Fire-fighting robot

Abstract

The fire-fighting robot comprises a robot vehicle body, a sensing system, an automatic driving system and a thermal management system, the robot vehicle body is provided with a crawler-type walking system used for moving, a water cannon cabin body is installed above the vehicle body, and a fire-fighting water cannon is installed in the cabin body; the sensing system comprises a temperature, humidity and gas sensor, a radar and a camera, the sensing system is installed on a robot vehicle body, and the thermal management system cools vehicle body parts through circulation. The fire scene information is collected through the sensing system, the fire scene environment can be observed in real time, the robot has two control modes of remote control and automatic driving, the robot can autonomously navigate and execute tasks in a complex fire scene, dependence on manual operation is reduced, meanwhile, the robot is cooled through the heat management system, and the safety of the robot is improved. And it is ensured that the robot can still work stably for a long time under the high-temperature condition.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot. Background Art

[0002] With the acceleration of urbanization, the risk of fire in complex scenes such as high-rise buildings, underground spaces and chemical parks is increasing. Traditional firefighting operations rely on firefighters to enter the fire scene, but in extreme environments such as high temperature, toxic gases, and collapse, personnel safety is facing great threats. For this reason, firefighting robot technology has gradually become a research hotspot in the field of emergency rescue. Although existing firefighting robots have demonstrated strong application capabilities in complex fire environments, there are still some limitations, especially in terms of autonomy and environmental adaptability. For example, many firefighting robots still rely on manual remote control or preset paths for navigation, which may not be flexible and efficient in a dynamically changing environment such as a fire scene. In addition, thermal protection in high temperature environments is also a major challenge facing current firefighting robots. Overheating may cause the robot's performance to degrade or even be damaged. Summary of the invention

[0003] In order to solve the deficiencies in the above-mentioned prior art, the present invention provides a firefighting robot to solve the problems raised in the background technology.

[0004] To solve the above problems, the present invention provides the following solutions:

[0005] A firefighting robot, comprising a robot body, a perception system, an automatic driving system and a thermal management system;

[0006] The robot body is equipped with a crawler-type walking system for movement, a water cannon cabin is installed above the robot body, and the fire-fighting water cannon is installed in the water cannon cabin;

[0007] The sensing system is installed on the robot body;

[0008] The thermal management system includes a thermal protection component;

[0009] The perception system includes a 360° environmental imaging system;

[0010] The 360° environmental imaging system includes 6 360° cameras;

[0011] The six 360° cameras are evenly installed above the water cannon cabin;

[0012] The perception system also includes a temperature and humidity sensor, a gas sensor, a high temperature resistant camera, an infrared camera, a millimeter wave radar and a laser radar;

[0013] The temperature and humidity sensor, gas sensor, high temperature resistant camera, infrared camera and millimeter wave radar are installed on the front side of the robot body;

[0014] The laser radar is installed in the middle of the 360° camera above the water cannon cabin;

[0015] A lifting platform is installed below the laser radar, and a motor for control is provided on the side of the lifting platform;

[0016] The thermal protection components include high temperature resistant camera protection, infrared camera protection, millimeter wave radar protection, 360° environmental imaging system protection, and gas sensor protection;

[0017] The high temperature resistant camera protection, infrared camera protection, and millimeter wave radar protection are installed on the front side of the robot body; the 360° environmental imaging system protection is installed above the water cannon cabin;

[0018] The gas sensor protection is used to protect the gas sensor after the ambient gas is cooled before contacting the gas sensor;

[0019] The gas sensor cooling system is installed inside the lower vehicle body, and the cooling air pipe is arranged in the water tank of the internal vehicle body thermal management system for cooling.

[0020] The autonomous driving system includes a satellite positioning system, an inertial navigation system and an autonomous driving controller;

[0021] The water monitor cabin has a door, and a motor for controlling the door opening and closing is provided on the upper side of the door;

[0022] The thermal management system also includes a water tank;

[0023] A water inlet flange is provided at the rear side of the water tank of the thermal management system, and the water inlet flange is connected to the water inlet through a water inlet pipe;

[0024] The front side of the water tank is provided with a water outlet pipe connected to the heat protection component;

[0025] A water monitor water inlet pipe is provided on the upper side of the water tank and is connected to the fire water monitor. A water pump is provided next to the water monitor water inlet pipe, and a DC pump and a solenoid valve are provided next to the water pump.

