Intelligent fire-fighting inspection robot

Abstract

The invention discloses an intelligent fire-fighting inspection robot which comprises a lightweight vehicle body, a crawler walking mechanism, a sensing system and a directional dry powder spraying module. The light-weight vehicle body is adopted, the two sets of crawler walking mechanisms driven by the right-angle motors are carried, the crawler walking mechanisms are provided with composite damping systems composed of hanging springs and bottom small wheels, and good impact resistance is achieved on steps, slopes and gravel terrains; a detachable directional dry powder spraying module is integrated on the top of the robot, the spraying angle is controlled through linkage of an electric telescopic rod and a right-angle motor, the sensing system is composed of a T-shaped camera module and a sensor, and data are transmitted to the control terminal in real time through an anti-interference double-channel wireless link. And meanwhile, a modular interface design is adopted to realize rapid disassembly and assembly of fire extinguishing, rescue and environment monitoring units, and finally a comprehensive rescue platform with high maneuverability, accurate fire extinguishing, intelligent sensing and expandability is formed.

Description

Technical Field

[0001] The present invention relates to a robot, specifically an intelligent fire inspection robot, belonging to the technical field of fire robots. Background Art

[0002] Multifunctional rescue equipment for complex fire field environments. In China, although the technology of fire robots started relatively late, certain progress has been made in recent years. The existing mainstream products mainly adopt crawler or wheeled structures. For example, the crawler fire robot jointly developed by the Shanghai Fire Research Institute of the Ministry of Public Security and Shanghai Jiao Tong University uses a diesel engine to drive the hydraulic system, equipped with a remote control fire cannon, combustible gas detection and image transmission functions, and can enter flammable and explosive environments to perform fire extinguishing and reconnaissance tasks. In addition, the explosion-proof fire robot developed by CITIC Heavy Industries has the ability to spray high-pressure water columns, and the flow rate can reach 8-10 times that of a handheld water pipe. However, its fire extinguishing module still relies on the traditional water-based system, and its applicability is limited in waterless environments or chemical fires. Although some models have introduced thermal imaging cameras and sensors, their multi-modal data fusion ability is weak, the accuracy rate of fire source identification is generally lower than 90%, and there is a lack of edge computing support, resulting in a relatively high response delay.

[0003] However, the existing technology still has significant defects. First, in terms of structural design, the vehicle bodies of traditional crawler robots are mostly made of heavy steel, and the net weight often exceeds 80 kilograms, resulting in insufficient mobility and difficulty in adapting to complex terrains such as landslides and gravel; their shock absorption systems mostly adopt a single spring structure, with poor anti-shock performance, and the measured vibration amplitude attenuation is less than 30%, seriously affecting the stability of obstacle crossing. Second, the functional integration degree is relatively low. The fire extinguishing module mainly uses high-pressure water guns or foam spraying, with a coverage radius of less than 4 meters, and the spraying angle cannot be accurately adjusted, and the fire extinguishing efficiency is restricted by the environment; the perception system relies on a single infrared or visible light camera, lacking a multi-spectral fusion algorithm, and the false detection rate in a thick smoke environment is as high as more than 15%, and the personnel positioning error exceeds 1.5 meters. In addition, the anti-interference ability of the communication link is weak. The traditional wireless remote control protocol is prone to disconnection under the strong electromagnetic interference in the fire field, and the image transmission delay is generally higher than 1 second, restricting the real-time decision-making ability.

[0004] Generally speaking, the technology of domestic fire robots is limited by the heavy structure, single function and insufficient intelligence level, and it is difficult to meet the high-efficiency rescue needs in high-risk environments. Most of the existing products adopt a fixed function module design, lacking standardized expansion interfaces and unable to quickly adapt to multi-task scenarios such as fire extinguishing, search and rescue, and material delivery. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent fire inspection robot to solve at least one of the above technical problems.

[0006] The present invention achieves the above object through the following technical solutions: An intelligent fire inspection robot, comprising a lightweight vehicle body, with crawler traveling mechanisms connected to both sides of the lightweight vehicle body, a sensing system arranged on the top of the lightweight vehicle body, the sensing system including a T-shaped camera module and sensors, and a directional dry powder injection module provided at the front end in the moving direction of the lightweight vehicle body; The crawler traveling mechanism includes a rubber crawler, a driving wheel, a driven wheel, and a fixing frame. The driving wheel and the driven wheel are respectively rotatably connected to both ends of the fixing frame. The rubber crawler is meshed and connected to the wheel bodies of the driving wheel and the driven wheel. A number of bottom small wheels are elastically connected to the frame body of the fixing frame, and the bottom small wheels are meshed and connected to the rubber crawler. The installation positions of the bottom small wheels are lower than the installation positions of the driving wheel and the driven wheel; The directional dry powder injection module includes an electric telescopic rod, a right-angle motor, a nozzle fixing seat, and a fire extinguisher nozzle. The bottom end of the electric telescopic rod is fixedly connected to the lightweight vehicle body. The right-angle motor is fixedly connected to the movable top end of the electric telescopic rod. The nozzle fixing seat is fixedly connected to the rotating shaft of the right-angle motor. A fire extinguisher and a fire extinguisher starting electric push rod are connected inside the vehicle body of the lightweight vehicle body. The movable end of the fire extinguisher starting electric push rod abuts against the pressing handle of the fire extinguisher. A fire extinguisher pipeline is connected between the fire extinguisher and the fire extinguisher nozzle.

