Movable fire-fighting robot integrating smoke exhaust and water curtain functions

Abstract

The invention discloses a movable fire-fighting robot integrating smoke exhaust and water curtain functions. The movable fire-fighting robot comprises a walking mechanism and a smoke exhaust and water curtain integrated operation mechanism. The two sets of walking mechanisms are arranged and used for moving on the two sides of a tunnel correspondingly. The smoke exhaust and water curtain integrated operation mechanism comprises an arch-shaped integrated operation pipe, an air supply assembly and a water supply assembly, the two ends of the arch-shaped integrated operation pipe are arranged on the two sets of walking mechanisms respectively, an air outlet and a water outlet are formed in the arch-shaped integrated operation pipe, the orientation of the air outlet is parallel to the extending direction of the tunnel, and the orientation of the water outlet is parallel to the extending direction of the tunnel. The orientation of the water outlet is perpendicular to the extending direction of the tunnel; and an air supply channel and a water supply channel are arranged in the arched integrated operation pipe. According to the movable fire-fighting robot, by means of a smoke diffusion suppression scheme of movable air supply and water curtain isolation, the smoke prevention and exhaust performance upgrading possibility is provided for a tunnel lacking a ventilation and smoke exhaust system, all-weather deployment can be achieved, and daily use of the tunnel is not affected.

Description

Technical Field

[0001] The present invention relates to a fire-fighting robot, and more particularly to a mobile fire-fighting robot integrating smoke exhaust and water curtain functions. Background Art

[0002] According to the statistical data of the Ministry of Transport in 2023, the total number and total mileage of highway tunnels in China rank first in the world. Tunnel fires are characterized by strong suddenness, rapid smoke diffusion, and great difficulty in rescue. While the smoke spreads downstream, it also diffuses upstream. After an accident, tunnel congestion often occurs. If the toxic and harmful smoke is not effectively prevented from spreading upstream and downstream, it will seriously affect the evacuation and escape of personnel.

[0003] In tunnel mechanical smoke exhaust, usually three methods are adopted: longitudinal ventilation, transverse smoke exhaust, and local key smoke exhaust. Most tunnels adopt the longitudinal ventilation method, which is achieved by axial fans installed on the tunnel ceiling. When the longitudinal ventilation wind speed is too small, it cannot effectively prevent the smoke from flowing back upstream. When the longitudinal ventilation wind speed is too large, it will increase the combustion rate of the flame. To prevent the tunnel fire smoke from flowing back upstream, a large number of studies have been carried out on the critical wind speed. The "Code for Fire Protection Design of Buildings GB50016-2014 (2018 Edition)" stipulates that when the longitudinal ventilation method is adopted, the air flow should be quickly organized and effective smoke exhaust should be achieved. The smoke exhaust wind speed should be determined according to the most unfavorable fire scale in the tunnel, and the speed of the longitudinal air flow should not be less than 2 m / s and should be greater than the critical wind speed. In addition to the longitudinal ventilation method, a small number of newly built tunnels are equipped with water curtain sprinklers, which divide the tunnel into multiple smoke prevention zones through the water curtain to control the smoke within the fire occurrence area.

[0004] However, the current emergency measures such as longitudinal ventilation and water curtain smoke isolation for tunnel fires have the following deficiencies:

[0005] 1. Tunnel fires have the characteristics of dynamic fire sources, and the uncertainty of the fire location and fire scale is relatively large. It is difficult to accurately predict the critical wind speed by using a fixed axial fan to control the longitudinal ventilation speed. Moreover, as the air supply distance increases, the ventilation speed reaching the fire source will attenuate, increasing the uncertainty of the ventilation wind speed.

[0006] 2. Some mountain tunnels with earlier designs and longer lengths lack longitudinal ventilation. The number of fixed water curtains and axial fans required for installation is huge, and the construction cost is high, increasing the burden on highway companies. Moreover, the traditional longitudinal ventilation and water curtain smoke isolation systems will interfere with each other. In oil fires, the fine water mist blown into the fire field will exacerbate the combustion.

[0007] 3. Usually, other mobile fans are installed on the top of tracked robots to achieve longitudinal ventilation of tunnels. However, such equipment occupies space and will affect traffic when deployed in tunnels for a long time. It can only be transported to the scene by rescue personnel. Moreover, road congestion often occurs after a tunnel fire, which will greatly reduce the timeliness of rescue.

