Fire robot based on tunnel traffic accident

Abstract

The invention discloses a fire robot based on tunnel traffic accidents, and belongs to the technical field of fire fighting equipment, the fire robot comprises a suspended ceiling track and further comprises a robot body, the top of the robot body is provided with a driving moving structure, and the driving moving structure can drive the robot body to horizontally move on the suspended ceiling track; the robot comprises a robot body, two mechanical arms are arranged on the robot body, the two mechanical arms are located on the two sides of the robot body, fire extinguishing devices are arranged on the two mechanical arms respectively, and a high-speed smoke ventilator is arranged on the front portion of the robot body. The robot can freely move on the suspended ceiling track, automatically track a fire source and give an alarm so as to evacuate people in time. Meanwhile, the 360-degree rotating mechanical arm is arranged, the efficient fire extinguishing and smoke discharging functions are achieved, dense smoke harmful to sight can be rapidly removed, safety in a magnetic track is guaranteed, it is ensured that efficient operation can be achieved in a special environment through the unique inverted hanging design, and the tunnel safety assisting device is powerful assistance.

Description

Technical Field

[0001] The invention belongs to the technical field of fire fighting equipment, and in particular relates to a fire robot based on tunnel traffic accidents. Background Art

[0002] The standard height of highway tunnels is generally 6 to 7 meters, while the minimum height must reach 4.5 meters. At present, the detection speed of the rail robot can reach up to 40km / h, about 11m / s. Different weights and different intervals: one every 1.2km, which can cover all tunnels, and arrive quickly, all within one minute. Highway tunnels: extra-long tunnels (L>3000m), long tunnels (3000m>L>1000m), medium tunnels (1000m>L>500m), short tunnels (L≤500m). At present, the longest highway tunnel in China is the Zhongnanshan Tunnel in Qinling Mountains, Shaanxi Province, with a single tunnel length of 18.02 kilometers and a double tunnel length of 36.04 kilometers. China's highway tunnels over 10 kilometers are gradually increasing.

[0003] Tunnels are a major advancement in modern transportation engineering. They break the constraints of terrain and make many journeys that would have taken hours or even days to cross mountains and ridges a thing of the past. While it is convenient, it is also like a black hole. Once a major accident occurs, it will swallow countless lives. The tunnel section is a relatively closed environment with openings at both ends. The two ends are at different heights. Once a fire occurs, a "chimney effect" will naturally form. The thick smoke produced by the burning of vehicles and cargo will seriously affect the driving vision of other vehicles, and then cause a series of accidents, resulting in traffic interruptions and personnel stranded. The combustion generates carbon monoxide, nitrogen monoxide, plastic parts, rubber parts, and the transportation of hazardous chemicals will produce a large amount of toxic gases, causing people to suffocate or suffer varying degrees of injury.

[0004] However, in the case of a fire in an existing tunnel, the smoke is too large to be discharged; fire trucks cannot pass normally; the fire point in the tunnel is difficult to locate; rescue personnel are difficult to enter; crowds and vehicles are congested and difficult to evacuate; and visibility in the tunnel is low. Therefore, it is necessary to provide a fire robot for use in the event of a fire accident in the tunnel to perform firefighting and smoke exhaust work. Summary of the invention

[0005] The embodiment of the present invention provides a tunnel traffic accident fire robot to solve the problems in the prior art.

[0006] The embodiment of the present invention adopts the following technical scheme: a tunnel car accident fire robot, comprising a ceiling track and a robot body, wherein a driving movable structure is provided on the top of the robot body, and the driving movable structure can drive the robot body to move horizontally on the ceiling track; two mechanical arms are provided on the robot body, and the two mechanical arms are located on both sides of the robot body, and fire extinguishing devices are respectively provided on the two mechanical arms, and a high-speed smoke exhaust fan is provided at the front position of the robot body.