[0007] As a further solution of the present invention: Right-angle drive motors are fixedly connected to both sides inside the vehicle body of the lightweight vehicle body, and the rotating shafts of the right-angle drive motors are fixedly connected coaxially with the driving wheels.

[0008] As a further solution of the present invention: A lithium battery is fixedly connected inside the vehicle body of the lightweight vehicle body. The upper end surface of the vehicle body of the lightweight vehicle body is detachably connected with a movable cover plate through bolts. An LED screen and a transparent acrylic plate are also connected to the vehicle body of the lightweight vehicle body, and the LED screen and the transparent acrylic plate are respectively located on both sides of the directional dry powder injection module.

[0009] As a further solution of the present invention: A delivery opening is provided at one end of the vehicle body of the lightweight vehicle body. A medical kit limiting plate is connected inside the vehicle body of the lightweight vehicle body. A medical kit is clamped and placed between the medical kit limiting plates. The placement position of the medical kit is aligned with the delivery opening. A projection component is provided on the side of the medical kit away from the delivery opening.

[0010] As a further solution of the present invention: the projection assembly includes a projection reduction motor, a projection push plate and a projection push rod, the projection reduction motor is fixedly connected to the interior of the lightweight vehicle body, the projection push plate is connected to one end of the projection push rod, and the projection push plate is tightly attached to the side of the medical bag away from the delivery port, a push rod support plate is fixedly connected to the interior of the lightweight vehicle body, the rod body of the projection push rod movably penetrates the push rod support plate, the rod body of the projection push rod located between the projection push plate and the push rod support plate is sleeved with a projection spring, the other end of the projection push rod is fixedly connected to a ejection start plate, the rotating shaft of the projection reduction motor is fixedly connected to an L-shaped toggle rod, and the L-shaped toggle rod is placed on the sheet body of the ejection start plate.

[0011] As a further solution of the present invention: the fixed frames of the crawler walking mechanism are symmetrically arranged in two groups, and a fixed frame docking shaft is connected between the two groups of fixed frames, and the fixed frame docking shaft is fixedly connected to the side wall of the vehicle body at one end close to the lightweight vehicle body.

[0012] As a further solution of the present invention: a plurality of small wheel support frames are arranged between the two groups of fixed frames, and two small wheel support frames arranged in parallel form a group, the upper end of each group of small wheel support frames is connected with a frame body docking shaft, the bottom end of each group of small wheel support frames is connected with a small wheel connecting rotating shaft, and the outer end of the small wheel connecting rotating shaft is fixedly connected with the coaxial line of the bottom small wheel, the middle part of each group of small wheel support frames is connected to the fixed frame through the fixed frame docking shaft, and a hanging spring is connected between the shaft body of the frame body docking shaft and the shaft body of the adjacent fixed frame docking shaft, and two small wheel support frames can be arranged as a group to provide a stable support connection for the bottom small wheel, and the middle part of the small wheel support frame is connected to the fixed frame.

[0013] As a further solution of the present invention: a camera frame is fixedly connected to the body of the lightweight vehicle, a T-shaped camera module is installed on the camera frame, and the T-shaped camera module is integrated with a zoom infrared pan-tilt head and a thermal imaging camera. The zoom infrared pan-tilt head realizes fire source identification by deploying an improved YOLOv model through an edge computing node.

[0014] As a further solution of the present invention: the installation position of the sensor is located on one side of the camera frame, and a sensor protection cover is provided on the sensor. The sensor includes but is not limited to a high-precision temperature and humidity sensor and a multi-component gas detection sensor.

[0015] As a further solution of the present invention: a control board and a drive board are also integrated inside the lightweight vehicle body, and both the control board and the drive board are connected to the electrical components on the lightweight vehicle body in real time through an anti-interference dual-channel wireless link.

