Multi-mode fire fighting quadruped robot

Abstract

The invention relates to the technical field of fire-fighting robots, and discloses a multi-mode fire-fighting and fire-extinguishing quadruped robot. According to the quadruped robot, the adjustable balancing weight is arranged, when the length of the telescopic spray head is adjusted, the connecting cable is promoted to drive the balancing weight to move, balance of the quadruped robot is effectively guaranteed, meanwhile, when the telescopic spray head extends, the balancing weight is located on the side, at the moment, the corrugated pipe is in an elongated state under the action of the balancing weight, and due to the fact that a pipeline opening is shrunk, the service life of the corrugated pipe is prolonged. When the telescopic spray head is shortened, the balancing weight is close to the center position, the corrugated pipe is in a contracted state, the opening of the pipeline is enlarged, the total water pressure is finally increased, and the robot can be driven by the telescopic spray head under the condition that the robot is far away from the fire source. At the moment, the water flow is sprayed out in a jet mode, a fireproof isolation belt is constructed, and damage of high temperature to the sensor and the machine body is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of firefighting robots, and in particular to a multi-modal firefighting quadruped robot. Background Art

[0002] The multimodal fire-fighting quadruped robot is an intelligent rescue equipment that integrates multimodal perception systems such as vision, thermal imaging, and gas sensing, is equipped with fire-fighting devices such as water spray and foam, and uses quadruped movement to adapt to complex fire terrain.

[0003] In Chinese patent publication number CN114832260B, the invention relates to a multimodal intelligent firefighting robot and its use method, comprising a shell, a flight mechanism, and a walking mechanism. The shell is equipped with a radar, an antenna, and a high-definition, high-temperature-resistant camera. The shell is internally provided with a smoke concentration sensor, a temperature sensor, a mini host, and a battery. The flight mechanism includes wing assemblies symmetrically arranged on the left and right sides of the shell, and the wing assemblies are connected to the shell via a rotary joint. The walking mechanism includes a chassis connected to the bottom of the shell and a left track assembly and a right track assembly symmetrically arranged on the left and right sides of the chassis. The nozzle of the fire extinguisher is cantilevered from the front of the chassis. As can be seen from the above technical solution, the invention utilizes the high maneuverability, real-time monitoring of multiple parameters, and rapid response characteristics of the firefighting robot. It can not only replace firefighters to complete firefighting work more efficiently, but also act quickly when a fire occurs, extinguishing the fire in its early stages to avoid further losses.

[0004] In view of the above-mentioned and existing related technologies, the inventors believe that the following defects often exist: when using existing multi-modal fire-fighting quadruped robots, it is necessary to adjust the length of the fire-fighting nozzle according to the fire situation, so as to accurately control the spray distance, coverage range and pressure form of the fire extinguishing agent to improve the fire extinguishing efficiency. However, when the length of the fire-fighting nozzle is adjusted, the quadruped robot's own balance will be broken, which may cause the quadruped robot to tilt and overturn. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing technology has the disadvantage that the length adjustment of the fire extinguishing nozzle causes the quadruped robot to become unbalanced. For this reason, we propose a multi-modal fire-fighting quadruped robot.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: a multimodal fire-fighting quadruped robot, comprising: a multimodal fire-fighting quadruped robot body, the top of the multimodal fire-fighting quadruped robot body is fixedly connected to a mounting plate, the top of the mounting plate is movably connected to an electric shaft, the top center position of the electric shaft is fixedly connected to a water gun base, the top of the water gun base is fixedly connected to a fire-fighting spray gun, a telescopic nozzle is provided on the side of the fire-fighting spray gun, the top of the telescopic nozzle is fixedly connected to a connecting rod, and the side of the connecting rod is fixedly connected to a connecting rod. Connect the cable, the outer wall of the connecting cable is snap-connected with the fixed pulley body, one end of the fixed pulley body is provided with a counterweight body, a storage water tank is opened inside the counterweight body, the top of the counterweight body is fixedly connected with a water pipe, the side of the water pipe is fixedly connected with a bellows body, the bellows body and the fire extinguishing spray gun are fixedly connected, the outer wall of the bellows body is surrounded by a protective inner tube, the protective inner tube and the water pipe are fixedly connected, the outer wall of the protective inner tube is surrounded by a protective outer tube, and the protective outer tube and the fire extinguishing spray gun are fixedly connected.