[0026] A cooling air pipe is also provided inside the water tank;

[0027] The cooling air pipe is connected with an air filter and a drying pipe at the front side of the robot body;

[0028] The robot body is also provided with a rechargeable power battery, a radio for communication is provided at the rear side of the body, and a high temperature resistant antenna is provided at the rear of the body.

[0029] The present invention discloses a firefighting robot, including a robot body, a perception system, an automatic driving system and a thermal management system, wherein the robot body is equipped with a crawler-type walking system for movement, a water cannon cabin is installed above the body, and the firefighting water cannon is installed in the cabin, the perception system includes a radar and a camera, the perception system is installed on the robot body, and the thermal management system cools the body parts through circulation. The present invention collects fire scene information through the perception system, can observe the fire scene environment in real time, has two control modes of remote control and automatic driving, enables the robot to autonomously navigate and perform tasks in complex fire scenes, reduces dependence on manual operation, and at the same time the thermal management system cools the robot to ensure that the robot can still work stably for a long time under high temperature conditions.

[0030] It can be seen from the above technical solutions that the present invention has the following beneficial effects:

[0031] It has two control modes: remote control and automatic driving, which enable the robot to autonomously navigate and perform tasks in complex fire scenes. It can also collect information about the fire environment through the perception system, observe the fire environment in real time, and replace firefighters to enter dangerous disaster accident scenes such as flammable and explosive, toxic, hypoxic, and thick smoke to collect, process, and feedback data. It effectively solves the problems of personal safety and insufficient data information collection faced by firefighters in the above-mentioned places, reduces dependence on manpower, and on-site commanders can make scientific judgments on the disaster situation in a timely manner based on the feedback from the fire-fighting robot, and make correct and reasonable decisions, thereby greatly improving rescue efficiency and safety.

[0032] It has a thermal management system that can adjust the water flow and air flow to cool and protect the fire-fighting robot by collecting temperature information, which can effectively prevent high temperature from damaging the sensors on the robot body and ensure that the fire-fighting robot can work for a long time in the high temperature environment of the fire scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure inside the vehicle body of the present invention;

[0035] Figure 3 It is a schematic diagram of the inner box structure of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the water monitor cabin of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the laser radar lifting platform of the present invention;

[0038] Figure 6 It is a top view of the vehicle body structure of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0040] A firefighting robot, comprising a robot body, a perception system, an automatic driving system and a thermal management system;

[0041] The robot body is equipped with a crawler-type walking system for movement, a water cannon cabin is installed above the robot body, and the fire-fighting water cannon is installed in the water cannon cabin;

[0042] The sensing system is installed on the robot body;

[0043] The thermal management system includes a thermal protection component;

[0044] The perception system includes a 360° environmental imaging system;

[0045] The 360° environmental imaging system includes 6 360° cameras;

[0046] The six 360° cameras are evenly installed above the water cannon cabin;

[0047] The perception system also includes a temperature and humidity sensor, a gas sensor, a high temperature resistant camera, an infrared camera, a millimeter wave radar and a laser radar;

[0048] The temperature and humidity sensor, gas sensor, high temperature resistant camera, infrared camera and millimeter wave radar are installed on the front side of the robot body;

[0049] The laser radar is installed in the middle of the 360° camera above the water cannon cabin;

[0050] A lifting platform is installed below the laser radar, and a motor for control is provided on the side of the lifting platform;

[0051] The thermal protection components include high temperature resistant camera protection, infrared camera protection, millimeter wave radar protection, 360° environmental imaging system protection, and gas sensor protection;

[0052] The high temperature resistant camera protection, infrared camera protection, and millimeter wave radar protection are installed on the front side of the robot body; the 360° environmental imaging system protection is installed above the water cannon cabin;

[0053] The gas sensor protection is used to protect the gas sensor after the ambient gas is cooled before contacting the gas sensor;

[0054] The gas sensor cooling system is installed inside the lower vehicle body, and the cooling air pipe is arranged in the water tank of the internal vehicle body thermal management system for cooling.