[0016] The beneficial effects of the present invention are as follows: The present invention adopts a lightweight vehicle body and is equipped with two crawler walking mechanisms driven by right-angle motors. The crawler walking mechanisms are equipped with a composite shock-absorbing system composed of hanging springs and bottom small wheels, and have good anti-impact performance on stairs, slopes, and gravel terrains. A detachable directional dry powder spraying module is integrated on the top of the robot, and the spraying angle is controlled by the linkage of an electric telescopic rod and a right-angle motor. The sensing system consists of a T-shaped camera module and sensors, and the improved YOLOv5 model is deployed through an edge computing node to realize fire source identification and human thermal imaging positioning. The data is transmitted to the control terminal in real time through an anti-interference dual-channel wireless link. At the same time, a modular interface design is adopted to realize the rapid disassembly and assembly combination of the fire extinguishing, rescue, and environmental monitoring units, and finally form an integrated rescue platform with high mobility, precise fire extinguishing, intelligent sensing, and scalability. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the front view structure inside the lightweight vehicle body of the present invention; Figure 3 It is a schematic diagram of the rear view structure inside the lightweight vehicle body of the present invention; Figure 4 It is a schematic diagram of the medical kit and projection component of the present invention; Figure 5 It is a schematic diagram of the crawler walking mechanism of the present invention; Figure 6 It is a schematic diagram of the directional dry powder spraying module of the present invention; Figure 7 It is a schematic diagram of the connection structure between the T-shaped camera module and the lightweight vehicle body of the present invention; Figure 8 It is a schematic diagram of the patrol task dispatch process of the present invention; Figure 9 It is a schematic diagram of the path setting process of the present invention; Figure 10 It is a schematic diagram of the air-ground integrated platform of the present invention; Figure 11 It is a schematic diagram of the air-ground integrated process of the present invention; In the figure: 1. Lightweight vehicle body; 11. LED screen; 12. Transparent acrylic board; 13. Right-angle drive motor; 14. Feeding port; 15. Medical kit; 16. Fire extinguisher; 17. Electric push rod for starting the fire extinguisher; 18. Projecting reduction motor; 19. Medical kit limit plate; 110. Projecting push plate; 111. Projecting spring; 112. Ejection starting piece; 113. L-shaped toggle lever; 114. Projecting push rod; 115. Push rod support plate; 2. Crawler traveling mechanism; 21. Rubber crawler; 22. Driving wheel; 23. Driven wheel; 24. Fixed frame; 25. Fixed frame docking shaft; 26. Bottom small wheel; 27. Small wheel support frame; 28. Small wheel connecting rotating shaft; 29. Frame body docking shaft; 210. Hanging spring; 3. Directional dry powder spraying module; 31. Electric telescopic rod; 32. Right-angle motor; 33. Nozzle fixing seat; 34. Fire extinguisher nozzle; 35. Fire extinguisher pipeline; 4. T-shaped camera module; 41. Camera frame; 5. Sensor; 51. Sensor protection cover; 6. Movable cover plate; 7. Lithium battery. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1, as Figures 1 to 7 shown, an intelligent fire inspection robot includes a lightweight vehicle body 1. Crawler traveling mechanisms 2 are connected to both sides of the lightweight vehicle body 1. A sensing system is arranged on the top of the lightweight vehicle body 1. The sensing system includes a T-shaped camera module 4 and a sensor 5. A directional dry powder spraying module 3 is arranged at the front end of the moving direction of the lightweight vehicle body 1. The robot is driven to move by the crawler traveling mechanism 2. The T-shaped camera module 4 conducts inspections during the movement of the robot. When the T-shaped camera module 4 and the sensor 5 detect a fire source, the directional dry powder spraying module 3 can spray dry powder to extinguish the fire in the fire source area, realizing intelligent fire inspection. The crawler running gear 2 includes a rubber crawler 21, a driving wheel 22, a driven wheel 23 and a fixing frame 24. The driving wheel 22 and the driven wheel 23 are respectively rotatably connected to both ends of the fixing frame 24. The rubber crawler 21 is meshed and connected to the wheel bodies of the driving wheel 22 and the driven wheel 23. A number of bottom small wheels 26 are elastically connected to the frame body of the fixing frame 24, and the bottom small wheels 26 are meshed and connected to the rubber crawler 21. The installation positions of the bottom small wheels 26 are lower than the installation positions of the driving wheel 22 and the driven wheel 23. By driving the rubber crawler 21 to rotate through the driving wheel 22 and the driven wheel 23, the running function of the crawler running gear 2 is realized. And with the cooperation of the elastically connected bottom small wheels 26, the two bottom ends of the rubber crawler 21 are arranged to be upwardly inclined, which can effectively solve the core pain points of poor terrain adaptability and insufficient stability of traditional fire-fighting robots, and can achieve remarkable effects such as reducing the vibration amplitude by more than 40% and increasing the obstacle-crossing height to 200 mm in complex terrains such as gravel, steep slopes ≤ 35°, and sunken roads. The directional dry powder spraying module 3 includes an electric telescopic rod 31, a right-angle motor 32, a nozzle fixing seat 33 and a fire extinguisher nozzle 34. The bottom end of the electric telescopic rod 31 is fixedly connected to the lightweight vehicle body 1. The right-angle motor 32 is fixedly connected to the movable top end of the electric telescopic rod 31. The nozzle fixing seat 33 is fixedly connected to the rotating shaft of the right-angle motor 32. A fire extinguisher 16 and a fire extinguisher starting electric push rod 17 are connected inside the vehicle body of the lightweight vehicle body 1. The movable end of the fire extinguisher starting electric push rod 17 abuts against the pressing handle of the fire extinguisher 16. A fire extinguisher pipeline 35 is communicated between the fire extinguisher 16 and the fire extinguisher nozzle 34. The fire extinguisher 16 can be opened and closed by the fire extinguisher starting electric push rod 17. Then, the dry powder in the fire extinguisher 16 is conveyed to the fire extinguisher nozzle 34 through the fire extinguisher pipeline 35 for spraying. And the height of the fire extinguisher nozzle 34 can be adjusted by driving the electric telescopic rod 31, and the angle of the fire extinguisher nozzle 34 can be adjusted by driving the right-angle motor 32, so that the coverage radius of the dry powder sprayed by the fire extinguisher nozzle 34 reaches 5 - 6 meters, and the uniformity of the concentration distribution is increased by 25%. Compared with the traditional water-based fire-fighting method, its fire-fighting efficiency is increased by more than 30%, and it can operate safely and efficiently in scenarios such as waterless environments, chemical fires, and confined spaces.