[0007] Preferably, an annular groove is provided on the outer wall of the mounting plate, an L-shaped movable plate is fixedly connected to the side of the electric rotating shaft, a movable plate movable wheel is installed at the bottom of the L-shaped movable plate, the movable plate movable wheel is located inside the annular groove, and a movable plate groove is provided inside the L-shaped movable plate.

[0008] Preferably, the bottom of the counterweight body is fixedly connected to a counterweight movable wheel, the counterweight movable wheel is located in the movable plate slide groove, and the outer wall of the counterweight body is fixedly connected to an external joint of the water pipe.

[0009] Preferably, a telescopic rod is fixedly connected to the side of the counterweight body, the telescopic rod is fixedly connected to the L-shaped movable plate, a return spring is surrounded by the outer wall of the telescopic rod, and the two ends of the return spring are respectively fixedly connected to the counterweight body and the L-shaped movable plate.

[0010] Preferably, one end of the connecting cable is fixedly connected to a cable connecting block, the bottom of the cable connecting block is fixedly connected to a switch pin rotating shaft, and the switch pin rotating shaft is rotationally connected to the counterweight body.

[0011] Preferably, the outer wall of the switch pin shaft is fixedly connected to the switch pin body, the top of the switch pin body is fixedly connected to the switch pin spring, the switch pin spring and the counterweight body are fixedly connected, the bottom of the switch pin body is snap-connected to the fixing pin, and the fixing pin and the L-shaped movable plate are fixedly connected.

[0012] Preferably, a support column is fixedly connected to the top side of the electric shaft, a sensing module mounting plate is fixedly connected to the top of the support column, a cable slide is fixedly connected to the outer wall of the sensing module mounting plate, and the cable slide and the connecting cable are snap-fitted.

[0013] Preferably, a visible light camera is fixedly connected to one side of the top of the perception module mounting plate, and an infrared thermal imager is fixedly connected to the other side of the top of the perception module mounting plate.

[0014] Preferably, a visible light camera is used to visually identify flames, and an infrared thermal imager is used to locate high temperature areas.

[0015] Preferably, a single-chip microcomputer chip is fixedly connected to the interior of the multimodal fire-fighting quadruped robot body, and the single-chip microcomputer chip is used to receive and process data transmitted by the visible light camera and the infrared thermal imager.

[0016] The technical effects and advantages of the present invention are as follows: In the present invention, an adjustable counterweight is provided. When the telescopic nozzle is adjusted in length, the connecting cable drives the counterweight to move, thereby effectively ensuring the balance of the quadruped robot. At the same time, when the telescopic nozzle is extended, the counterweight is located on the side. At this time, the bellows is in an elongated state under the action of the counterweight. Since the pipe opening is reduced, the total water pressure is eventually reduced, which not only reduces the recoil force of the water spray, but also allows the water flow to accurately aim at the fire source in a more concentrated and fine beam. When the telescopic nozzle is shortened, the counterweight is close to the center position. At this time, the bellows is in a contracted state, and the opening of the pipe becomes larger, which eventually leads to an increase in the total water pressure, so that the robot can perform long-range coverage while staying away from the fire source. At this time, the water is sprayed out in a jet shape to construct a fire isolation zone, reducing the damage of high temperature to the sensor and the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components: Figure 1 Schematic diagram of the front view of the multi-modal fire-fighting quadruped robot of the present invention; Figure 2 It is an enlarged structural schematic diagram of the mounting plate portion of the present invention; Figure 3 Schematic diagram of the cross-sectional structure of the bellows portion of the present invention; Figure 4 It is an enlarged structural schematic diagram of the L-shaped movable plate portion of the present invention; Figure 5 This is a schematic diagram of the exploded structure of the return spring portion of the present invention; Figure 6 Schematic diagram of the cross-sectional structure of the switch pin portion of the present invention; Figure 7 This is an enlarged structural diagram of the sensing module mounting plate portion of the present invention; Figure 8 It is a schematic diagram of the internal structure of the single chip microcomputer chip part of the present invention.