[0007] Furthermore, the driving mobile structure includes a suspension frame, a servo motor and two mounting plates. The suspension frame is located at the top position of the robot body. The two mounting plates are symmetrically arranged in the suspension frame. Three conveying wheels arranged at equal intervals are provided between the two mounting plates. Both ends of the conveying wheel are rotatably connected to the two mounting plates. Each of the conveying wheels is provided with a sprocket. A chain is sleeved between the three sprockets. The servo motor is located on the side wall of the mounting plate, and the servo motor is transmission-connected to one of the conveying wheels.

[0008] Furthermore, the conveying wheel slides at the bottom of the ceiling track, and the suspension frame slides at the top of the ceiling track.

[0009] Furthermore, the robotic arm can rotate 360 ​​degrees.

[0010] Furthermore, the fire extinguishing device is a high-pressure water gun.

[0011] Furthermore, the fire extinguishing device is a dry powder fire extinguisher.

[0012] Furthermore, a water pump is provided inside the robot body, and the water pump is connected to the high-pressure water gun. A water inlet is provided at the rear position of the robot body, and the water inlet is connected to the water pump.

[0013] Furthermore, a smoke exhaust fan is provided inside the robot body, the smoke exhaust fan is connected to a high-speed smoke exhaust fan, and a smoke outlet connected to the smoke exhaust fan is provided at the rear of the robot body.

[0014] Furthermore, an emergency light is provided above the robot body.

[0015] Furthermore, a high temperature sensor and an alarm are provided at the bottom of the robot body.

[0016] At least one of the above technical solutions adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0017] The robot of the present invention can move freely on the ceiling track, automatically track the fire source and sound the alarm so as to evacuate people in time. At the same time, it is equipped with a 360-degree rotating mechanical arm, has efficient fire extinguishing and smoke exhaust functions, can quickly remove the smoke that endangers the line of sight, and escort the safety in the track. Its unique inverted design ensures efficient operation even in special environments, which is a powerful booster for tunnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of the robot body of the present invention being installed on a ceiling track;

[0020] Figure 2 The three-dimensional structure of the robot body of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 3 The three-dimensional structure of the robot body of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the driving moving structure in the present invention;

[0023] Reference numerals:

[0024] Ceiling track 1, robot body 2, water inlet 21, smoke outlet 22, driving mobile structure 3, suspension frame 31, servo motor 32, mounting plate 33, conveying wheel 34, sprocket 35, chain 36, robotic arm 4, fire extinguishing device 5, high-speed smoke exhaust fan 6, emergency light 7, high temperature sensor and alarm 8. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The following describes in detail a technical solution based on a tunnel car accident fire robot according to various embodiments of the present invention in conjunction with the accompanying drawings.

[0027] Reference Figures 1 to 4As shown, an embodiment of the present invention provides a tunnel car accident fire robot, including a ceiling track 1 and a robot body 2. A driving moving structure 3 is provided on the top of the robot body 2, and the driving moving structure 3 can drive the robot body 2 to move horizontally on the ceiling track 1; two mechanical arms 4 are provided on the robot body 2, and the two mechanical arms 4 are located on both sides of the robot body 2. Fire extinguishing devices 5 are respectively provided on the two mechanical arms 4, and a high-speed smoke exhaust fan 6 is provided at the front position of the robot body 2; an emergency light 7 is provided at the upper position of the robot body 2, and the emergency light 7 can realize lighting in the tunnel; a high-temperature sensor and an alarm 8 are provided at the bottom position of the robot body 2; the high-temperature sensor can realize real-time feedback on the detection of the temperature at the fire source, and the alarm can sound an alarm to remind the rear vehicles and pedestrians.

[0028] It should be noted that an obstacle avoidance sensor is installed in front of the robot body 2; an anti-collision radar detects obstacles in front and behind the robot and stops it suddenly.

[0029] The robot body 2 is also equipped with an infrared thermal imager, which can remotely detect vehicle anomalies or heat sources inside the tunnel, allowing the robot body 2 to move quickly.

