Vehicle-mounted fire fighting robot

Abstract

The invention relates to a vehicle-mounted fire-fighting robot which comprises (a) a two-degree-of-freedom water spraying mechanical pipe module which is arranged on a vehicle body, (b) a composite spraying control system which comprises an integrated pressure sensor and an electromagnetic flowmeter, and (c) a water spraying mechanical pipe module which is arranged on the vehicle body, and (c) a thermal protection guide sleeve, wherein the outer layer is a carbon fiber reinforced polyether-ether-ketone material layer. According to the vehicle-mounted fire-fighting robot, through the combination of a composite injection control system and a pulse mode, the multiple beneficial effects of efficient fire extinguishing, accurate positioning and control, high adaptability, high safety, flexible deployment and the like are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of fire fighting, and in particular relates to a vehicle-mounted fire fighting and extinguishing robot. Background Art

[0002] Traditional firefighting operations mainly rely on manual operation and heavy equipment, which has significant defects: in complex fire environments, firefighters need to face high temperatures (usually over 600°C), toxic smoke and collapse risks. Although existing firefighting robot technology partially replaces manpower, it has systemic defects: the existing equipment thermal protection system mostly uses single-layer ceramic fiber (upper temperature limit 800°C), which is prone to structural embrittlement during continuous fire operations, and the average trouble-free working time is less than 30 minutes, which seriously restricts actual combat effectiveness. Summary of the invention

[0003] (I) Purpose of the invention

[0004] In order to overcome the above shortcomings, the purpose of the present invention is to provide a vehicle-mounted fire-fighting robot to solve the above technical problems.

[0005] (II) Technical solution

[0006] To achieve the above objectives, the technical solutions provided by this application are as follows:

[0007] A vehicle-mounted fire-fighting robot, comprising:

[0008] (a) A dual-degree-of-freedom water jet mechanical pipe module, mounted on the vehicle body, comprising:

[0009] Horizontal rotation mechanism: The servo motor drives the longitudinal adjustment mechanism to drive the water spray pipe connected to the longitudinal adjustment mechanism to achieve 360° continuous rotation, with a speed range of 0-60r / min;

[0010] Longitudinal adjustment mechanism: adopts worm gear transmission to drive the water spray pipe to achieve -15° to +75° pitch angle adjustment;

[0011] (b) a composite injection control system, including an integrated pressure sensor and an electromagnetic flowmeter, wherein the pressure sensor has a measuring range of 0-5 MPa ± 0.5% FS and the electromagnetic flowmeter has an accuracy of 0.2 grade;

[0012] (c) Thermal protection guide sleeve: The outer layer is a carbon fiber reinforced polyetheretherketone material layer with a thickness of 1-4 mm, and the inner layer is provided with a nano aerogel insulation layer with a thermal conductivity coefficient of ≤0.018 W / m·K.

[0013] Preferably, the lateral rotation mechanism includes: a harmonic reducer with a reduction ratio of 1:100, an absolute encoder with a resolution of 17 bits and a cross roller bearing. The rotation positioning accuracy reaches ±0.5°, and the deformation is ≤0.1mm under 2MPa water pressure as verified by finite element analysis.

[0014] Preferably, in the longitudinal adjustment mechanism, the worm is made of 38CrMoAl nitrided, with a surface hardness of ≥900HV, the worm wheel is made of cast tin bronze ZCuSn10P1, with a transmission efficiency of ≥85%, and a double mechanical limit device is provided.

[0015] Preferably, the compound injection control system establishes a flow-pressure dynamic equation:

[0016]

[0017] in:

[0018] C d is the flow coefficient, the calibrated value is 0.62-0.78; A is the effective cross-sectional area of ​​the nozzle;

[0019] Set the PID controller tuning parameters:

[0020] K p =2.5, K i =0.8, K d =0.3′

[0021] Preferably, when a lithium battery fire is detected, the pulse spray mode is automatically switched, in which case the single pulse water volume is 200-500 ml, the frequency is 2-5 Hz, and the duration is 30-90 s. This mode makes the surface temperature drop rate ≥15°C / s.