[0018] Legend: 1. Multimodal firefighting quadruped robot body; 2. Mounting plate; 3. Electric shaft; 4. Water gun base; 5. Fire extinguishing spray gun; 6. Telescopic nozzle; 7. Connecting rod; 8. Connecting cable; 9. Fixed pulley body; 10. Counterweight body; 11. Water pipe; 12. Bellows body; 13. Protective inner tube; 14. Protective outer tube; 15. Annular slide; 16. L-shaped movable plate; 17. Movable wheel of movable plate; 18. Movable plate slide; 19. Movable wheel of counterweight; 20. External joint of water pipe; 21. Telescopic rod; 22. Return spring; 23. Cable connecting block; 24. Switch pin shaft; 25. Switch pin body; 26. Switch pin spring; 27. Fixed pin; 28. Water storage tank; 29. Support column; 30. Sensing module mounting plate; 31. Cable slide; 32. Visible light camera; 33. Infrared thermal imager; 34. Single-chip microcomputer chip. DETAILED DESCRIPTION

[0019] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0020] According to one embodiment of the present invention, Figures 1 to 8 Shown.

[0021] When the existing multimodal fire-fighting quadruped robot is in operation, it is necessary to dynamically adjust the extension length of the fire-fighting nozzle according to the fire situation, so as to accurately control the injection distance, coverage and pressure form of the fire-fighting agent to improve the fire-fighting efficiency. However, in the actual operation process, when the fire-fighting nozzle is adjusted in length, it will inevitably cause the center of gravity of the robot to shift, which will cause the self-balance of the quadruped robot to be broken. The essence of this phenomenon is the coupling imbalance between the inertia torque caused by the extension and retraction of the nozzle and the anti-overturning ability of the quadruped support system. If this imbalance state is not controlled in a timely and effective manner, it may eventually cause the quadruped robot to tilt and overturn, or even a rollover accident, which will have a serious impact on the smooth progress of the fire-fighting operation and the safety of the equipment itself. In order to solve this problem, the present invention has made the following design on the multimodal fire-fighting quadruped robot: a multimodal fire-fighting quadruped robot, comprising: a multimodal fire-fighting quadruped robot body 1, the top of the multimodal fire-fighting quadruped robot body 1 is fixedly connected with a mounting plate 2, the multimodal fire-fighting quadruped robot body 1 and the mounting plate 2 are connected with a detachable structure, when the device needs to be maintained and repaired, the multimodal fire-fighting quadruped robot body 1 and the mounting plate 2 can be disassembled to facilitate maintenance and repair, the top of the mounting plate 2 is movably connected with an electric rotating shaft 3, the electric rotating shaft 3 is a composite component that integrates a motor drive system and a mechanical rotation structure, and its essence is to realize the rotation of components around a fixed axis by converting electrical energy into mechanical energy. Rotational motion control, the top center position of the electric rotating shaft 3 is fixedly connected to a water gun base 4, the water gun base 4 is used to control the operation of water spraying, the top of the water gun base 4 is fixedly connected to a fire extinguishing spray gun 5, and the side of the fire extinguishing spray gun 5 is provided with a telescopic nozzle 6, the telescopic nozzle 6 can adjust its own length according to the actual situation of the fire to meet different usage requirements, effectively improving the flexibility of the multimodal fire-fighting quadruped robot body 1, the top of the telescopic nozzle 6 is fixedly connected to a connecting rod 7, the side of the connecting rod 7 is fixedly connected to a connecting cable 8, the outer wall of the connecting cable 8 is engaged and connected to a fixed pulley body 9, the fixed pulley is a pulley device with a fixed axis position, which is a kind of simple machine. Its core feature is that the rope or conveyor belt passing around the pulley transmits force, and the fixed pulley is a kind of simple machine. The pulley cannot save effort or distance, but it can change the direction of force. The fixed pulley can be regarded as an equal-arm lever. The axis of the pulley is equivalent to the fulcrum of the lever. The length of the force arm at both ends of the rope is equal. Therefore, the power and resistance are equal. Only the direction of the force is changed. The cooperative work of the connecting cable 8 and the fixed pulley body 9 is used to change the direction of the force, so that it produces an opposite force to meet the balance requirement. A counterweight body 10 is provided at one end of the fixed pulley body 9. The counterweight body 10 is used to maintain the balance of the multimodal fire-fighting quadruped robot body 1 to avoid the imbalance of the multimodal fire-fighting quadruped robot body 1 during work. A storage water tank 28 is provided inside the counterweight body 10, and a water pipe 11 is fixedly connected to the top of the counterweight body 10.A bellows body 12 is fixedly connected to the side of the water pipe 11. Bellows body 12 can be extended and shortened. A bellows is a tubular element with a periodic corrugated structure, usually made of metal or non-metallic materials. Its core feature is the regular corrugations distributed along the axial direction. This structure gives it a certain elastic deformation ability in the axial, radial, or angular directions, thereby achieving specific functions. The bellows body 12 is fixedly connected to the fire extinguishing spray gun 5. The outer wall of the bellows body 12 is surrounded by a protective inner tube 13, which is fixedly connected to the water pipe 11. The outer wall of the protective inner tube 13 is surrounded by a protective outer tube 14, which is fixedly connected to the fire extinguishing spray gun 5.

