , Figures 5 to 7 and Figures 9 to 11 The second embodiment provided by the present invention: the fire extinguishing module includes a second fire extinguishing mechanism 4, the second fire extinguishing mechanism 4 includes a second fixed platform 401, a second limiting plug block 402, a second mounting frame 403, a second rotating rod 404, a connecting plate 405, an adjusting shaft 406, a servo motor 407, a U-shaped connecting frame 408, a movable clamping plate 409, a reduction motor 410 and a connecting shaft 411, the bottom end of the drone body 101 is movably installed with the second fixed platform 401, and the top end of the second fixed platform 401 is fixedly installed with the second limiting plug block 402.

[0052] A second mounting frame 403 is fixedly installed on the bottom end of the second fixed platform 401, and a second rotating rod 404 is fixedly installed on the top end of the second mounting frame 403. The second rotating rod 404 movably passes through the interior of the second fixed platform 401 and the second limiting plug block 402 and extends to the interior of the drone body 101. Two connecting plates 405 are fixedly installed on the bottom end of the second mounting frame 403, and an adjusting shaft 406 is rotatably connected between the two connecting plates 405. A servo motor 407 is fixedly installed on the outer side of one of the connecting plates 405, and the output end of the servo motor 407 is connected to the adjusting shaft 406 through a coupling.

[0053] A U-shaped connecting frame 408 is fixedly installed on the outer surface of the adjusting shaft 406, and a connecting shaft 411 is rotatably connected to the inner side of the bottom end of the U-shaped connecting frame 408. A reduction motor 410 is fixedly installed on the outer surface of the U-shaped connecting frame 408, and the output end of the reduction motor 410 is connected to one end of the connecting shaft 411 through a coupling. Fixed clamping plates 413 are provided at both ends of the outer surface of the connecting shaft 411. A movable clamping plate 409 is fixedly installed in the middle position of the outer surface of the connecting shaft 411, and both ends of the fixed clamping plate 413 are fixedly connected to the U-shaped connecting frame 408. The movable clamping plate 409 and the fixed clamping plate 413 are installed in cooperation. Circular positioning grooves 412 are provided on both side surfaces of the second limiting plug 402, and the circular joint 512 is movably inserted into the inside of the circular positioning groove 412.

[0054] An extension tube 7 is fixedly installed on the outer end of the fixed clamping plate 413, and a fire hose 6 is movably installed between the fixed clamping plate 413 and the movable clamping plate 409, and the bottom end of the fire hose 6 is connected to the fire truck.

[0055] Through the cooperation between the drone mechanism 1 and the second fire extinguishing mechanism 4, when the device is in use, one end of the fire hose 6 is first placed between the movable clamping plate 409 and the fixed clamping plate 413, and is fitted with one end of the extension tube 7 or inserted into the extension tube 7. Then, the fire hose 6 can be clamped and pulled into the air by the movable clamping plate 409 and the fixed clamping plate 413 for fire extinguishing. The spacing between the movable clamping plate 409 and the fixed clamping plate 413 can be adjusted by the rotatable movable clamping plate 409, so that the device can clamp fire hoses 6 of different sizes, which is convenient for the use of the device. The angle between the movable clamping plate 409 and the fixed clamping plate 413 and the ground is adjusted by the servo motor 407 driving the adjustment shaft 406 to rotate, so that the device can spray at different positions, which is convenient for the fire extinguishing operation of the device.

[0056] When the high-rise building community fire emergency three-dimensional fire extinguishing and rescue robot system is in use, the first fire extinguishing mechanism 2 or the second fire extinguishing mechanism 4 can be installed at the bottom end of the drone mechanism 1 according to the fire situation:

[0057] When the fire point is too high or the fire points are at multi-layer height positions close to each other, the first fire extinguishing mechanism 2 can be installed to the bottom end of the drone mechanism 1. When installing the first fire extinguishing mechanism 2, the first limit plug 202 can be inserted into the assembly groove 511. At this time, the first rotating rod 204 will be inserted into the connecting block 105, thereby controlling the rotation of the first mounting frame 203 through the stepper motor 104, thereby adjusting the spraying direction.

[0058] At the same time, when the first limiting plug 202 is inserted into the assembly groove 511, it will squeeze the inclined surface 510 at the bottom of the limiting plug plate 506. At this time, the limiting plug plate 506 will retract into the movable groove 501. Then, the limiting plug plate 506 equipped with the square clamping joint 513 will be ejected by the elastic potential energy of the compression spring 509 and snap into the square positioning groove 209, thereby fixing the first limiting plug block 202 to prevent the first fire extinguishing mechanism 2 from falling off during flight, thereby completing the installation of the drone mechanism 1 and the first fire extinguishing mechanism 2.