[0055] The autonomous driving system includes a satellite positioning system, an inertial navigation system and an autonomous driving controller;

[0056] The water monitor cabin has a door, and a motor for controlling the door opening and closing is provided on the upper side of the door;

[0057] The thermal management system also includes a water tank;

[0058] A water inlet flange is provided at the rear side of the water tank of the thermal management system, and the water inlet flange is connected to the water inlet through a water inlet pipe;

[0059] The front side of the water tank is provided with a water outlet pipe connected to the heat protection component;

[0060] A water monitor water inlet pipe is provided on the upper side of the water tank and is connected to the fire water monitor. A water pump is provided next to the water monitor water inlet pipe, and a DC pump and a solenoid valve are provided next to the water pump.

[0061] A cooling air pipe is also provided inside the water tank;

[0062] The cooling air pipe is connected with an air filter and a drying pipe at the front side of the robot body;

[0063] The robot body is also provided with a rechargeable power battery, a radio for communication is provided at the rear side of the body, and a high temperature resistant antenna is provided at the rear of the body.

[0064] See also Figures 1 to 6 A fire-fighting robot comprises a robot body 101, an upper mounting plate 102 is installed above the robot body 101, and a water cannon cabin 103 is installed on the upper mounting plate 102; a fire-fighting water cannon 502 is installed inside the water cannon cabin 103, a 360° environmental imaging system protection 302 is installed above the water cannon cabin 103, a 360° camera 203 is installed inside the 360° environmental imaging system protection 302, a lifting platform 504 is installed in the middle, a laser radar 205 is installed on the lifting platform 504, and a high-temperature resistant camera 201, an infrared camera 202, and a millimeter-wave radar 206 are installed on the front side of the robot body 101, which are respectively connected to the high-temperature resistant camera protection 305, the infrared camera protection 304, and the millimeter-wave radar protection 301.

[0065] When working, the 360° camera 203 and the high-temperature resistant camera 305 can provide environmental images and forward vision without blind spots, the laser radar 205 and the millimeter-wave radar 206 detect the terrain, the infrared camera 202 detects the fire, and the inertial navigation system locates the robot. At the same time, the high-temperature resistant camera protection 305, the infrared camera protection 304, the millimeter-wave radar protection 301, and the 360° environmental imaging system protection 302 are connected to the cooling water pipe 403 and the cooling air pipe 404. The temperature sensor 207 monitors the internal temperature of the robot in real time, controls the lifting and lowering of the laser radar according to the temperature, and intelligently adjusts the heat dissipation strategy in combination with task requirements and environmental conditions. While insulating, the sensor is water-cooled and air-cooled to ensure that key components are within a safe operating temperature range, thereby increasing the working time and service life of the fire-fighting robot.

[0066] The water tank 402 is arranged at the bottom of the robot body 101, the cooling water pipe 403 and the cooling air pipe 404 are both arranged inside the water tank 402, the air filter 304 is connected to the cooling air pipe 404, the battery box 401 is arranged above the water tank 402, and the water tank 402 is connected to the fire water cannon 502 through the water cannon water inlet pipe 501. The water in the cooling water pipe 403 is cooling water, and the water in the water tank 402 is fire water. The cooling water pipe 403 and the cooling air pipe 404 can ensure the cooling effect through heat exchange with the water tank 402. When extinguishing a fire, the water in the water tank 402 enters the fire water cannon 502 through the water cannon water inlet pipe 501, and the hatch motor 503 controls the water cannon hatch 104 to open for fire extinguishing. The fire water cannon 502 can control the steering through the water cannon motor, and can accurately extinguish fire sources at different angles. The water in the water tank 402 can be replenished through the water inlet 407.