[0022] When the device is in use, according to the fire situation, when a large-scale spraying is required, the fire extinguishing spray gun 5 is started, the telescopic nozzle 6 is operated to spray, the external pipe is connected to the water pipe external joint 20, and the water source is replenished to the storage tank 28 inside the counterweight block body 10. The water source passes through the water pipe 11 and the bellows body 12 in turn to reach the fire extinguishing spray gun 5. At this time, the bellows body 12 is in a contracted state, and the opening of the pipe becomes larger, which eventually leads to an increase in the total water pressure, so that the multimodal fire-fighting quadruped robot body 1 can perform long-range coverage while being away from the fire source. At this time, the water flow is sprayed out in a jet shape to construct a fire isolation zone, reducing the damage of high temperature to the sensor and the body. When it is needed During precise fire extinguishing, the telescopic nozzle 6 begins to extend, and the telescopic nozzle 6 drives the connecting rod 7 to extend synchronously. The connecting rod 7 pulls the connecting cable 8 to move, and the connecting cable 8 drives the counterweight body 10 to move in the opposite direction after passing through the fixed pulley body 9. The weight of the counterweight body 10 is used to offset the imbalance caused by the extension of the telescopic nozzle 6, effectively ensuring the balance of the quadruped robot. As the counterweight body 10 moves, the bellows body 12 is in an elongated state under the action of the counterweight body 10. Since the pipe opening is reduced, the total water pressure is eventually reduced, which not only reduces the recoil force of the water spray, but also the water flow will accurately aim at the fire source in a more concentrated and fine beam, thereby realizing precise fire extinguishing of the device.