[0059] Then, insert the extension tube 7 into the agent outlet tube 208, and insert the three-way tube 3 into the outer end of the extension tube 7, then insert one end of the connecting hose 9 into one end of the three-way tube 3, and insert the other end of the connecting hose 9 into the agent inlet tube 207 at the bottom of another drone mechanism 1, so as to realize the mutual connection of the two drone mechanisms 1, and then repeat this operation according to the number of floors on fire. After connecting multiple drones to each other, make the drones take off at the same time, and arrange them in a stepped manner outside each fire point, and then input the fire extinguishing agent into the fire hose 6 through the fire truck. After the fire extinguishing agent enters the fire extinguishing agent tank 206, it will be sprayed out through the agent outlet tube 208 through the water pump inside the fire extinguishing agent tank 206, and will be transmitted upward by each three-way tube 3 and the extension tube 7 until it is transmitted to the extension tube 7 at the highest position, so as to extinguish multiple fire points at the same time and improve the fire extinguishing efficiency. At the same time, it is avoided that when the drone mechanism 1 is located at an excessively high position, the fire extinguishing agent spraying pressure is small and cannot be sprayed to the fire point;

[0060] When there is only one fire point or the fire hose 6 is too thick to be installed on the surface of the feed pipe 207, the second fire extinguishing mechanism 4 can be installed at the bottom end of the drone mechanism 1. When installing the second fire extinguishing mechanism 4, the second limit plug 402 can be inserted into the assembly groove 511. At this time, the second rotating rod 404 will be inserted into the connecting block 105, so that the second mounting bracket 403 can be controlled to rotate through the stepper motor 104, thereby adjusting the spraying direction.

[0061] At the same time, when the second limiting plug block 402 is inserted into the assembly groove 511, it will squeeze the inclined surface 510 at the bottom of the limiting plug plate 506. At this time, the limiting plug plate 506 will retract into the movable groove 501. Then, the limiting plug plate 506 equipped with the circular clamping joint 512 will be ejected by the elastic potential energy of the compression spring 509 and inserted into the circular positioning groove 412, thereby fixing the second limiting plug block 402 to prevent the second fire extinguishing mechanism 4 from falling off during flight, thereby completing the installation of the drone mechanism 1 and the second fire extinguishing mechanism 4.

[0062] Then, the spacing between the movable clamping plate 409 and the fixed clamping plate 413 can be adjusted by the rotatable movable clamping plate 409, so that the device can clamp fire hoses 6 of different sizes, which is convenient for the use of the device. Then, the fire extinguishing agent can be input into the fire hose 6 by the fire truck, and sprayed to the fire point by the extension pipe 7 to realize the fire extinguishing operation. At the same time, the angle between the movable clamping plate 409 and the fixed clamping plate 413 and the ground can be adjusted by driving the adjusting shaft 406 to rotate by the servo motor 407, so that the device can spray at different positions, which is convenient for the fire extinguishing operation of the device.

[0063] When the drone body 101 takes off and approaches the fire point, water can be transported to the inside of the spiral water pipe 516 through the water tank 515. At this time, the water will enter the inside of the push rod 504 through the water inlet 517 on the surface of the push rod 504, and be transported to the connecting pipe 518 along the inside of the push rod 504. Then, it will be sprayed out in a conical water mist through the water mist nozzle 519, so that the drone body 101 is covered by the conical water mist all around, thereby preventing the smoke at the fire point from affecting the flight of the drone body 101. By rotating the water mist nozzle 519 installed on the surface of the connecting pipe 518, the angle of the water mist nozzle 519 can be adjusted to prevent the water mist sprayed by the water mist nozzle 519 from affecting the flight of the drone body 101;

[0064] When it is necessary to remove the first fire extinguishing mechanism 2 or the second fire extinguishing mechanism 4, the pushing rod 504 can be pulled downward, so that the pushing rod 504 drives the connecting inclined rod 505 to move downward, and then the connecting inclined rod 505 pulls the limiting plug plate 506 out of the square positioning groove 209 or the circular positioning groove 412, thereby releasing its limit on the first fire extinguishing mechanism 2 or the second fire extinguishing mechanism 4. At this time, the first fire extinguishing mechanism 2 or the second fire extinguishing mechanism 4 can be directly pulled out to complete the disassembly of the first fire extinguishing mechanism 2 and the second fire extinguishing mechanism 4.