[0008] For example, CN201010028981.2 discloses a segmented tunnel smoke exhaust system and a smoke exhaust method using a water curtain isolation. This method isolates the smoke generated by the fire source between two water curtains by opening the fire-fighting water curtains on both sides of the fire source; and opens the lateral smoke exhaust openings near the fire source to achieve local key smoke exhaust. Although this patent can achieve ideal tunnel smoke blocking, due to the randomness of tunnel fires, the location of the fire has great uncertainty. Moreover, if the lateral smoke exhaust pipes are not reserved in the initial design of an operating tunnel, it is not possible to install this smoke exhaust system. Summary of the Invention

[0009] The object of the present invention is to overcome the above existing problems and provide a mobile fire-fighting robot integrating smoke exhaust and water curtain functions. This mobile fire-fighting robot provides the possibility of upgrading the anti-smoke and exhaust performance for tunnels lacking a ventilation and smoke exhaust system through a smoke diffusion suppression scheme of mobile air supply and water curtain isolation, and can achieve all-weather deployment without affecting the daily use of the tunnel.

[0010] The object of the present invention is achieved by the following technical solutions:

[0011] A mobile fire-fighting robot integrating smoke exhaust and water curtain functions, comprising a traveling mechanism and a smoke exhaust and water curtain integrated operation mechanism;

[0012] There are two groups of the traveling mechanisms, which are respectively used for moving on both sides of the tunnel;

[0013] The smoke exhaust and water curtain integrated operation mechanism includes an arched integrated operation pipe, an air supply component and a water supply component. The two ends of the arched integrated operation pipe are respectively arranged on the two groups of traveling mechanisms. An air outlet and a water outlet are opened on the arched integrated operation pipe. The air outlet and the water outlet are both distributed along the extension direction of the arched integrated operation pipe. The orientation of the air outlet is parallel to the extension direction of the tunnel, and the orientation of the water outlet is perpendicular to the extension direction of the tunnel;

[0014] An air supply channel communicated with the air outlet and a water supply channel communicated with the water outlet are arranged in the arched integrated operation pipe; the air supply component is used for supplying air to the air supply channel, and the water supply component is used for supplying water to the water supply channel.

[0015] A preferred solution of the present invention is that the mobile fire-fighting robot is connected to a background monitoring center through a network signal.

[0016] A preferred embodiment of the present invention, wherein the traveling mechanism includes a crawler and a traveling drive mechanism for driving the crawler to move.

[0017] A preferred embodiment of the present invention, wherein an installation box body is provided above the traveling mechanism, and the installation box body is connected to the end of the arched integrated operation pipe.

[0018] Furthermore, the air supply component includes a fan, which is arranged inside the installation box body and faces the end of the air supply channel; an air inlet is provided on the side of the installation box body facing the upstream of the tunnel. Through the above structure, driven by the fan, the air in the upstream of the tunnel can be extracted into the arched integrated operation pipe and then blown downstream through the air outlet, so as to inhibit the backflow of the flue gas to the upstream of the tunnel.

[0019] Furthermore, a partition is provided at the middle position of the air supply channel, and the air supply channel is separated into a left air duct and a right air duct by the partition. The fans on both sides respectively supply air to the two air ducts to supply air to the downstream of the tunnel to inhibit the backflow of the fire flue gas to the upstream of the tunnel.

[0020] Furthermore, the water supply component includes a water tank, a water pipe and a water pump, and one end of the water pipe extends into the installation box body and is communicated with the water supply channel.

[0021] A preferred embodiment of the present invention, wherein a camera, a lighting lamp and an alarm are provided on the traveling mechanism, and the camera, the lighting lamp and the alarm are electrically connected to a controller.

[0022] Furthermore, there are two groups of the camera and the lighting lamp respectively. The two groups of cameras are respectively located on the upstream side and the downstream side of the installation box body, and the two groups of lighting lamps are respectively located on the upstream side and the downstream side of the installation box body.

[0023] Through the above structure, when a tunnel fire occurs, the background monitoring center cooperates with the tunnel monitoring to determine the fire occurrence section, remotely controls the two robots closest to the fire source, turns on the cameras of the robots, and at the same time turns on the sound and light alarm. If the tunnel lighting is affected by the flue gas, the LED lighting lamp is turned on to control the robots to get as close to the fire source as possible.