[0022] Preferably, a three-level thermal protection structure is arranged on the outside of the water spray pipe, including an outer layer, a middle layer and an inner layer, the outer layer includes 1-3 mm thick PEEK and 30% carbon fiber, the middle layer includes a 0.5-2 mm thick nano aerogel pad, and the inner layer includes a 0.5 mm thick stainless steel bellows, and the expansion and contraction amount of the stainless steel bellows is ±10 mm.

[0023] Preferably, an infrared thermal imager and a high-definition camera are provided at the front end of the vehicle body, and the infrared thermal imager and the high-definition camera are electrically connected to the compound injection control system. An alarm light and an alarm sound are also provided on the vehicle body, and the alarm light and the alarm sound are controlled by the compound injection control system to send a danger signal or release the danger signal. A positioning module is also provided on the vehicle body, and the positioning module is electrically connected to the compound injection control system.

[0024] Preferably, the dual-degree-of-freedom water spray mechanical pipe module is installed at the front end of the vehicle body, the water spray pipe is connected to the water inlet pipe in the vehicle body, and the water inlet pipe is connected to the fire protection interface on the vehicle body.

[0025] Preferably, the vehicle body includes a chassis, and the chassis is tracked.

[0026] Preferably, an anti-collision guardrail is provided on the vehicle body.

[0027] Beneficial effects:

[0028] 1. Efficient fire extinguishing: The composite jet control system can automatically switch the pulse jet mode according to the fire type. When a lithium battery fire is detected, it will be sprayed with a single pulse water volume of 200-500ml, a frequency of 2-5Hz, and a duration of 30-90s. The surface temperature drop rate is ≥15℃ / s, which can quickly reduce the surface temperature of the lithium battery and effectively inhibit the spread of the fire. This pulse mode releases the fire extinguishing agent in a concentrated manner in a short period of time, with strong penetration and high fire extinguishing efficiency.

[0029] 2. Precise positioning and control: The infrared thermal imager and high-definition camera at the front of the vehicle are electrically connected to the composite injection control system, which can monitor the temperature distribution and visual information of the fire scene in real time, help the control system to quickly and accurately locate the fire source, and improve the efficiency of fire extinguishing. At the same time, the system can also achieve precise strikes on the fire source through intelligent algorithms.

[0030] 3. Strong adaptability: The composite jet control system integrates three fire extinguishing mechanisms: cooling, suffocation and blowing off, which can maximize the fire extinguishing efficiency of the fire extinguishing agent. The vehicle body adopts a crawler chassis, which has good obstacle crossing ability and traction, and can adapt to various complex terrains, such as mud, gravel, stairs, etc., to ensure that the robot can quickly reach the designated location at the fire scene.

[0031] 4. Safe and reliable: A three-level thermal protection structure is set on the outside of the water spray pipe, including the outer layer of PEEK and carbon fiber, the middle layer of nano-aerogel pad and the inner layer of stainless steel bellows, which can effectively resist the direct impact of external flames and high temperature environments on the water spray pipe, protect the internal structure, ensure that the water spray pipe works stably in high temperature environments, and extend the service life of the equipment. In addition, the car body is made of high-strength materials and strictly waterproofed, which can adapt to various severe weather and complex environments.

[0032] 5. Flexible deployment: The dual-degree-of-freedom water spray mechanical pipe module is installed at the front end of the vehicle body. The water spray pipe is connected to the water inlet pipe inside the vehicle body. The water inlet pipe is connected to the external fire water source through a quick-change interface. It is compatible with water-based fire extinguishing nozzles, dry powder injection devices and foam generators, etc., which improves the applicability of the robot in different fire scenarios.

[0033] 6. Reduce casualties: Robots can replace firefighters to enter dangerous areas to carry out firefighting operations, reducing the risk of casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the present invention;

[0035] Figure 2 It is a front view according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following is a detailed description of the present invention in conjunction with the specific implementation methods and with reference to the attached drawings. Figure 1-2 , the present invention is further described in detail. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concept of the present invention.

