Four-foot fire extinguisher robot and unmanned micro station

Abstract

The invention relates to the technical field of fire fighting, in particular to a four-foot fire extinguisher robot and an unmanned micro station. According to the technical scheme, the unmanned micro station is divided into a quadruped robot supply area and an unmanned aerial vehicle supply area, a lifting table, a dry powder filling machine, a gas tank and an electric sliding table are installed in the quadruped robot supply area, the electric sliding table comprises an installation base, and a rotating disc is installed on the installation base; the rotating disc is provided with an air blowing pipe and a material conveying insertion pipe which communicate with the dry powder filling machine and the outlet end of the gas tank correspondingly, and an intelligent power supply system is arranged in the unmanned micro station and comprises an unmanned aerial vehicle charging unit and a quadruped robot charging unit. The unmanned micro station is arranged near the fire-fighting operation area, so that both the quadruped robot and the unmanned aerial vehicle have a mode of supplying at any time, the fire behavior development can be effectively controlled, and the fire extinguishing timeliness and safety are ensured and improved.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to a four-legged fire extinguisher robot and an unmanned micro station. Background Art

[0002] Fires often cause significant loss of life and property. Timely and effective firefighting equipment can nip fires in the bud. With the advancement of industrial automation and intelligentization, the use of quadruped robots and drones in firefighting is increasing. Quadruped robots, with their excellent terrain adaptability, can quickly maneuver and extinguish fires at complex fire scenes. Drones can quickly detect and assess fire activity.

[0003] The document with publication number CN119607474A points out that the quadruped robot equipment currently used for firefighting mostly has reconnaissance and search and rescue functions, but lacks effective integrated devices for fire extinguishing, and is unable to deal with the fire source in a timely manner, affecting the overall rescue efficiency.

[0004] Document CN110302488A states that with the development of drone and artificial intelligence technologies, drones are now being used for firefighting. Under the unified command and control of a command center, drones are used to scout fire sources. Based on this information, the command center issues firefighting instructions to the drones, which then conduct firefighting operations. However, this method suffers from issues such as excessive reliance on satellite navigation, unstable communication with ground stations, and limited ability to respond to changes in the fire.

[0005] Therefore, it can be concluded that most of the existing methods are aimed at improving the communication and fire source treatment of unmanned equipment in terms of system methods.

[0006] In practice, it can be found that, first of all, in the four groups of robots extinguishing fires, fire extinguishers are installed on all four groups of robots, and then intelligent supporting hardware equipment is added to achieve the effect of intelligent fire extinguishing. However, this approach, which often focuses on intelligence while ignoring hardware integration, will cause the internal pressure of the fire extinguisher to increase abnormally due to the high temperature in the high-temperature fire scene. When the pressure exceeds the fire extinguisher's limit, there is a risk of explosion, which will not only render the fire extinguisher ineffective, but also cause harm to surrounding people and objects. In addition, various objects may fall, collapse, or collide with people and equipment in the fire scene. After the fire extinguisher is subjected to severe collisions or impacts, the internal structure may be damaged, such as valve damage, bottle rupture, etc., which may cause the fire extinguishing agent to leak or fail to spray normally.

[0007] Furthermore, quadruped robots and drones are being used in firefighting applications. Currently, the fire extinguishers carried by quadruped robots have limited capacity, while drones have limited operating range and battery life. During prolonged firefighting operations or large fires, the extinguishing agent can easily run out, leading to mission interruptions. Drones, on the other hand, require frequent recharging. Existing solutions typically involve manually replacing fire extinguishers or retrieving the robots before recharging, which poses a safety risk for manual labor in dangerous fire scenes. Drones require battery replacement or recharging, both of which are inefficient. Summary of the Invention

[0008] The purpose of the present invention is to address the problems existing in the background technology and to propose a four-legged fire extinguisher robot and an unmanned micro station.

[0009] The technical solution of the present invention is as follows: a four-legged fire extinguisher machine includes a fire extinguishing agent tank body and a stable seat. The stable seat includes a stable shell fixed on the four-legged robot. A stable mounting platform fixedly connected to the fire extinguishing agent tank body is provided in the stable shell. Buffer oil cylinders are installed on both sides of the stable mounting platform. The fire extinguishing agent tank body includes an insulation layer and a protective layer. The fire extinguishing agent tank body is also provided with a filling head and a fire extinguishing agent nozzle.

[0010] Preferably, the fire extinguishing agent tank body consists of an inner tank, an isolation tank and an outer shell which are sequentially installed, an insulation layer is formed between the inner tank and the isolation tank, an aerogel layer is provided between the inner tank and the isolation tank, a protective layer is formed between the isolation tank and the outer shell, and an insulation cotton layer and a buffer layer are provided between the isolation tank and the outer shell.