[0020] It should be noted that a lightweight vehicle body 1 with a length of about 660 mm, a width of 550 mm, and a height of 600 mm is constructed using a medium-carbon steel frame. It is equipped with two crawler traveling mechanisms 2 driven by right-angle drive motors 13. The tooth profile of the crawler and the parameters of the suspension structure are optimized through SolidWorks, and the anti-impact performance on steps, slopes, and gravel terrains is verified by RecurDyn dynamic simulation. A detachable directional dry powder injection module 3 is integrated on the top of the robot, controlling the injection angle (adjustable by 45°) and pressure (0.6 MPa), and optimizing the dry powder coverage range (effective radius of 5 - 6 m) with the cooperation of Fluent multiphase flow simulation. The sensing system consists of a 2-million-pixel 20x infrared vehicle-mounted pan-tilt, a multi-spectral thermal imaging camera (640×512 resolution), a high-precision temperature and humidity sensor, and a multi-component gas detection module. An improved YOLOv5 model is deployed through an edge computing node to achieve fire source recognition (accuracy ≥ 95%) and human thermal imaging positioning. The data is transmitted to the control terminal in real time via an anti-interference dual-channel wireless link (optimized by the FS remote control protocol). At the same time, a modular interface design is adopted to realize the quick disassembly and combination of the fire extinguishing, rescue, and environmental monitoring units. Standardized expansion slots are reserved on the chassis of the lightweight vehicle body 1 to support the integration of additional function modules, and multi-task scheduling and dynamic emergency path planning (obstacle avoidance response time ≤ 1 s) are achieved through the ROS system, finally forming a comprehensive rescue platform with high mobility, precise fire extinguishing, intelligent sensing, and scalability.

[0021] Embodiment 2. In addition to including all the technical features in Embodiment 1, this embodiment further includes: Right-angle drive motors 13 are fixedly connected to both sides inside the vehicle body of the lightweight vehicle body 1. The rotating shaft of the right-angle drive motor 13 is fixedly connected to the driving wheel 22 coaxially, so as to provide driving force for the driving wheel 22 through the right-angle drive motor 13, and then drive the rubber crawler 21 to rotate, realizing the movement of the robot. Moreover, two right-angle drive motors 13 are used to drive the two crawler traveling mechanisms 2 to move respectively, which is convenient for controlling the movement of the robot in directions such as forward, backward, or turning.

[0022] A lithium battery 7 is fixedly connected inside the vehicle body of the lightweight vehicle body 1. The upper end surface of the lightweight vehicle body 1 is detachably connected with a movable cover plate 6 through bolts. An LED screen 11 and a transparent acrylic plate 12 are also connected to the vehicle body of the lightweight vehicle body 1. The LED screen 11 and the transparent acrylic plate 12 are respectively located on both sides of the directional dry powder injection module 3. The lithium battery 7 can supply power to each electrical component of the robot, and the movable cover plate 6 is convenient to open for inspecting the inside of the vehicle body. At the same time, the set LED screen 11 can display the inspection situation in real time, and the transparent acrylic plate 12 is convenient for observing the inside of the vehicle body.

[0023] One end of the lightweight vehicle body 1 is provided with a delivery port 14. Inside the vehicle body of the lightweight vehicle body 1, there is a medical kit limiting plate 19 connected. A medical kit 15 is clamped and placed between the medical kit limiting plates 19. The placement position of the medical kit 15 is aligned with the delivery port 14. On the side of the medical kit 15 away from the delivery port 14, there is a projection assembly. Through the provided projection assembly, the medical kit 15 can be projected from the delivery port 14, providing certain medical assistance to the people trapped at the fire scene.