[0037] The present invention provides a vehicle-mounted fire-fighting robot, comprising:

[0038] (a) A dual-degree-of-freedom water-spraying mechanical pipe module 1, mounted on a vehicle body 6, comprises:

[0039] The lateral rotation mechanism 10: the longitudinal adjustment mechanism 4 is driven by a servo motor, thereby driving the water spray pipe 2 connected to the longitudinal adjustment mechanism 4 to achieve 360° continuous rotation, and the speed range is 0-60r / min;

[0040] Preferably, the lateral rotation mechanism 10 includes: a harmonic reducer with a reduction ratio of 1:100, an absolute encoder with a resolution of 17 bits and a cross roller bearing. The rotation positioning accuracy reaches ±0.5°, and the deformation is verified by finite element analysis to be ≤0.1mm under a water pressure of 2MPa.

[0041] The lateral rotation mechanism 10 of the dual-degree-of-freedom water spraying mechanical pipe module 1 can achieve 360° continuous rotation with a rotation speed range of 0-60r / min, which enables the robot to quickly scan the fire source in all directions at the fire scene. No matter which direction the fire source is located, it can quickly adjust the water spraying direction to extinguish the fire, greatly improving the fire extinguishing efficiency and response speed. At the same time, this flexible rotation capability can also flexibly adjust the water spraying angle in a complex environment to avoid unnecessary impact on the surrounding non-target areas.

[0042] Longitudinal adjustment mechanism 4: adopts worm gear transmission to drive the water spray pipe to achieve -15° to +75° pitch angle adjustment;

[0043] Preferably, the longitudinal adjustment mechanism 4, the worm is made of 38CrMoAl nitrided, with a surface hardness of ≥900HV, the worm wheel is made of cast tin bronze ZCuSn10P1, with a transmission efficiency of ≥85%, and a double mechanical limit device is provided.

[0044] The longitudinal adjustment mechanism 4 adopts worm gear transmission, which can achieve a pitch angle adjustment of -15° to +75°, which enables the robot to cope with fire sources at different heights, whether it is a ground fire or a high-rise building fire, and can effectively adjust the water spray angle to ensure that the fire extinguishing agent can be accurately sprayed to the target position. In addition, the transmission efficiency is ≥85%, and a double mechanical limit device is set to ensure the stability and accuracy of the adjustment process, while preventing it from exceeding the adjustment range and ensuring the safety of the equipment.

[0045] (b) a composite injection control system, including an integrated pressure sensor and an electromagnetic flowmeter, wherein the pressure sensor has a measuring range of 0-5 MPa ± 0.5% FS and the electromagnetic flowmeter has an accuracy of 0.2 grade;

[0046] Preferably, the compound injection control system establishes a flow-pressure dynamic equation:

[0047]

[0048] in:

[0049] C d is the flow coefficient, the calibrated value is 0.62-0.78; A is the effective cross-sectional area of ​​the nozzle;

[0050] Set the PID controller tuning parameters:

[0051] K p =2.5, K i =0.8, K d =0.3′

[0052] Preferably, when the red thermal imager 9 and the gas composition analysis module detect a lithium battery fire, the composite injection control system automatically switches to the pulse injection mode, in which the single pulse water volume is 200-500ml, the frequency is 2-5Hz, and the duration is 30-90s. This mode makes the surface temperature drop rate ≥15℃ / s. This mode can quickly reduce the surface temperature of the lithium battery, and the surface temperature drop rate is ≥15℃ / s, effectively suppressing the spread of lithium battery fires. This special injection mode for lithium battery fires avoids problems such as electrolyte diffusion and short circuit that may be caused by traditional continuous injection, and improves the safety and reliability of fire extinguishing.

[0053] (c) Thermal protection guide sleeve: The outer layer is a carbon fiber reinforced polyetheretherketone material layer with a thickness of 1-4 mm, and the inner layer is provided with a nano aerogel insulation layer with a thermal conductivity coefficient of ≤0.018 W / m·K.

[0054] Preferably, a three-level thermal protection structure is arranged on the outside of the water spray pipe, including an outer layer, an intermediate layer and an inner layer. The outer layer includes 1-3mm thick PEEK and 30% carbon fiber, which has high strength and high temperature resistance, and can effectively resist the direct impact of external flames and high temperature environments on the water spray pipe and protect the internal structure. The intermediate layer includes a 0.5-2mm thick nano aerogel pad with a thermal conductivity of ≤0.018W / m·K, which can effectively block heat transfer, ensure that the water spray pipe maintains a low temperature in a high temperature environment, and prevent material deformation or damage caused by high temperature. The inner layer includes a 0.5mm thick stainless steel bellows, and the expansion amount of the stainless steel bellows is ±10mm. This multi-layer thermal protection structure ensures that the water spray pipe can work stably in high temperature and complex environments, prolongs the service life of the equipment, and improves the reliability and safety of the robot at the fire scene.