[0024] The present invention has the following beneficial effects compared with the prior art:

[0025] 1. The mobile fire fighting robot of the present invention can move to the vicinity of the fire source in time when a fire occurs, blow the backflow flue gas on the tunnel ceiling through the air supply opening on the vault, quickly control the backflow of the flue gas upstream, and can better adjust the control wind speed near the fire source in combination with the on-site situation and the existing critical wind speed prediction model, effectively overcoming the problem of the attenuation of the longitudinal ventilation wind speed of the traditional axial flow fan.

[0026] 2. This invention patent can better realize the cooperation of longitudinal ventilation and water curtain smoke isolation. When a fire breaks out in the center of the tunnel, the robots at both ends of the fire source quickly approach the fire source. The upstream robot turns on the fan for longitudinal ventilation, and the downstream robot provides a function similar to a smoke baffle. When the rescue team arrives at the scene, the water curtain of the downstream robot is activated to slow down the diffusion of smoke downstream. After the rescue of the personnel in the control area is completed, the fan of the upstream robot is turned off and the water curtain is activated to block the air from entering the fire area and inhibit the outward diffusion of smoke, thus improving the fire extinguishing efficiency.

[0027] 3. This invention patent can be deployed outside the lane line. The arch top functional structure is customized according to the cross-sectional space of the tunnel, and it can also be deployed and installed on the completed tunnel. The normal passage of vehicles can still be satisfied below the arch top of the working part, realizing the long-term deployment of the robot in the tunnel. Description of the Drawings

[0028] Figures 1-2 Schematic diagrams of the three-dimensional structures of the mobile fire-fighting robot integrating smoke exhaust and water curtain functions from two different perspectives of the present invention.

[0029] Figure 3 Partial cross-sectional view of the arched integrated operation pipe of the present invention.

[0030] Figure 4 Schematic diagram of the three-dimensional structure of the installation box of the present invention showing hidden lines.

[0031] Figure 5 Schematic diagram of the collaborative operation of the mobile fire-fighting robot integrating smoke exhaust and water curtain functions of the present invention. Detailed Embodiments

[0032] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0033] Embodiment 1

[0034] Combined with Figures 1-2, the mobile fire-fighting robot integrating smoke exhaust and water curtain functions of this embodiment is connected to the background monitoring center through network signals, and includes a traveling mechanism and a smoke exhaust and water curtain integrated operation mechanism; there are two groups of the traveling mechanisms, which are respectively used to move on both sides of the tunnel. Specifically, each group of the traveling mechanisms includes a crawler 1 and a traveling driving mechanism for driving the crawler 1 to move. Specifically, the traveling driving mechanism further includes a chassis, a power battery, a motor and a DC fast charging port. The power battery and the motor are located at the chassis, and are used to drive the crawlers 1 at both ends of the moving part, so as to realize the forward and backward movement of the robot along the tunnel direction. The movement direction is finely adjusted by controlling the speed difference between the two crawlers 1, so that the robot always moves in the same direction as the tunnel. And, the same moving parts are arranged at both ends of the robot, and the power batteries of the moving parts at both ends are charged separately.

[0035] Combined with Figures 1-2 , the smoke exhaust and water curtain integrated operation mechanism includes an arched integrated operation pipe 2, a air supply component and a water supply component. Among them, an installation box 3 is arranged above the traveling mechanism, and the installation box 3 is connected to the end of the arched integrated operation pipe 2.

[0036] Combined with Figures 1-3 , both ends of the arched integrated operation pipe 2 are respectively arranged on two groups of traveling mechanisms. The arched integrated operation pipe 2 is provided with an air outlet 2-1 and a water outlet 2-2. The air outlet 2-1 and the water outlet 2-2 are both distributed along the extension direction of the arched integrated operation pipe 2. The orientation of the air outlet 2-1 is parallel to the extension direction of the tunnel, and the orientation of the water outlet 2-2 is perpendicular to the extension direction of the tunnel; a air supply channel 4 communicated with the air outlet 2-1 and a water supply channel 5 communicated with the water outlet 2-2 are arranged in the arched integrated operation pipe 2; the air supply component is used to supply air to the air supply channel 4, and the water supply component is used to supply water to the water supply channel 5.

[0037] Combined with Figures 1-2 , a camera 6, a lighting lamp 7 and an alarm 8 are arranged on the traveling mechanism, and the camera 6, the lighting lamp 7 and the alarm 8 are electrically connected to the controller of the fire-fighting robot.