[0024] The projection assembly includes a projection reduction motor 18, a projection push plate 110, and a projection push rod 114. The projection reduction motor 18 is fixedly connected inside the vehicle body of the lightweight vehicle body 1. The projection push plate 110 is connected to one end of the projection push rod 114, and the projection push plate 110 is closely attached to the side of the medical kit 15 away from the delivery port 14. Inside the vehicle body of the lightweight vehicle body 1, there is a push rod support plate 115 fixedly connected. The rod body of the projection push rod 114 movably penetrates through the push rod support plate 115. A projection spring 111 is sleeved on the rod body of the projection push rod 114 between the projection push plate 110 and the push rod support plate 115. The other end of the projection push rod 114 is fixedly connected with an ejection starting piece 112. The rotating shaft of the projection reduction motor 18 is fixedly connected with an L-shaped toggle rod 113, and the L-shaped toggle rod 113 is placed on the piece body of the ejection starting piece 112. The L-shaped toggle rod 113 can be driven by the projection reduction motor 18 to rotate, and then can resist the ejection starting piece 112 to move backward, causing the projection spring 111 to be compressed and deformed. When the projection reduction motor 18 stops driving the L-shaped toggle rod 113 to rotate, the projection spring 111 can push the projection push plate 110 forward under the action of elastic force, thereby realizing projecting the medical kit 15 from the delivery port 14.

[0025] There are two groups of fixed frames 24 of the crawler traveling mechanism 2 arranged symmetrically, and a fixed frame docking shaft 25 is connected between the two groups of fixed frames 24. One end of the fixed frame docking shaft 25 close to the lightweight vehicle body 1 is fixedly connected to the vehicle body side wall. A stable frame structure can be formed by the two groups of fixed frames 24, so that the driving wheel 22, the driven wheels 23, and the driven wheels 23 can all be stably connected to the fixed frame 24, and the combination connection of the crawler traveling mechanism 2 and the lightweight vehicle body 1 is realized through the fixed frame docking shaft 25.

[0026] There are several small wheel support frames 27 arranged between two sets of fixing frames 24. Two small wheel support frames 27 arranged in parallel form a group. The upper end of each group of small wheel support frames 27 is connected with a frame docking shaft 29, and the bottom end of each group of small wheel support frames 27 is connected with a small wheel connecting shaft 28. The outer end of the small wheel connecting shaft 28 is fixedly connected coaxially with the bottom small wheel 26. The middle part of each group of small wheel support frames 27 is connected with the fixing frame 24 through a fixing frame docking shaft 25. A hanging spring 210 is connected between the shaft body of the frame docking shaft 29 and the shaft body of the adjacent fixing frame docking shaft 25. By setting two small wheel support frames 27 as a group, stable support connection can be provided for the bottom small wheel 26. And the middle part of the small wheel support frame 27 is connected with the fixing frame 24, which can make the small wheel support frame 27 form a structure similar to a seesaw. When the crawler walking mechanism 2 passes over a raised part of the road surface, since the small wheel support frame 27 can rotate relative to the fixing frame 24, the bottom small wheel 26 at the corresponding position can pass over the raised part of the road surface. The small wheel support frame 27 can have an angular offset, thereby driving the bottom small wheel 26 passing through this position to move upward, having good obstacle-crossing ability. And when the bottom small wheel 26 moves upward, the hanging spring 210 connected between the shaft body of the frame docking shaft 29 and the shaft body of the adjacent fixing frame docking shaft 25 can be stretched. Then, after passing over the raised part of the road surface, the bottom small wheel 26 can return to its initial position, which is convenient for traveling on a flat road surface.

[0027] A camera mount 41 is fixedly connected to the body of the lightweight vehicle body 1. The T-shaped camera module 4 is installed on the camera mount 41. The T-shaped camera module 4 integrates a zoom infrared pan-tilt and a thermal imaging camera. The zoom infrared pan-tilt realizes fire source recognition by deploying an improved YOLOv5 model through an edge computing node. By setting the camera mount 41, the T-shaped camera module 4 is in a relatively high installation position, so that a larger range can be covered during monitoring. And by jointly monitoring with the zoom infrared pan-tilt and the thermal imaging camera, the trapped persons can be accurately positioned and quickly locked in a thick smoke environment.

[0028] The installation position of the sensor 5 is on one side of the camera mount 41. A sensor protection cover 51 is sleeved on the sensor 5. The sensor 5 includes but is not limited to a high-precision temperature and humidity sensor and a multi-component gas detection sensor. The sensor protection cover 51 can provide a certain protection for the sensor 5 at the fire scene, and can accurately monitor the temperature and humidity and the environmental gas components at the inspection site to judge the type of fire, which is convenient for subsequent fire extinguishing operations.