[0023] The mutual cooperation between the counterweight block body 10 and the telescopic nozzle 6 forms a lever balancing system. When the nozzle is extended and the weight of the front end of the robot increases, the counterweight block moves backward to increase the torque at the rear end, offsetting the center of gravity offset and preventing the robot from tipping over due to imbalance of the center of gravity. No complex sensor real-time calibration is required. Dynamic balance is achieved through a pure mechanical structure, which reduces the complexity of the control system and improves the stability of the multi-modal fire-fighting quadruped robot body 1 during operation. When the multi-modal fire-fighting quadruped robot body 1 is in operation, it adjusts the extension and retraction according to the actual situation at the fire scene. The length of the retractable nozzle 6 is shortened, and the counterweight body 10 is used to cooperate with the adjustment of the telescopic nozzle 6 to maintain dynamic balance. The movement of the counterweight body 10 drives the extension and shortening of the bellows body 12. The state of the bellows body 12 will change the size of the total water pressure in real time. When the bellows body 12 is extended, the total water pressure becomes smaller, and when the bellows body 12 is shortened, the total water pressure becomes larger. When the water pressure becomes smaller, the water flow is sprayed out in a thin beam, which is suitable for accurately striking the fire source. When the water pressure becomes larger, the water flow spreads in a fan shape or mist shape, covering a wide area, which is suitable for quickly suppressing large-scale fires.

[0024] An annular chute 15 is provided on the outer wall of the mounting plate 2, an L-shaped movable plate 16 is fixedly connected to the side of the electric rotating shaft 3, a movable plate movable wheel 17 is installed at the bottom of the L-shaped movable plate 16, the movable plate movable wheel 17 is located inside the annular chute 15, a movable plate chute 18 is provided inside the L-shaped movable plate 16, a counterweight block movable wheel 19 is fixedly connected to the bottom of the counterweight block body 10, the counterweight block movable wheel 19 is located in the movable plate chute 18, the outer wall of the counterweight block body 10 is fixedly connected to the water pipe external joint 20, the side of the counterweight block body 10 is fixedly connected to the telescopic rod 21, the telescopic rod 21 is fixedly connected to the L-shaped movable plate 16, and the outer wall of the telescopic rod 21 is annular. A return spring 22 is wound around it, and both ends of the return spring 22 are fixedly connected to the counterweight body 10 and the L-shaped movable plate 16 respectively. One end of the connecting cable 8 is fixedly connected to the cable connecting block 23, and the bottom of the cable connecting block 23 is fixedly connected to the switch pin shaft 24. The switch pin shaft 24 and the counterweight body 10 are rotationally connected. The outer wall of the switch pin shaft 24 is fixedly connected to the switch pin body 25, and the top of the switch pin body 25 is fixedly connected to the switch pin spring 26. The switch pin spring 26 and the counterweight body 10 are fixedly connected. The bottom of the switch pin body 25 is engaged with a fixing pin 27, and the fixing pin 27 and the L-shaped movable plate 16 are fixedly connected.

[0025] When the counterweight body 10 is in the initial position, the switch pin body 25 and the fixed pin 27 are engaged together to ensure the stability of the counterweight body 10. When the counterweight body 10 moves under the action of the connecting cable 8, the connecting cable 8 pulls the cable connecting block 23 to rotate around the switch pin shaft 24, the switch pin spring 26 is squeezed and contracted, and the engaging relationship between the switch pin body 25 and the fixed pin 27 disappears. The counterweight body 10 can move. When the counterweight body 10 moves, the telescopic rod 21 and the return spring 22 are extended. When the counterweight body 10 needs to return to its initial position, the return spring 22 pulls the counterweight body 10 to its initial position. At this time, under the elastic action of the switch pin spring 26, the switch pin body 25 and the fixed pin 27 are engaged and connected.