[0038] Further, there are two groups of both the camera 6 and the lighting lamp 7. The two groups of cameras 6 are respectively located on the upstream side and the downstream side of the installation box 3, and the two groups of lighting lamps 7 are respectively located on the upstream side and the downstream side of the installation box 3.

[0039] With the above structure, when a tunnel fire occurs, the background monitoring center cooperates with the tunnel monitoring to determine the fire occurrence section, remotely controls the two robots closest to the fire source, turns on the camera 6 of the robot, and at the same time turns on the sound and light alarm 8. If the tunnel lighting is affected by the smoke, the LED lighting lamp 7 is turned on, so as to control the robot to get as close to the fire source as possible.

[0040] Combination 4, the air supply component includes a fan 9, which is arranged inside the installation box body 3 and faces the end of the air supply channel 4; an air inlet 3-1 is arranged on the side of the installation box body 3 facing the upstream of the tunnel. Through the above structure, driven by the fan 9, the air in the upstream of the tunnel can be extracted into the arched integrated operation pipe 2 and then blown downstream through the air outlet 2-1, so as to realize the suppression of the backflow of the flue gas to the upstream of the tunnel.

[0041] Combination Figure 3 , a partition 10 is arranged at the middle position of the air supply channel 4. The air supply channel 4 is separated into a left air duct and a right air duct by the partition 10. The fans 9 on both sides supply air to the two air ducts respectively to supply air to the downstream of the tunnel to suppress the backflow of the fire smoke to the upstream of the tunnel.

[0042] Combination Figures 1-2 , the water supply component includes a water tank, a water pipe 11 and a water pump. One end of the water pipe 11 extends into the installation box body 3 and is communicated with the water supply channel 5.

[0043] Embodiment 2

[0044] Combination Figures 1-5 , the mobile fire fighting robot integrating the functions of smoke exhaust and water curtain in this embodiment can be deployed in both newly built tunnels and existing operating tunnels. Specifically, the arched integrated operation pipe 2 can be specially designed according to the lining contours of different tunnels and combined with the walking mechanisms on both sides to form a robot, realizing the targeted design for different tunnels.

[0045] The walking mechanisms are long-term deployed on the maintenance roads or sidewalks on both sides of the tunnel. The robot battery is located at the chassis of the walking mechanism. During the daily maintenance of the tunnel, when the battery power is lower than 50%, a signal of insufficient power will be transmitted to the background monitoring center. The maintenance personnel can connect the charging gun of the support vehicle to the DC fast charging port to charge the battery.

[0046] According to the length requirement of the tunnel, one such robot can be selected to be deployed every 1 km. When a fire occurs in the tunnel, the robot moves towards the fire source at a speed greater than 5 km / h from both ends of the fire source.

[0047] When a tunnel fire occurs, the background monitoring center determines the fire occurrence section through the tunnel monitoring, selects the fire fighting robots at both ends of the fire source for control, turns on the images of the four wide-angle cameras 6 at the front and back of the robot through the controller of the fire fighting robot, and at the same time turns on the sound and light alarm 8. If the tunnel lighting is affected by the smoke, the LED lighting lamp 7 will be turned on.

[0048] After completing the relevant control preparation work, the upstream robot turns on the fan 9. The air flow enters from the air inlet 3-1 at the front bottom of the upstream robot, and under the drive of the fan 9, it is pressurized and sent into the air supply channel 4 in the arched integrated operation pipe 2, and then sent to the downstream of the tunnel through the air outlet 2-1 at the back top, so as to realize the inhibition of the backflow of smoke to the upstream of the tunnel. Since it takes time for the robot to move to the vicinity of the fire source, during the movement, the image transmitted back to the control center by the wide-angle camera 6 is used to observe the backflow situation of the upstream smoke. As it continuously moves towards the fire source, the controller of the fire-fighting robot continuously increases the rotation speed of the fan 9 to achieve precise real-time control of the smoke backflow.

[0049] While controlling the movement of the upstream robot of the fire source, the robot downstream of the fire source is also controlled to move upstream. However, the fan 9 is not turned on, but the arched integrated operation pipe 2 is made to act as a smoke baffle curtain to slow down the diffusion of smoke to the downstream of the tunnel. Since the crawler 1 of the robot moves on the maintenance road or sidewalk, it will not be blocked by congested vehicles. However, it is necessary to activate the audible and visual alarm 8 to warn the evacuating personnel not to approach.