[0029] Inside the body of the lightweight vehicle body 1, a control board and a drive board are also integrated. Both the control board and the drive board are in real-time transmission with the electrical components on the lightweight vehicle body 1 through an anti-interference dual-channel wireless link. Various data monitored by the robot during the inspection can be received through the control board, so as to judge whether there is a fire or accurately identify the fire situation, and the movement of the robot can be driven through the drive board, and the robot can be driven to extinguish the fire or deliver supplies, etc., enabling the robot to form a full-scenario rescue ability integrating fire extinguishing, search and rescue, monitoring, and material delivery.

[0030] Embodiment 3, as Figure 8 shown, an intelligent fire inspection robot, the inspection task process of the fire inspection robot realizes full-life-cycle closed-loop control through an intelligent task management module, specifically manifested as: After the operator initiates a "new inspection task" on the cloud platform, the system automatically generates a unique task number and marks it as the "to be inspected" state. If the preset inspection path is not completed (such as dynamic changes in the landslide area or update of the fire scene environment), the "new inspection path" function based on the 3D point cloud map and A* algorithm is triggered, and the optimal inspection route is dynamically generated through rasterized terrain data (10 cm resolution) and the no-fly zone GIS fence; after the path is confirmed, it enters the "allocate execution device" stage, and the appropriate tracked robot or UAV is automatically matched according to the device health status library (battery power > 20%, sensor calibration passed) and the task priority strategy (fire risk level, device response time), and the operator's permissions are specified; when the task is dispatched, the inspection instructions, path coordinates, and emergency protocols are sent to the device end through a dual-channel anti-interference wireless link (optimized FS protocol), and the task status is updated synchronously to "in progress"; during the execution process, the robot relies on a multi-modal perception system (infrared pan-tilt, lidar, gas sensor) to collect environmental data in real time, and the improved YOLOv5 model deployed at the edge computing node realizes fire source identification (confidence level ≥ 95%) and abnormal event marking, and the key data is transmitted back to the control terminal with a delay of ≤ 500 ms after dynamic bit rate adjustment; after the task is completed, the status is automatically switched to "completed", and a structured inspection report (including heat map, gas concentration distribution, device exception log) is generated and stored synchronously in an encrypted database (MySQL sharding + object storage) for subsequent analysis and call. Finally, through the task closed-loop mechanism, the full process automation of "planning - execution - feedback - optimization" is realized, significantly improving the response speed, execution accuracy, and data traceability of the inspection task in a complex fire scene.

[0031] Embodiment 4, as Figure 9As shown in the figure, an intelligent fire inspection robot. The path setting process of the fire robot deeply integrates multi-source perception data and intelligent algorithms, and the specific implementation is as follows: After the operator triggers the "New Inspection Path" instruction on the cloud platform, the system automatically generates a unique path number based on the real-time three-dimensional point cloud map (rasterization accuracy 10cm×10cm) and the geofence data, manually or automatically marks the starting point, waypoints (supporting dynamic obstacle avoidance marking) and the end point through the interactive map interface, and dynamically optimizes the path topology structure in combination with the fire scene environment parameters (temperature and humidity, concentration of toxic gases, obstacle distribution); The inspection mode can be switched to constant speed cruise (uniform scanning at 0.3m / s), fast inspection (prioritize covering high-risk areas at 0.6m / s) or three-dimensional reconstruction mode (simultaneously collecting point cloud data by lidar). After the mode is selected, the improved A* algorithm (integrating terrain undulation and energy consumption weight) is called to generate the globally optimal path, and a waypoint sequence including longitude, latitude, altitude and attitude angle is output; During the path generation stage, the obstacle avoidance logic (horizontal safety distance ≥ 5m, vertical distance ≥ 10m) and motion stability (vibration amplitude ≤ 1.2mm) are verified through the Gazebo simulation platform, and an emergency protocol is embedded (automatically switch to a bypass strategy in case of sudden fire change); The final path data is sent to the robot control unit through a dual-channel encrypted link and synchronously updated to the task management module, realizing a full-link closed loop from path planning, dynamic adjustment to execution feedback, significantly improving the path adaptability, obstacle avoidance efficiency and task reliability in complex fire scene environments.

[0032] Embodiment 5, as Figure 10 and Figure 11 As shown in the figure, an intelligent fire inspection robot. The fire robot can be used in cooperation with an unmanned aerial vehicle to form an air-ground integrated platform. The framework composition of the air-ground integrated platform includes: Data layer, managing user information, device information, emergency plans, safety regulations, and disposal records; collecting raw data (visible light data, infrared data, position information, environmental information) through industrial sensors; constructing a time series database to support data interaction; providing API interfaces; Business layer, integrating multi-modal intelligent agents to achieve multi-modal fusion; performing real-time three-dimensional environment modeling and three-dimensional scene reconstruction; running a disaster prevention and security processing model to generate emergency response, auxiliary decision-making, and scheduling planning; driving expert system decision-making and path planning and scheduling Application layer, providing user information management and disaster situation data monitoring; realizing multi-platform scheduling and intelligent auxiliary decision-making.