[0055] Preferably, an infrared thermal imager 9 and a high-definition camera are provided at the front end of the vehicle body 6, and the infrared thermal imager and the high-definition camera are electrically connected to the compound injection control system. An alarm light and an alarm sound are also provided on the vehicle body, and the alarm light and the alarm sound are controlled by the compound injection control system to send a danger signal or release the danger signal. A positioning module is also provided on the vehicle body, and the positioning module is electrically connected to the compound injection control system. A gas composition analysis module is provided on the vehicle body, and the gas composition analysis module is electrically connected to the compound injection control system.

[0056] The front end of the vehicle body is equipped with an infrared thermal imager 9 and a high-definition camera, which can monitor the temperature distribution and visual information of the fire scene in real time, help the control system quickly locate the fire source, and improve the efficiency of fire extinguishing. At the same time, these devices provide the robot with comprehensive environmental perception capabilities to ensure that tasks can be performed safely and efficiently at complex fire scenes. The vehicle body is also equipped with alarm lights and alarm sounds, which are controlled by the control system according to danger signals or danger relief signals. When a dangerous situation is detected, an alarm can be issued in time to remind on-site personnel to pay attention to safety. At the same time, an alarm relief signal can be issued after the task is completed to ensure order on the scene.

[0057] Preferably, the dual-degree-of-freedom water spray mechanical pipe module 1 is installed at the front end of the vehicle body 6, the water spray pipe 2 is connected to the water inlet pipe in the vehicle body 6, and the water inlet pipe is connected to the fire interface 7 on the vehicle body. The fire interface is a quick-change interface that is compatible with one of a water-based fire extinguishing nozzle, a dry powder spray device, and a foam generator. This structural design ensures the stability and reliability of the water spray system, facilitates quick connection with an external fire water source, and improves the deployment efficiency of the robot at the fire scene.

[0058] Preferably, the vehicle body 6 includes a chassis 8, which is crawler-type. It has good obstacle-crossing ability and traction, and can adapt to various complex terrains, such as mud, gravel, stairs, etc., to ensure that the robot can quickly reach the designated location at the fire scene and improve the fire-fighting efficiency. The crawler-type chassis can also provide good stability, making the robot more stable during the fire-fighting process.

[0059] Preferably, an anti-collision guardrail 5 is provided on the vehicle body 6, which can provide additional protection during the robot's driving process, prevent equipment damage due to collision, and improve the safety of the robot in a complex environment.

[0060] The operation and use method of the present invention is as follows: First, place the robot near the fire scene to ensure that it is in a stable state. The fire scene is monitored in real time by the infrared thermal imager and high-definition camera at the front end of the vehicle body, and the fire source is quickly located. At the same time, the gas composition analysis module can detect the gas composition at the fire scene to assist in determining the type of fire. When a lithium battery fire is detected, the composite injection control system will automatically switch to the pulse injection mode. At this time, the single pulse water volume is 200-500ml, the frequency is 2-5Hz, and the duration is 30-90s, which can quickly reduce the surface temperature of the lithium battery and effectively inhibit the spread of the fire. During the fire extinguishing process, the operator can monitor the robot status through the remote control terminal and manually adjust the injection mode or intervene in the robot action as needed. The robot chassis adopts a crawler design, has good obstacle crossing ability and traction, can adapt to complex terrain, and quickly reach the designated location. The water spraying mechanical pipe module is installed at the front end of the vehicle body, and the water spraying pipe is connected to the water inlet pipe in the vehicle body. The water inlet pipe is connected to the external fire water source through a quick-change interface, which is compatible with water-based fire extinguishing nozzles, dry powder injection devices and foam generators, etc., to improve the applicability of the robot in different fire scenes.