[0030] The robot body 2 is also equipped with a communication system to transmit video and data images to the outside world. The high-definition infrared camera and multiple types of sensors, combined with advanced technologies such as laser scanning and image recognition, collect signals for analysis and processing in real time, thereby achieving comprehensive, all-weather monitoring of the tunnel structure, internal environment, working equipment, and traffic operations. Equipped with multifunctional cameras such as thermal imaging, variable zoom, and 360-degree wide-angle, as well as laser radar and millimeter-wave radar, it has the ability to "listen in all directions and see in all directions", can achieve autonomous navigation, autonomous obstacle avoidance, can be remotely controlled, and can monitor the images received.

[0031] During use, the location of the fire source in the tunnel is sensed by a multifunctional camera and an infrared thermal imager, and the robot body 2 is quickly moved on the ceiling track 1 by driving the mobile structure 3 to the location of the fire source. Then, the two robotic arms 4 drive the fire extinguishing device 5 to work and quickly extinguish the fire source. The high-speed smoke exhaust fan 6 can quickly extract the smoke emitted from the fire source.

[0032] Specifically, the driving mobile structure 3 includes a suspension frame 31, a servo motor 32 and two mounting plates 33. The suspension frame 31 is located at the top position of the robot body 2. The two mounting plates 33 are symmetrically arranged in the suspension frame 31. Three equally spaced conveying wheels 34 are arranged between the two mounting plates 33. Both ends of the conveying wheel 34 are rotatably connected to the two mounting plates 33. Each of the conveying wheels 34 is provided with a sprocket 35. A chain 36 is sleeved between the three sprockets 35. The servo motor 32 is located on the side wall of the mounting plate 33, and the servo motor 32 is transmission-connected to one of the conveying wheels 34. The conveying wheel 34 slides at the bottom of the ceiling track 1, and the suspension frame 31 slides at the top of the ceiling track 1.

[0033] After a fire occurs in the tunnel, the servo motor 32 will drive the conveying wheel 34 to rotate on the ceiling track 1, thereby driving the other two conveying wheels 34 to rotate on the ceiling track 1 through the sprocket 35 and the chain 36, so that the suspension frame 31 moves horizontally on the ceiling track 1, and the position of the robot body 2 is moved to the top of the fire source to perform fire extinguishing work.

[0034] The robot body 2 can travel at a maximum speed of 8m / s, achieving rapid emergency response, effectively ensuring smooth traffic, and realizing "real-time perception, intelligent management, and smart decision-making" through mobile inspection of the entire road section, effectively reducing the probability of secondary accidents. At the same time, through the information collection of foreign objects, traffic jams, accidents, fires and other events in the tunnel, in the case of power outages in the tunnel, on-site images from different angles are obtained to provide technical support and decision-making basis for tunnel emergency rescue, further improve the tunnel emergency rescue capabilities, and ensure stable and smooth operation of the tunnel.

[0035] The robot body 2 is provided with a GPS positioning system.

[0036] Quickly locate the robot, lock the fire location and ignition point, and reach the designated location and use the fire extinguisher by itself, or it can be controlled by the control system;

[0037] Specifically, the robotic arm 4 can rotate 360 ​​degrees. The 360-degree rotating robotic arm 4 can achieve all-round coverage in the horizontal direction; the 360-degree rotating robotic arm 4 can quickly turn from one fire point to another fire point to extinguish the fire; through the 360-degree rotation, the robotic arm 4 can find the best fire extinguishing agent injection angle. For different types of fires and different burning materials, the best injection angle may be different. For example, when fighting a liquid fire, the fire extinguishing agent needs to be sprayed onto the liquid surface at a certain tilt angle to form an effective covering layer; when fighting a solid fire, vertical spraying may be required so that the fire extinguishing agent can penetrate into the burning material. The robotic arm 4 can flexibly adjust the angle according to the actual situation to ensure that the fire extinguishing agent has the best fire extinguishing effect.

[0038] Specifically, the fire extinguishing device 5 is a high-pressure water gun; when a fire occurs in wood, paper materials, plastics, rubber and the like, the high-pressure water gun can spray water toward the fire source to extinguish the fire.

