Mining all-terrain fire-fighting robot

Abstract

The invention discloses a mining all-terrain fire-fighting robot, and mainly relates to the field of fire extinguishing devices. Comprising a vehicle body with a wheel-track switching mechanism, walking wheels and a track walking mechanism matched with the wheel-track switching mechanism are arranged at the bottom of the vehicle body, and a smoke exhaust device and a fire extinguishing device are arranged at the top of the vehicle body; the smoke exhaust device comprises a smoke exhaust fan, a filter and a catalytic converter which are arranged in the smoke exhaust device; a fire hose connector located on one side of the fire extinguishing device is arranged on the vehicle body, and the fire extinguishing device is connected with the fire hose connector through a pipeline. An obstacle removing push shovel is arranged at the end, close to the advancing direction, of the vehicle body, and an unmanned inspection module and an intelligent detection module are further arranged on the vehicle body. The fire extinguishing robot has the beneficial effects that two walking modes can be switched to adapt to different rescue environments, the fire extinguishing robot has the smoke discharging function while extinguishing fire, the rescue speed can be greatly increased, the obstacle removing push shovel, the unmanned inspection module and the intelligent detection module are arranged, the functionality is greatly enhanced, and the intelligent degree is higher.

Description

Technical Field

[0001] The present invention relates to the field of fire extinguishing devices, and specifically to a mine all-terrain fire fighting robot. Background Art

[0004] Coal mine fires are characterized by strong suddenness, complex disposal processes, great hazards, and difficulties in prevention and control, and have become intractable problems. Existing fire fighting robots can replace mine rescue personnel to enter dangerous disaster accident sites such as flammable, explosive, toxic, oxygen-deficient, and thick smoke environments for data collection and feedback, effectively solving problems such as personal safety and insufficient data information collection faced by rescue personnel in the above-mentioned places. However, currently commonly used fire fighting and rescue robots have problems such as single application scenarios, poor driving flexibility, and low intelligence in mine rescue. Summary of the Invention

[0005] The purpose of the present invention is to provide a mine all-terrain fire fighting robot, which can switch between two walking modes to adapt to different rescue environments, and also has a smoke exhaust function while extinguishing fires, which can greatly improve the rescue speed, and is equipped with a road clearing push shovel, an unmanned patrol module, and an intelligent detection module, greatly enhancing the functionality and having a higher intelligence level.

[0006] To achieve the above object, the present invention is realized through the following technical solutions:

[0007] A mine all-terrain fire fighting robot includes a vehicle body with a wheel-track switching mechanism, the wheel-track switching mechanism is controlled by a controller, a power supply is provided inside the vehicle body, walking wheels and a crawler walking mechanism adapted to the wheel-track switching mechanism are provided at the bottom of the vehicle body, and a smoke exhaust device and a fire extinguishing device are provided at the top of the vehicle body;

[0008] The smoke exhaust device includes a smoke exhaust fan, a filter, and a catalytic converter provided inside, and a smoke exhaust pipe communicated with the smoke exhaust device is provided at the tail end of the vehicle body;

[0009] A fire hose connector is provided on the vehicle body on one side of the fire extinguishing device, and the fire extinguishing device is connected to the fire hose connector through a pipeline;

[0010] A road clearing push shovel is provided at one end of the vehicle body close to the forward direction, and an unmanned patrol module and an intelligent detection module are also provided on the vehicle body.

[0011] Further, a lighting lamp is provided at one end of the vehicle body close to the forward direction.

[0012] Further, the unmanned patrol module includes a lidar, an ultrasonic radar, a millimeter wave radar, a monocular camera, and a differential GPS.

[0013] Further, the intelligent detection module includes a flame and smoke recognition module, a harmful gas detection module, and a high-definition video acquisition module.

[0014] Further, a plurality of solar panels electrically connected to the power supply are provided on the vehicle body.

[0015] Further, an operation warning light is also provided on the vehicle body.

[0016] Further, a water storage tank connected to the fire extinguishing device is provided inside the vehicle body, and the water source in the water storage tank can be used for initial fire extinguishing. The water inlet end of the water storage tank is connected to a fire hose connector through a pipeline.

[0017] Further, a fire extinguisher is also provided at the rear end of the vehicle body.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. In this patent, the wheel-track switching mechanism cooperates with the walking wheels and the crawler traveling mechanism to switch different motion modes according to the actual situation. When the robot travels on a relatively flat and hard soil roadway, it switches to a wheeled motion mode dominated by the walking wheels; when the robot travels on a relatively rough and soft muddy roadway, it switches to a crawler motion mode dominated by the crawler traveling mechanism, which can adapt to different rescue environments and improve the practicability of the fire-fighting robot.