[0061] This vehicle-mounted fire-fighting robot achieves multiple beneficial effects such as efficient fire extinguishing, precise positioning and control, strong adaptability, high safety and flexible deployment through the combination of a composite injection control system and a pulse mode. The robot can automatically switch to the pulse injection mode when a lithium battery fire is detected, quickly reduce the temperature of the fire source and effectively suppress the spread of the fire; at the same time, it can accurately locate the fire source with the help of an infrared thermal imager and a high-definition camera to ensure the precise delivery of the fire extinguishing agent. Its tracked chassis gives the robot a powerful obstacle-crossing capability, enabling it to quickly reach the fire scene in complex terrain. The application of multi-layer thermal protection structure and high-strength materials ensures the stability and safety of the robot in high temperature and harsh environments. In addition, the design of quick-change interface and compatibility with a variety of fire extinguishing devices further improves the applicability and deployment efficiency of the robot, reduces the risk of casualties of firefighters, and provides an efficient and reliable solution for fire rescue.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-mounted fire-fighting robot, characterized in that include: (a) A dual-degree-of-freedom water jet mechanical pipe module, mounted on the vehicle body, comprising: Horizontal rotation mechanism: The servo motor drives the longitudinal adjustment mechanism to drive the water spray pipe connected to the longitudinal adjustment mechanism to achieve 360° continuous rotation, with a speed range of 0-60r / min; Longitudinal adjustment mechanism: adopts worm gear transmission to drive the water spray pipe to achieve -15° to +75° pitch angle adjustment; (b) a composite injection control system, including an integrated pressure sensor and an electromagnetic flowmeter, wherein the pressure sensor has a range of 0-5MPa±0.5%FS and the electromagnetic flowmeter has an accuracy of 0.2 grade; (c) Thermal protection guide sleeve: The outer layer is a carbon fiber reinforced polyetheretherketone material layer with a thickness of 1-4 mm, and the inner layer is provided with a nano aerogel insulation layer with a thermal conductivity coefficient of ≤0.018 W / m·K.

2. A vehicle-mounted fire-fighting robot according to claim 1, characterized in that: The lateral rotation mechanism includes: a harmonic reducer with a reduction ratio of 1:100, an absolute encoder with a resolution of 17 bits and a cross roller bearing. The rotation positioning accuracy reaches ±0.5°, and the deformation is verified by finite element analysis to be ≤0.1mm under a water pressure of 2MPa.

3. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: The longitudinal adjustment mechanism has a worm that is nitrided with 38CrMoAl, with a surface hardness of ≥900HV, a worm wheel that is made of cast tin bronze ZCuSn10P1, with a transmission efficiency of ≥85%, and a double mechanical limit device.

4. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: The compound injection control system establishes the flow-pressure dynamic equation: in: C d is the flow coefficient, the calibrated value is 0.62-0.78; A is the effective cross-sectional area of ​​the nozzle; Set the PID controller tuning parameters: K p =2.5,K i =0.8,K d =0.3。 5. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: When a lithium battery fire is detected, the pulse spray mode is automatically switched. At this time, the single pulse water volume is 200-500ml, the frequency is 2-5Hz, and the duration is 30-90s. This mode makes the surface temperature drop rate ≥15℃ / s.

6. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: A three-level thermal protection structure is arranged on the outside of the water spray pipe, including an outer layer, a middle layer and an inner layer. The outer layer includes 1-3 mm thick PEEK and 30% carbon fiber, the middle layer includes a 0.5-2 mm thick nano aerogel pad, and the inner layer includes a 0.5 mm thick stainless steel bellows. The expansion and contraction amount of the stainless steel bellows is ±10 mm.

7. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: An infrared thermal imager and a high-definition camera are provided at the front end of the vehicle body, and the infrared thermal imager and the high-definition camera are electrically connected to the compound injection control system. An alarm light and an alarm sound are also provided on the vehicle body. The alarm light and the alarm sound are controlled by the compound injection control system to send a danger signal or release the danger signal. A positioning module is also provided on the vehicle body, and the positioning module is electrically connected to the compound injection control system.

8. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: The dual-degree-of-freedom water spray mechanical pipe module is installed at the front end of the vehicle body, the water spray pipe is connected to the water inlet pipe in the vehicle body, and the water inlet pipe is connected to the fire protection interface on the vehicle body.

9. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: The vehicle body comprises a chassis, and the chassis is a crawler type.

10. The vehicle-mounted fire-fighting robot according to claim 1, characterized in that: An anti-collision guardrail is arranged on the vehicle body.

Images