[0067] The driving motor 606 is arranged at the rear side of the battery box 401, and the motor controller 607 is installed on the right side. The driving motor 606 is connected to the transmission shaft 604 through the reducer 605, and then connected to the driving wheel 602. When working, the motor controller 607 controls the driving motor 606, and controls the driving wheel 602 to rotate through the reducer 605 and the transmission shaft 604, thereby driving the crawler 601 and the road wheel 603 to move. The shock absorbing spring 608 is connected to the road wheel 603 to provide a shock absorbing function for the fire fighting robot.

[0068] The image data radio station 209 is arranged above the driving motor, and receives control information through the high temperature resistant antenna 205 to determine whether the control mode of the fire fighting robot is automatic driving or remote control. At the same time, the temperature sensor 207 and the gas sensor in the air chamber 208 monitor the changes in temperature and harmful gas concentration in real time and feed back to the operator.

[0069] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0070] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0071] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0072] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fire-fighting robot, characterized in that: Including the robotic body, perception system, autonomous driving system and thermal management system; The robot body is equipped with a crawler-type walking system for movement, a water cannon cabin is installed above the robot body, and the fire-fighting water cannon is installed in the water cannon cabin; The perception system is installed on the robot body, and the perception system includes temperature and humidity sensors, gas sensors, 360° environmental imaging system, high temperature resistant cameras, infrared cameras, millimeter wave radars and laser radars; The autonomous driving system is installed on the robot body, and the autonomous driving system includes a satellite positioning system, an inertial navigation system and an autonomous driving controller; The thermal management system is installed on the robot body, and the thermal management system includes a thermal protection component and a water tank.

2. A firefighting robot according to claim 1, characterized in that: The 360° environmental imaging system includes 6 360° cameras, and the 6 360° cameras are evenly installed above the water cannon cabin.

3. A firefighting robot according to claim 1, characterized in that: The temperature and humidity sensor, gas sensor, high temperature resistant camera, infrared camera and millimeter wave radar are installed on the front side of the robot body; The laser radar is installed in the middle of the 360° camera above the water cannon cabin.

4. A firefighting robot according to claim 1, characterized in that: A lifting platform is installed below the laser radar, and a motor for controlling the lifting of the lifting platform is provided on the side of the lifting platform.

5. The fire-fighting robot according to claim 1, characterized in that: The thermal protection components include high temperature resistant camera protection, infrared camera protection, millimeter wave radar protection, 360° environmental imaging system protection, and gas sensor protection.

6. A firefighting robot according to claim 5, characterized in that: The high temperature resistant camera protection is used to protect the high temperature resistant camera from high temperatures; The infrared camera protection is used to protect the infrared camera; The millimeter wave radar protection is used to protect the millimeter wave radar; The 360° environmental imaging system protection is used to protect the 360° environmental imaging system; The gas sensor protection is used for protecting the gas sensor by cooling the ambient gas before contacting the gas sensor.

7. The fire-fighting robot according to claim 5, characterized in that: The high-temperature resistant camera protection, infrared camera protection, and millimeter-wave radar protection are installed on the front side of the robot body, and the 360° environmental imaging system protection is installed above the water cannon cabin; the gas sensor cooling system is installed inside the lower body, and the cooling air pipe is set in the water tank of the internal body thermal management system for cooling.

8. The fire-fighting robot according to claim 1, characterized in that: The water cannon cabin is provided with a hatch, and a motor for controlling the hatch opening and closing is arranged on the upper side of the hatch.

9. The fire-fighting robot according to claim 1, characterized in that: A water inlet flange is provided at the rear side of the water tank of the thermal management system, and the water inlet flange is connected to the water inlet through a water inlet pipe; A water outlet pipe is provided on the front side of the water tank, and the water outlet pipe is connected to the heat protection component; A water monitor water inlet pipe is provided on the upper side of the water tank, the water monitor water inlet pipe is connected to the fire water monitor, a water pump is provided next to the water monitor water inlet pipe, and a DC pump and a solenoid valve are provided next to the water pump; A cooling air pipe is also provided inside the water tank; The cooling air pipe is connected with an air filter and a drying pipe at the front side of the robot body.

10. The fire-fighting robot according to claim 1, characterized in that: The robot body is also provided with a rechargeable power battery, a radio for communication is provided at the rear side of the body, and a high temperature resistant antenna is provided at the rear of the body.

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