[0039] Specifically, the fire extinguishing device 5 is a dry powder fire extinguisher; when extinguishing a solid material fire (Class A), a liquid material fire (Class B), a gas material fire (Class C) or an electrical equipment fire (Class E), a dry powder fire extinguisher can be used for fire extinguishing.

[0040] In the process of extinguishing a fire, different types of fire extinguishers can be selected according to the type of fire source.

[0041] Specifically, a water pump is provided inside the robot body 2 , and the water pump is connected to the high-pressure water gun. A water inlet 21 is provided at the rear of the robot body 2 , and the water inlet 21 is connected to the water pump.

[0042] The water inlet 21 is connected to the existing water inlet pipe placed in the tunnel. When extinguishing a fire, the water pump will extract water, and then the water will be discharged to the outside through a high-pressure water gun to extinguish the fire source.

[0043] Specifically, a smoke exhaust fan is provided inside the robot body 2 , and the smoke exhaust fan is connected to the high-speed smoke exhaust fan 6 . A smoke outlet 22 connected to the smoke exhaust fan is provided at the rear of the robot body 2 .

[0044] The smoke outlet 22 is connected to the smoke exhaust duct in the tunnel. When the smoke emitted from the fire source is extracted, the high-speed smoke exhaust fan 6 works to extract the smoke. After extraction, the smoke is transported to the smoke outlet 22 through the smoke exhaust duct, and the smoke is discharged outside the tunnel through the smoke exhaust duct.

[0045] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A tunnel car accident fire robot, comprising a ceiling track (1), characterized in that: The robot comprises a robot body (2), wherein a driving movement structure (3) is provided on the top of the robot body (2), and the driving movement structure (3) can drive the robot body (2) to move horizontally on the ceiling track (1); The robot body (2) is provided with two mechanical arms (4), the two mechanical arms (4) are located on both sides of the robot body (2), the two mechanical arms (4) are respectively provided with fire extinguishing devices (5), and a high-speed smoke exhauster (6) is provided at the front position of the robot body (2).

2. The tunnel car accident fire robot according to claim 1, characterized in that: The driving moving structure (3) comprises a suspension frame (31), a servo motor (32) and two mounting plates (33). The suspension frame (31) is located at the top of the robot body (2), and the two mounting plates (33) are symmetrically arranged in the suspension frame (31). Three conveying wheels (34) are arranged at equal intervals between the two mounting plates (33), and two ends of the conveying wheels (34) are rotatably connected to the two mounting plates (33). Each of the conveying wheels (34) is provided with a sprocket (35), and a chain (36) is sleeved between the three sprockets (35). The servo motor (32) is located on the side wall of the mounting plate (33). The servo motor (32) is drivingly connected to one of the conveying wheels (34).

3. The tunnel car accident fire robot according to claim 2, characterized in that: The conveying wheel (34) slides on the bottom of the ceiling track (1), and the suspension frame (31) slides on the top of the ceiling track (1).

4. The tunnel car accident fire robot according to claim 1, characterized in that: The mechanical arm (4) can rotate 360 ​​degrees.

5. The tunnel car accident fire robot according to claim 1, characterized in that: The fire extinguishing device (5) is a high-pressure water gun.

6. The tunnel car accident fire robot according to claim 1, characterized in that: The fire extinguishing device (5) is a dry powder fire extinguisher.

7. The tunnel car accident fire robot according to claim 5, characterized in that: A water pump is provided inside the robot body (2), and the water pump is connected to a high-pressure water gun. A water inlet (21) is provided at the rear of the robot body (2), and the water inlet (21) is connected to the water pump.

8. The tunnel car accident fire robot according to claim 1, characterized in that: A smoke exhaust fan is arranged inside the robot body (2), and the smoke exhaust fan is connected to a high-speed smoke exhaust fan (6). A smoke outlet (22) connected to the smoke exhaust fan is arranged at the rear of the robot body (2).

9. The tunnel car accident fire robot according to claim 1, characterized in that: An emergency light (7) is provided above the robot body (2).

10. The tunnel car accident fire robot according to claim 1, characterized in that: A high temperature sensor and an alarm (8) are provided at the bottom of the robot body (2).

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