[0026] When the multimodal fire-fighting quadruped robot body 1 is working, it needs to adjust the angle. At this time, the electric shaft 3 starts to rotate, and the electric shaft 3 drives the L-shaped movable plate 16 to rotate. A movable plate movable wheel 17 is provided at the bottom of the L-shaped movable plate 16. The movable plate movable wheel 17 moves in the annular slide groove 15, which is conducive to assisting the L-shaped movable plate 16 to move. A counterweight movable wheel 19 is provided at the bottom of the counterweight block body 10. The counterweight movable wheel 19 is used to cooperate with the movement of the counterweight block body 10. When the device is rotating, due to the large weight of the counterweight block, it may cause large resistance to the rotation of the electric shaft 3. Through the cooperation of the movable plate movable wheel 17 and the counterweight movable wheel 19, the rotation resistance of the electric shaft 3 can be effectively alleviated, ensuring the smooth rotation of the electric shaft 3.

[0027] The multimodal fire-fighting quadruped robot body 1 is equipped with multimodal components. By integrating multiple types of sensors and constructing a data fusion algorithm, the multimodal fire-fighting quadruped robot body 1 can effectively ensure the accuracy of fire identification and avoid identification errors. In order to improve the accuracy of fire identification by the multimodal fire-fighting quadruped robot body 1, the following structure is designed: the top side position of the electric shaft 3 is fixedly connected to a support column 29, the top of the support column 29 is fixedly connected to a sensing module mounting plate 30, the outer wall of the sensing module mounting plate 30 is fixedly connected to a cable slide 31, and the cable slide 31 and the connecting cable 8 are snap-fitted. A visible light camera 32 is fixedly connected to one side of the top of the sensing module mounting plate 30. The visible light camera 32 is an optical imaging device that captures light information within the visible spectrum of the human eye and converts it into electrical signals or digital images. Its working principle is based on the refraction and focusing of visible light by an optical lens, combined with an image sensor to convert light signals into electronic signals, and finally a recognizable image or video is formed through signal processing. The other side of the top of the sensing module mounting plate 30 An infrared thermal imager 33 is fixedly connected. The infrared thermal imager 33 is a device that detects infrared radiation emitted by an object and converts it into a visual thermal image. Its operation is based on the blackbody radiation theory. Any temperature above absolute zero will radiate infrared energy outward, and the higher the temperature, the stronger the radiation energy. The instrument receives these radiations through an infrared detector, and after signal processing, it converts them into images of different colors or grayscales, intuitively presenting the temperature distribution on the surface of the object. The visible light camera 32 is used for visually identifying flames, and the infrared thermal imager 33 is used to locate high-temperature areas. A single-chip microcomputer chip 34 is fixedly connected to the interior of the multimodal fire-fighting quadruped robot body 1. The single-chip microcomputer chip 34 is a microcomputer system that integrates a central processing unit, memory, input and output interfaces, timers, counters and other functional modules on a single silicon chip. It is also called a microcontroller. Its essence is a special-purpose computer for control scenarios. It can realize automatic control of various electronic equipment through programming. The single-chip microcomputer chip 34 is used to receive and process data transmitted by the visible light camera 32 and the infrared thermal imager 33.

[0028] The visible light camera 32 and the infrared thermal imager 33 are used in conjunction to capture flames and identify temperature distribution. The flame shape is visually identified, and then thermal imaging is performed to locate the high-temperature area. Then, the visible light camera 32 and the infrared thermal imager 33 transmit the read data to the single-chip microcomputer chip 34. The single-chip microcomputer chip 34 processes and drives the multimodal fire-fighting quadruped robot body 1 to perform fire-fighting operations. The visible light camera 32 captures the dynamic spread trend of the flame, and the infrared thermal imaging tracks the rate of change of the temperature field. By fusing the optical flow method with the heat flow method, the direction of fire spread is predicted. The use of the visible light camera 32 and the infrared thermal imager 33 in conjunction avoids the risk of failure of a single sensor. These sensors operate in a collaborative working mode. For example, in a thick smoke environment, the field of view of the visible light camera 32 is limited, and the infrared thermal imaging becomes the main data source. By complementing multi-source information, misjudgment caused by environmental interference by a single sensor is avoided.