[0033] The functions of the air-ground integrated platform include: User interaction and visualization, integrating a three-dimensional map engine and data, designing a visualization interface and interaction, supporting user operations and instruction issuance, optimizing performance and rendering acceleration, and realizing multi-terminal synchronization and response; Intelligent assisted decision-making, running a fire spread deduction model and a resource scheduling optimization model, generating evacuation route planning and decision-making suggestions, triggering early warnings and event grading, matching emergency plans with resource scheduling; Data storage and management, designing a data storage architecture, ensuring data security and disaster tolerance, managing the data life cycle, data governance, and metadata, providing data retrieval and interface services, and supporting open APIs and third-party integration; Services and extended functions, implementing modular expansion and plug-in mechanisms, adapting to multi-scenario customized services, and managing extended functions; System configuration and maintenance, configuring device parameters and self-checking, managing permissions, organizations, system upgrades, and logs, handling data transmission, monitoring, data analysis, and processing; Emergency response and handling, executing emergency tasks and closed-loop feedback, handling exceptions and recovery, controlling multi-device collaboration, optimizing task creation and scheduling, and dynamic resource scheduling; Data collection and preprocessing, handling transmission quality and exceptions, applying edge computing and lightweighting, completing 3D reconstruction and environmental modeling, generating intelligent reports, and realizing fire risk identification, anomaly detection, path planning, and dynamic adjustment.

[0034] The robot is driven to move through the crawler travel mechanism 2. The right-angle drive motor 13 provides driving force to the driving wheel 22, which can then drive the rubber crawler 21 to rotate, realizing the driving of the robot to move. Cooperating with the bottom small wheels 26 connected by elastic connections, the two ends of the bottom of the rubber crawler 21 are arranged to be upwardly inclined, which can effectively solve the core pain points of poor terrain adaptability and insufficient stability of traditional fire-fighting robots. The T-shaped camera module 4 conducts inspections during the movement of the robot. The T-shaped camera module 4 uses a zoom infrared pan-tilt and a thermal imaging camera for joint monitoring, and can accurately locate in a thick smoke environment and quickly lock in trapped personnel. When the T-shaped camera module 4 and the sensor 5 detect a fire source, dry powder is sprayed through the directional dry powder spraying module 3 to extinguish the fire source area. The fire extinguisher starts the electric push rod 17 to open and close the fire extinguisher 16, and then the dry powder in the fire extinguisher 16 is transported through the fire extinguisher pipeline 35 to the fire extinguisher nozzle 34 for spraying. The electric telescopic rod 31 can drive the fire extinguisher nozzle 34 to adjust the height, and the right-angle motor 32 can drive the fire extinguisher nozzle 34 to adjust the angle, so that the coverage radius of the dry powder sprayed by the fire extinguisher nozzle 34 reaches 5-6 meters. For the trapped personnel at the fire scene, the projection reduction motor 18 drives the L-shaped toggle rod 113 to rotate, which can then resist the ejection starting piece 112 to move backward, causing the projection spring 111 to be compressed and deformed. When the projection reduction motor 18 stops driving the L-shaped toggle rod 113 to rotate, the projection spring 111 can push the projection push plate 110 forward under the action of elastic force, and then the medical kit 15 can be thrown out from the delivery port 14 to provide certain medical assistance to the personnel trapped in the fire scene.

[0035] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0036] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent fire inspection robot, including a lightweight vehicle body (1), characterized in that: On both sides of the lightweight vehicle body (1), crawler traveling mechanisms (2) are connected. On the top of the lightweight vehicle body (1), a sensing system is provided. The sensing system includes a T-shaped camera module (4) and sensors (5). At the front end of the moving direction of the lightweight vehicle body (1), a directional dry powder spraying module (3) is provided; The crawler traveling mechanism (2) includes a rubber crawler (21), a driving wheel (22), a driven wheel (23), and a fixing frame (24). The driving wheel (22) and the driven wheel (23) are respectively rotatably connected to both ends of the fixing frame (24). The rubber crawler (21) is meshed and connected to the wheel bodies of the driving wheel (22) and the driven wheel (23). A number of bottom small wheels (26) are elastically connected to the frame body of the fixing frame (24), and the bottom small wheels (26) are meshed and connected to the rubber crawler (21). The installation positions of the bottom small wheels (26) are lower than the installation positions of the driving wheel (22) and the driven wheel (23); The directional dry powder spraying module (3) includes an electric telescopic rod (31), a right-angle motor (32), a nozzle fixing seat (33), and a fire extinguisher nozzle (34). The bottom end of the electric telescopic rod (31) is fixedly connected to the lightweight vehicle body (1). The right-angle motor (32) is fixedly connected to the movable top end of the electric telescopic rod (31). The nozzle fixing seat (33) is fixedly connected to the rotating shaft of the right-angle motor (32). Inside the vehicle body of the lightweight vehicle body (1), a fire extinguisher (16) and a fire extinguisher starting electric push rod (17) are connected. The movable end of the fire extinguisher starting electric push rod (17) abuts against the pressing handle of the fire extinguisher (16). A fire extinguisher pipeline (35) is communicated between the fire extinguisher (16) and the fire extinguisher nozzle (34).