[0020] 2. This patent is provided with a smoke exhaust device and a fire extinguishing device, which can simultaneously implement the functions of smoke exhaust and fire extinguishing. It can quickly switch between the two functions of smoke exhaust and fire extinguishing, quickly realize the two major functions, and at the same time, the two major functions can also operate in parallel. Moreover, when exhausting smoke, it can filter the smoke and catalyze the toxic gases, providing a safe environment for the rescue personnel, greatly improving the rescue success rate, reducing casualties, and cooperating with the obstacle clearing shovel to clean the obstacles, greatly improving the rescue efficiency.

[0021] 3. This patent also has an unmanned patrol module and an intelligent detection module on the vehicle body. The fire situation is detected through the unmanned patrol module, and intelligent alarm is given when a fire is found; after the fire occurs, the intelligent detection module conducts flame and smoke recognition, harmful gas detection, and high-definition video acquisition to provide the rescue personnel with first-hand fire situation information on the scene, with higher intelligence and greatly enhanced functionality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attached Figure 1 is a schematic structural diagram of the present invention.

[0023] Attached Figure 2 is a front view structural schematic diagram of the present invention.

[0024] Attached Figure 3 is a left view structural schematic diagram of the present invention.

[0025] Attached Figure 4 is the schematic diagram of the series hybrid structure of the present invention.

[0026] Reference numerals shown in the attached drawings:

[0027] 1. Vehicle body; 2. Driving wheels; 3. Crawler running mechanism; 4. Smoke exhaust device; 5. Fire extinguishing device; 6. Smoke exhaust fan; 7. Filter; 8. Smoke exhaust pipe; 9. Fire hose connector; 10. Obstacle clearing push shovel; 11. Lighting lamp; 12. Lidar; 13. Ultrasonic radar; 14. Millimeter wave radar; 15. Monocular camera; 16. Differential GPS; 17. Flame and smoke recognition module; 18. Hazardous gas detection module; 19. High-definition video acquisition module; 20. Solar panel; 21. Operation warning lamp; 22. On-vehicle fire extinguisher. Specific embodiments

[0028] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0029] The present invention relates to a mine all-terrain fire-fighting robot, the main structure of which includes a vehicle body 1 with a wheel-track switching mechanism, the wheel-track switching mechanism is controlled by a controller, a power supply is provided inside the vehicle body 1, and driving wheels 2 and a crawler running mechanism 3 adapted to the wheel-track switching mechanism are provided at the bottom of the vehicle body 1. The wheel-track switching mechanism can directly adopt the structure in the patent No. 202323201831.9, which can realize the switching between the mode dominated by the driving wheels 2 and the mode dominated by the crawler running mechanism 3. The specific structure of the wheel-track switching mechanism will not be elaborated here. A smoke exhaust device 4 and a fire extinguishing device 5 are provided at the top of the vehicle body 1;

[0030] The smoke exhaust device 4 includes a smoke exhaust fan 6, a filter 7 and a catalytic converter arranged inside. A smoke exhaust pipe 8 communicating with the smoke exhaust device 4 is provided at the tail end of the vehicle body 1. The smoke exhaust device 4 is connected through the smoke exhaust pipe 8 from front to back. Starting the smoke exhaust fan 6 can carry out the smoke exhaust work, and at the same time of exhausting smoke, it can filter dust and catalyze toxic gases to provide a safe environment for rescue personnel;

[0031] A fire hose connector 9 is provided on the vehicle body 1 on one side of the fire extinguishing device 5. The fire extinguishing device 5 is connected to the fire hose connector 9 through a pipeline. The fire hose connector 9 is used to connect to the water tank of a fire truck or the fire hose of a building fire hydrant to provide a fire extinguishing water source for the fire extinguishing device 5;

[0032] Rescue personnel can choose to activate the fire extinguishing device 5 or the smoke exhaust device 4 according to the needs of the rescue environment, or the two major functions can operate in parallel, greatly improving the rescue speed and reducing casualties.

[0033] One end of the vehicle body 1 close to the forward direction is provided with a road clearing push shovel 10, which is used to clear obstacles on the road and open up a rescue passage during the rescue process, improving the rescue success rate. The vehicle body 1 is also provided with an unmanned patrol module and an intelligent detection module. The unmanned patrol module is used for fire detection, and when a fire is detected, it will give an intelligent alarm; through the intelligent detection module, after a fire occurs, it will identify the flame and smoke, detect harmful gases, and collect high-definition videos, so as to provide first-hand fire information on the scene for rescue personnel, with a higher degree of intelligence and greatly enhanced functionality.

[0034] Preferably, one end of the vehicle body 1 close to the forward direction is provided with a lighting lamp 11 to provide lighting.

[0035] Preferably, the unmanned patrol module includes a lidar 12, an ultrasonic radar 13, a millimeter wave radar 14, a monocular camera 15, and a differential GPS 16. The various radars cooperate with each other to detect fires and give an intelligent alarm when a fire is detected. The monocular camera 15 and the differential GPS 16 are used to quickly determine the fire location, so as to respond quickly and reduce losses.