[0050] When the two tunnel fire-fighting smoke exhaust water curtain robots upstream and downstream of the fire source move to a distance of 25 m from the fire source, they can stop, and the fan 9 of the upstream robot continues to work. Because according to the "Code for Fire Protection Design of Buildings GB50016-2014 (2018 Edition)", the setting of tunnel fire hydrants should not exceed 50 m. Therefore, after the fire-fighting personnel arrive at the scene, they can quickly connect the fire hydrant to the internal snap-in fire hose interface water pipe 11 of the downstream robot to continuously supply water to the water curtain on the arched integrated operation pipe 2 of the robot. Specifically, the water passes through the internal snap-in fire hose interface water pipe 11, bypasses the air duct, and directly introduces the water into the water supply channel 5 of the arched integrated operation pipe 2, and then flows through the water supply channel 5 to the fine water mist outlet 2-2 under the arch top of the arched integrated operation pipe 2, and pressurized fine water mist is formed by the fine water mist nozzles installed at the interfaces, so as to realize regional cooling and control the diffusion of smoke to the downstream.

[0051] After the rescue of the personnel in the area near the fire source is completed, turn off the fan 9 of the upstream robot of the fire source, and connect the fire hydrant to the upstream water curtain for water supply to avoid the water mist being involved in the fan 9 and being blown towards the fire source through the air outlet 2-1, preventing the occurrence of oil-water mixing and intensifying the fire. The water supply volume to the water curtains of the upstream and downstream robots can be increased by increasing the valve of the tunnel fire hydrant to form an isolation between the control area and the outside air, thereby weakening the fire.

[0052] The above is a preferred embodiment of the present invention, but the embodiments of the present invention are not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A mobile fire-fighting robot with integrated smoke exhaust and water curtain functions, characterized in that: It includes a walking mechanism and a smoke exhaust water curtain integrated operating mechanism; The walking mechanism is provided with two groups and is used to move on both sides of the tunnel respectively; The smoke exhaust water curtain integrated operation mechanism comprises an arched integrated operation pipe, an air supply component and a water supply component. The two ends of the arched integrated operation pipe are respectively arranged on two sets of walking mechanisms. The arched integrated operation pipe is provided with an air outlet and a water outlet. The air outlet and the water outlet are both distributed along the extension direction of the arched integrated operation pipe. The direction of the air outlet is parallel to the extension direction of the tunnel, and the direction of the water outlet is perpendicular to the extension direction of the tunnel. An air supply channel connected to the air outlet and a water supply channel connected to the water outlet are arranged in the arched integrated working pipe; the air supply component is used to supply air to the air supply channel, and the water supply component is used to supply water to the water supply channel.

2. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1 is characterized in that: The mobile fire-fighting robot is connected to a background monitoring center via a wireless network signal.

3. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1, characterized in that: The walking mechanism comprises a crawler track and a walking driving mechanism for driving the crawler track to move.

4. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1, characterized in that: A mounting box is provided above the walking mechanism, and the mounting box is connected to the end of the arched integrated working pipe.

5. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 4 is characterized in that: The air supply assembly comprises a fan, which is arranged inside the installation box and directly facing the end of the air supply channel; an air inlet is arranged on the side of the installation box facing the upstream of the tunnel.

6. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1, characterized in that: A partition is provided in the middle of the air supply channel, and the air supply channel is divided into a left air channel and a right air channel by the partition. The fans on both sides supply air to the two air channels respectively, and supply air to the downstream of the tunnel to suppress the fire smoke from flowing back to the upstream of the tunnel.

7. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1, characterized in that: The water supply assembly comprises a water tank, a water pipe and a water pump. One end of the water pipe extends into the installation box and is communicated with the water supply channel.

8. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 1, characterized in that: The walking mechanism is provided with a camera, a lighting lamp and an alarm, and the camera, the lighting lamp and the alarm are electrically connected to the controller.

9. The mobile fire-fighting robot with integrated smoke exhaust and water curtain functions according to claim 8, characterized in that: The cameras and lighting lamps are each provided with two groups, the two groups of cameras are respectively located on the upstream side and the downstream side of the installation box, and the two groups of lighting lamps are respectively located on the upstream side and the downstream side of the installation box.

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