2. The intelligent fire inspection robot according to claim 1, characterized in that: On both sides inside the vehicle body of the lightweight vehicle body (1), right-angle driving motors (13) are fixedly connected. The rotating shaft of the right-angle driving motor (13) is fixedly connected coaxially with the driving wheel (22).

3. The intelligent fire inspection robot according to claim 1, characterized in that: Inside the vehicle body of the lightweight vehicle body (1), a lithium battery (7) is fixedly connected. The upper end surface of the lightweight vehicle body (1) is detachably connected with a movable cover plate (6) by bolts. An LED screen (11) and a transparent acrylic plate (12) are also connected to the vehicle body of the lightweight vehicle body (1). The LED screen (11) and the transparent acrylic plate (12) are respectively located on both sides of the directional dry powder spraying module (3).

4. The intelligent fire inspection robot according to claim 1, wherein: At one end of the vehicle body of the lightweight vehicle body (1), a delivery port (14) is opened. Inside the vehicle body of the lightweight vehicle body (1), a medical kit limiting plate (19) is connected. A medical kit (15) is clamped and placed between the medical kit limiting plates (19). The placement position of the medical kit (15) is aligned with the delivery port (14). A projection assembly is provided on one side of the medical kit (15) away from the delivery port (14).

5. The intelligent fire inspection robot according to claim 4, characterized in that: The projection assembly comprises a projection reduction motor (18), a projection push plate (110) and a projection push rod (114); the projection reduction motor (18) is fixedly connected to the interior of the lightweight vehicle body (1); the projection push plate (110) is connected to one end of the projection push rod (114), and the projection push plate (110) is closely attached to a side of the medical kit (15) away from the delivery port (14); a push rod support plate (115) is fixedly connected to the interior of the lightweight vehicle body (1); and the projection push rod The rod body of the projection push rod (114) movably passes through the push rod support plate (115); the projection push rod (114) is located between the projection push plate (110) and the push rod support plate (115), and a projection spring (111) is sleeved on the rod body; the other end of the projection push rod (114) is fixedly connected to a ejection start plate (112); the rotating shaft of the projection reduction motor (18) is fixedly connected to an L-shaped toggle rod (113), and the L-shaped toggle rod (113) is placed on the body of the ejection start plate (112).

6. The intelligent fire inspection robot according to claim 1, wherein: The fixed frames (24) of the crawler walking mechanism (2) are symmetrically arranged in two groups, and a fixed frame docking shaft (25) is connected between the two groups of the fixed frames (24), and one end of the fixed frame docking shaft (25) close to the lightweight vehicle body (1) is fixedly connected to the side wall of the vehicle body.

7. The intelligent fire inspection robot according to claim 6, characterized in that: A plurality of small wheel support frames (27) are arranged between the two groups of fixed frames (24), and two small wheel support frames (27) arranged in parallel form a group. The upper end of each group of small wheel support frames (27) is connected to a frame body docking shaft (29), and the bottom end of each group of small wheel support frames (27) is connected to a small wheel connecting rotating shaft (28), and the outer end of the small wheel connecting rotating shaft (28) is coaxially fixedly connected to the bottom small wheel (26). The middle part of each group of small wheel support frames (27) is connected to the fixed frame (24) through the fixed frame docking shaft (25), and a hanging spring (210) is connected between the shaft body of the frame body docking shaft (29) and the shaft body of the adjacent fixed frame docking shaft (25). By arranging two small wheel support frames (27) as a group, a stable support connection is provided for the bottom small wheel (26), and the middle part of the small wheel support frame (27) is connected to the fixed frame (24).

8. An intelligent fire inspection robot according to claim 1, characterized in that: A camera frame (41) is fixedly connected to the body of the lightweight vehicle body (1), the T-shaped camera module (4) is mounted on the camera frame (41), and the T-shaped camera module (4) is integrated with a zoom infrared pan-tilt platform and a thermal imaging camera, and the zoom infrared pan-tilt platform realizes fire source recognition by deploying an improved YOLOv5 model through an edge computing node.

9. The intelligent fire inspection robot according to claim 1, wherein: The sensor (5) is installed at one side of the camera frame (41), and a sensor protection cover (51) is provided on the sensor (5). The sensor (5) includes but is not limited to a high-precision temperature and humidity sensor and a multi-component gas detection sensor.

10. The intelligent fire inspection robot according to claim 1, wherein: The interior of the lightweight vehicle body (1) is also integrated with a control board and a drive board, and both the control board and the drive board are in real-time transmission with the electrical components on the lightweight vehicle body (1) through an anti-interference dual-channel wireless link.

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