[0036] Preferably, the intelligent detection module includes a flame and smoke recognition module 17, a harmful gas detection module 18, and a high-definition video collection module 19. The flame and smoke recognition module 17, the harmful gas detection module 18, and the high-definition video collection module 19 are all conventional devices in the prior art. The specific model selection is not limited, and the specific structure and principle will not be elaborated here. After a fire occurs, it will identify the flame and smoke, detect harmful gases, and collect high-definition videos, so as to provide first-hand fire information on the scene for rescue personnel, and make sufficient preparations for fire rescue as much as possible, improving the rescue success rate.

[0037] Preferably, the vehicle body 1 is provided with a plurality of solar panels 20 electrically connected to the power supply. The power supply and the solar panels 20 are used to provide hybrid power for the vehicle body. When the vehicle is patrolling unmanned in the coal mine industrial square, the solar panels 20 can be used for charging, and the solar energy can also supply power to the low-voltage power system daily, ensuring that the vehicle body has sufficient energy supply during use.

[0038] Preferably, the vehicle body 1 is also provided with an operation warning lamp 21 to play a warning role.

[0039] Preferably, a water storage tank connected to the fire extinguishing device 5 is provided inside the vehicle body 1. Usually, water sources are stored in the water storage tank. When a fire is detected, the water sources in the water storage tank can be used for initial fire extinguishing to slow down the development speed of the fire, or directly extinguish the fire when the fire situation is relatively small. The water inlet end of the water storage tank is connected to the fire hose connector 9 through a pipeline to provide water supply for the water storage tank and the fire extinguishing device 5.

[0040] Preferably, a vehicle-mounted fire extinguisher 22 is further provided at the tail end of the vehicle body 1. The vehicle-mounted fire extinguisher 22 is a traditional hand-held fire extinguisher, which is detachably connected to the vehicle body 1 and can provide small hand-held fire extinguishers for rescue personnel to improve the rescue success rate.

[0041] This patent overcomes the problems of traditional fire-fighting and rescue robots in mine rescue, such as single application scenarios, poor driving flexibility, and low intelligence level. It can be applied to fire detection in coal mine industrial squares; intelligent detection in underground substations, pump rooms, and main haulage roadways; and coal mine fire rescue to achieve more intelligent, efficient, clean, flexible, and collaborative emergency rescue work.

Claims

1. A mine all-terrain fire-fighting robot, comprising a vehicle body (1) with a wheel-track switching mechanism, the wheel-track switching mechanism being controlled by a controller, a power supply being provided inside the vehicle body (1), and a traveling wheel (2) and a crawler traveling mechanism (3) adapted to the wheel-track switching mechanism being provided at the bottom of the vehicle body (1), characterized in that: A smoke exhaust device (4) and a fire extinguishing device (5) are provided on the top of the vehicle body (1); The smoke exhaust device (4) includes a smoke exhaust fan (6), a filter (7) and a catalytic converter arranged inside, and a smoke exhaust pipe (8) communicating with the smoke exhaust device (4) is provided at the tail end of the vehicle body (1); A fire hose connector (9) is provided on the vehicle body (1) on one side of the fire extinguishing device (5), and the fire extinguishing device (5) is connected to the fire hose connector (9) through a pipeline; A clearance pushing shovel (10) is provided at one end of the vehicle body (1) close to the advancing direction, and an unmanned inspection module and an intelligent detection module are also provided on the vehicle body (1).

2. The all-terrain fire-fighting robot for mine use according to claim 1, wherein: A lighting lamp (11) is provided at one end of the vehicle body (1) close to the advancing direction.

3. The all-terrain fire-fighting robot for mine use according to claim 1, wherein: The unmanned inspection module includes a lidar (12), an ultrasonic radar (13), a millimeter wave radar (14), a monocular camera (15), and a differential GPS (16).

4. The all-terrain fire-fighting robot for mine use according to claim 1, characterized in that: The intelligent detection module includes a flame and smoke recognition module (17), a harmful gas detection module (18), and a high-definition video acquisition module (19).

5. The all-terrain fire-fighting robot for mine use according to claim 1, characterized in that: A plurality of solar panels (20) electrically connected to a power supply are provided on the vehicle body (1).

6. The all-terrain fire-fighting robot for mines according to claim 1, wherein: An operation warning lamp (21) is also provided on the vehicle body (1).

7. The all-terrain fire-fighting robot for mine use according to claim 3, wherein: A water storage tank connected to the fire extinguishing device (5) is provided inside the vehicle body (1), and the water source in the water storage tank can be used for initial fire extinguishing. The water inlet end of the water storage tank is connected to the fire hose connector (9) through a pipeline.

8. The all-terrain fire-fighting robot for mine use according to claim 1, wherein: A vehicle-mounted fire extinguisher (22) is also provided at the tail end of the vehicle body (1).

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