[0065] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A high-rise building community fire emergency three-dimensional fire extinguishing and rescue robot system, characterized by: It includes robot module, fire extinguishing module, coordination module, monitoring module and identification module; A fire extinguishing module is provided below the robot module, a matching module is provided on the surface of the fire extinguishing module, a monitoring module is provided on one side of the robot module, and an identification module is provided inside the robot module. The monitoring module transmits the captured images to the identification module, and the identification module identifies the fire situation at the shooting location. The robot module comprises a drone mechanism (1), wherein the drone mechanism (1) comprises a drone body (101), a machine arm (102), a propeller (103), a stepper motor (104), a connecting block (105), a landing gear (106), an anti-collision cover (107) and a camera (108); six machine arms (102) are mounted on the outer surface of the drone body (101) by means of screws, the outer ends of the machine arms (102) are each provided with a propeller (103), a stepper motor (104) is arranged inside the drone body (101), and the output end of the stepper motor (104) is connected to the connecting block (105) via a coupling; Landing gears (106) are fixedly mounted on both sides of the bottom of the drone body (101), a plurality of anti-collision sleeves (107) are connected to the bottom surface of the landing gears (106), and a camera (108) is rotatably mounted at the center of the top of the drone body (101).

2. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 1 is characterized by: The drone body (101) is any one of a four-axis, six-axis or eight-axis multi-rotor drone.

3. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 2 is characterized by: The drone mechanism (1) is provided with a limiting mechanism (5) inside, and the limiting mechanism (5) comprises a vertical track (502), a horizontal track (503), a push rod (504), a connecting inclined rod (505), a limiting plug plate (506), an inclined surface (510), a fixing plate (508) and a compression spring (509); The bottom surface of the drone body (101) is provided with four movable grooves (501), and the center of the bottom of the drone body (101) is provided with an assembly groove (511); The interior of the movable groove (501) is connected to the interior of the assembly groove (511); a vertical track (502) is provided at a position of the inner wall of the movable groove (501) close to the bottom end of the drone body (101); a transverse track (503) is provided at a position of the inner wall of the movable groove (501) close to the assembly groove (511); a push rod (504) is slidably installed inside the movable groove (501); the bottom end of the push rod (504) extends to the outside of the bottom end of the drone body (101); and the top end of the push rod (504) is rotatably connected to a connecting oblique rod (505) via a rotating shaft; The top end of the connecting oblique rod (505) is rotatably connected to the limit plug plate (506) via a rotating shaft, and both sides of the pushing rod (504) and the limit plug plate (506) are fixedly installed with limit protrusions, and the limit protrusions located on both sides of the pushing rod (504) are slidably inserted into the interior of the vertical track (502), and the limit protrusions located on both sides of the limit plug plate (506) are slidably inserted into the interior of the horizontal track (503), and one end of the limit plug plate (506) is movably inserted into the interior of the assembly groove (511); The outer ends of the limiting plug plates (506) on both sides are fixedly installed with square joints (513), and the outer ends of the limiting plug plates (506) on the other two sides are fixedly installed with circular joints (512), and the bottom surfaces of the circular joints (512) and the square joints (513) are both provided with inclined surfaces (510), and the top surface inside the movable groove (501) is provided with a spring groove (507), and the top of the limiting plug plates (506) is fixedly installed with a fixing plate (508), and the fixing plate (508) is slidably inserted into the inside of the spring groove (507), and a compression spring (509) is movably installed between the fixing plate (508) and the inside of the spring groove (507).

4. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 3 is characterized by: The limiting mechanism (5) further comprises a water tank (515), a spiral water pipe (516), a water inlet (517), a connecting pipe (518), a water mist nozzle (519) and a filter screen (520); the inner wall surface of the movable groove (501) is provided with a water tank installation groove (514); the top end of the water tank installation groove (514) is fixedly provided with a water tank (515); and the bottom end of the water tank (515) is provided with four water outlets; The surface of the water outlet is movably mounted with a spiral water pipe (516); the surface of the push rod (push rod (504)) on one side close to the water tank (515) is provided with a water inlet (517); the water inlet (517) is movably inserted into one end of the spiral water pipe (516); the bottom end of the push rod (push rod (504)) is fixedly mounted with a connecting pipe (518); the outer surface of the connecting pipe (518) is rotatably mounted with a water mist nozzle (519); the outer surface of the water mist nozzle (519) is provided with a filter net (520); one side of the outer surface of the drone body (101) is provided with a water inlet; the water inlet is connected to the inside of the water tank (515); and the outer surface of the water inlet is provided with a cover plate.

5. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 4 is characterized by: The fire extinguishing module comprises a first fire extinguishing mechanism (2), wherein the first fire extinguishing mechanism (2) comprises a first fixing platform (201), a first limiting plug block (202), a first mounting frame (203), a first rotating rod (204), a placement platform (205), a fire extinguishing agent tank (206), an agent inlet pipe (207) and an agent outlet pipe (208); A first fixing platform (201) is movably mounted on the bottom of the drone body (101), and a first limiting plug block (202) is fixedly mounted on the top of the first fixing platform (201); The surfaces of both sides of the first limiting plug (202) are provided with square positioning grooves (209); the first mounting frame (203) is rotatably mounted on the bottom end of the first fixed platform (201); the first rotating rod (204) is fixedly mounted on the top end of the first mounting frame (203); the first rotating rod (204) movably passes through the first fixed platform (201) and the first limiting plug (202) and extends to the inside of the drone body (101); a placing platform (205) is fixedly mounted on the bottom end of the first mounting frame (203); a fire extinguishing agent tank (206) is fixedly mounted on the outer surface of the first mounting frame (203); an agent inlet pipe (207) is arranged on one side of the fire extinguishing agent tank (206); an agent outlet pipe (208) is arranged on the other side of the fire extinguishing agent tank (206); and a water pump is arranged in the fire extinguishing agent tank (206) near the agent outlet pipe (208).

6. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 5 is characterized by: The square joint (513) is movably inserted into the interior of the square positioning groove (209), the first limiting plug block (202) is movably inserted into the interior of the assembly groove (511), and the top end of the first rotating rod (204) is movably inserted into the interior of the bottom end of the connecting block (105).

7. The high-rise building community fire emergency three-dimensional fire extinguishing and rescue robot system according to claim 6 is characterized by: The outer end of the agent outlet pipe (208) is movably connected to an extension pipe (7), the outer end of the extension pipe (7) is movably connected to a three-way pipe (3), one end of the three-way pipe (3) is connected to a fire extinguishing nozzle (8), the other end of the three-way pipe (3) is connected to a connecting hose (9), the outer end of the connecting hose (9) is movably inserted into the inside of the agent inlet pipe (207) located on the surface of the first fire extinguishing mechanism (2) at the top, the outer end of the agent inlet pipe (207) located on the surface of the first fire extinguishing mechanism (2) at the bottom is connected to a fire hose (6), and the bottom end of the fire hose (6) is connected to a fire truck.

8. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 4 is characterized by: The fire extinguishing module comprises a second fire extinguishing mechanism (4), which comprises a second fixed platform (401), a second limiting plug block (402), a second mounting frame (403), a second rotating rod (404), a connecting plate (405), an adjusting shaft (406), a servo motor (407), a U-shaped connecting frame (408), a movable clamping plate (409), a reduction motor (410) and a connecting shaft (411); the second fixed platform (401) is movably mounted at the bottom end of the drone body (101), the second limiting plug block (402) is fixedly mounted at the top end of the second fixed platform (401), the second mounting frame (403) is fixedly mounted at the bottom end of the second fixed platform (401), the second rotating rod (404) is fixedly mounted at the top end of the second mounting frame (403), and the second rotating rod (404) movably passes through the interior of the second fixed platform (401) and the second limiting plug block (402) and extends to the interior of the drone body (101); Two connecting plates (405) are fixedly mounted on the bottom end of the second mounting frame (403), an adjusting shaft (406) is rotatably connected between the two connecting plates (405), a servo motor (407) is fixedly mounted on the outer side of one of the connecting plates (405), and an output end of the servo motor (407) is connected to the adjusting shaft (406) via a coupling.

9. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 8 is characterized by: A U-shaped connecting frame (408) is fixedly installed on the outer surface of the adjusting shaft (406), and a connecting shaft (411) is rotatably connected to the inner side of the bottom end of the U-shaped connecting frame (408). A reduction motor (410) is fixedly installed on the outer surface of the U-shaped connecting frame (408), and the output end of the reduction motor (410) is connected to one end of the connecting shaft (411) through a coupling. Fixed clamping plates (413) are provided at both ends of the outer surface of the connecting shaft (411), and a movable clamping plate (409) is fixedly installed at the middle position of the outer surface of the connecting shaft (411). Both ends of the fixed clamping plate (413) are fixedly connected to the U-shaped connecting frame (408), and the movable clamping plate (409) and the fixed clamping plate (413) are installed in a matching manner. Circular positioning grooves (412) are provided on both side surfaces of the second limiting plug (402), and the circular joint (512) is movably inserted into the inside of the circular positioning groove (412).

10. The high-rise building community fire emergency three-dimensional fire-fighting and rescue robot system according to claim 9 is characterized by: An extension tube (7) is fixedly installed on the outer end of the fixed clamping plate (413), and a fire hose (6) is movably installed between the fixed clamping plate (413) and the movable clamping plate (409), and the bottom end of the fire hose (6) is connected to a fire truck.

Images