[0029] The technical scope of the present invention is not limited to the contents of the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A multi-modal fire-fighting quadruped robot, characterized in that: include: A multimodal fire-fighting quadruped robot body, the top of the multimodal fire-fighting quadruped robot body is fixedly connected to a mounting plate, the top of the mounting plate is movably connected to an electric rotating shaft, the top center position of the electric rotating shaft is fixedly connected to a water gun base, the top of the water gun base is fixedly connected to a fire-extinguishing spray gun, a telescopic nozzle is provided on the side of the fire-extinguishing spray gun, the top of the telescopic nozzle is fixedly connected to a connecting rod, the side of the connecting rod is fixedly connected to a connecting cable, the outer wall of the connecting cable is snap-connected to a fixed pulley body, one end of the fixed pulley body is provided with a counterweight body, a water storage tank is provided inside the counterweight body, the top of the counterweight body is fixedly connected to a water pipe, the side of the water pipe is fixedly connected to a bellows body, the bellows body is fixedly connected to the fire-extinguishing spray gun, the outer wall of the bellows body is surrounded by a protective inner tube, the protective inner tube is fixedly connected to the water pipe, the outer wall of the protective inner tube is surrounded by a protective outer tube, and the protective outer tube is fixedly connected to the fire-extinguishing spray gun.

2. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: An annular slide groove is provided on the outer wall of the mounting plate, an L-shaped movable plate is fixedly connected to the side of the electric rotating shaft, a movable plate movable wheel is installed at the bottom of the L-shaped movable plate, the movable plate movable wheel is located inside the annular slide groove, and a movable plate slide groove is provided inside the L-shaped movable plate.

3. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: The bottom of the counterweight body is fixedly connected with a counterweight movable wheel, the counterweight movable wheel is located in the movable plate slide groove, and the outer wall of the counterweight body is fixedly connected with an external joint of the water pipe.

4. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: A telescopic rod is fixedly connected to the side of the counterweight body, and the telescopic rod is fixedly connected to the L-shaped movable plate. A return spring is surrounded by the outer wall of the telescopic rod, and the two ends of the return spring are fixedly connected to the counterweight body and the L-shaped movable plate respectively.

5. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: One end of the connecting cable is fixedly connected to a cable connecting block, the bottom of the cable connecting block is fixedly connected to a switch pin rotating shaft, and the switch pin rotating shaft is rotationally connected to the counterweight body.

6. The multimodal fire-fighting quadruped robot according to claim 5, characterized in that: The outer wall of the switch pin shaft is fixedly connected to the switch pin body, the top of the switch pin body is fixedly connected to the switch pin spring, the switch pin spring and the counterweight body are fixedly connected, the bottom of the switch pin body is snap-connected with a fixing pin, and the fixing pin and the L-shaped movable plate are fixedly connected.

7. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: A support column is fixedly connected to the top side of the electric shaft, a sensing module mounting plate is fixedly connected to the top of the support column, a cable chute is fixedly connected to the outer wall of the sensing module mounting plate, and the cable chute is snap-fitted to the connecting cable.

8. The multimodal fire-fighting quadruped robot according to claim 7, characterized in that: A visible light camera is fixedly connected to one side of the top of the perception module mounting plate, and an infrared thermal imager is fixedly connected to the other side of the top of the perception module mounting plate.

9. The multimodal fire-fighting quadruped robot according to claim 8, characterized in that: The visible light camera is used for visually identifying flames, and the infrared thermal imager is used for locating high-temperature areas.

10. The multimodal fire-fighting quadruped robot according to claim 1, characterized in that: A single-chip microcomputer chip is fixedly connected to the interior of the multimodal fire-fighting quadruped robot body, and the single-chip microcomputer chip is used to receive and process data transmitted by the visible light camera and the infrared thermal imager.

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