[0011] Preferably, a number of reinforcing support plates are installed at equal intervals between the inner tank, the isolation tank and the outer shell, and the reinforcing support plates on both sides are fixed with heat dissipation fins that penetrate the outer shell.

[0012] Preferably, a cooling device is installed on both sides of the stabilizing shell, the cooling device includes an induced draft shell, and the heat dissipation fins are located in the induced draft shell. The cooling device also includes an auxiliary oil cylinder fixed between adjacent buffer oil cylinders, and the liquid outlet end of the buffer oil cylinder is connected to the auxiliary oil cylinder. The auxiliary oil cylinder includes an auxiliary piston rod, and the auxiliary piston rod is equipped with a movable plate that can move in the induced draft shell. The movable plate includes a sponge wipe, and the heat dissipation fins are located in the sponge wipe, and the sponge wipe is adsorbed with fire foam liquid.

[0013] Preferably, buffer cylinders are provided on both sides of the four corners of the stable mounting platform, the auxiliary cylinder is installed between the buffer cylinders on the same side, and a shock-absorbing spring is fixedly installed between the middle of the stable mounting platform and the stable shell.

[0014] Preferably, a temperature sensor, a pressure sensor and a pressure relief valve are provided in the fire extinguishing agent tank.

[0015] An unmanned micro station includes a four-legged robot supply area and a UAV supply area. The four-legged robot supply area is equipped with a lifting platform, a dry powder filling machine, a gas tank and an electric slide. The electric slide includes a mounting seat, a rotating disk is installed on the mounting seat, and the rotating disk is provided with an air blowing pipe and a material feeding cannula connected to the dry powder filling machine and the gas tank outlet end respectively. The unmanned micro station is equipped with an intelligent power supply system, which is divided into a UAV charging unit and a four-legged robot charging unit.

[0016] Preferably, an ultrasonic vibrator is installed at the dry powder filling machine, a laser locator is installed on the mounting seat, a pressure detector and an electromagnetic lock are provided on the feed tube, and a protective door installed on the unmanned micro station is provided outside the drone supply area.

[0017] Compared with the existing technology, the beneficial effects of the present invention are: By setting up an unmanned micro-station near the firefighting operation area, the present invention enables both the quadruped robot and the drone to be resupplied at any time, which can effectively control the development of the fire and ensure and improve the timeliness and safety of fire extinguishing.

[0018] The present invention installs a fire extinguishing agent tank and a stabilizing seat on a quadruped robot. The fire extinguishing agent tank includes a heat insulation layer and a protective layer. Compared with directly installing an existing fire extinguisher, the present invention greatly improves the high temperature resistance and impact resistance during use, ensures the safety of use, and can be docked with an unmanned micro station to replenish the fire extinguishing agent, so that it can operate for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 Schematic diagram of the structure of the quadruped robot of the present invention; Figure 3 This is a schematic structural diagram of an unmanned micro station of the present invention; Figure 4 It is a structural schematic diagram of the stabilizing seat of the present invention; Figure 5 It is a structural schematic diagram of the fire extinguishing agent tank of the present invention; Figure 6 Schematic diagram of the installation structure of the heat dissipation fins of the present invention; Figure 7 This is a schematic diagram of the installation structure of the auxiliary oil cylinder of the present invention.

[0020] Reference numerals: 1. unmanned microstation; 2. fire extinguishing agent tank; 3. stabilizing base; 4. fire extinguishing agent nozzle; 5. filling head; 6. pressure sensor; 7. pressure relief valve; 8. temperature sensor; 9. cooling device; 11. quadruped robot supply area; 111. lifting platform; 112. dry powder filling machine; 113. gas tank; 114. electric slide; 115. mounting base; 116. rotating disk; 117. air blowpipe; 118. feeding cannula; 12. drone supply area; 121. drone charging unit; 122. Charging unit of quadruped robot; 21. Inner tank; 22. Isolation tank; 23. Outer shell; 24. Reinforced support plate; 25. Heat dissipation fins; 26. Aerogel layer; 27. Insulation cotton layer; 28. Buffer layer; 31. Stable shell; 32. Stable mounting platform; 33. Buffer cylinder; 34. Shock-absorbing spring; 91. Auxiliary cylinder; 92. Auxiliary piston rod; 93. Moving plate; 94. Sponge; 95. Draft shell; 100. Quadruped robot; 200. UAV; 300. Laser locator. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Refer to the attached Figure 2 、 4 , 5, 6 and 7, a four-legged fire extinguisher robot, including a fire extinguishing agent tank body 2 and a stable seat 3, the stable seat 3 includes a stable shell 31 fixed on the four-legged robot 100, and a stable mounting platform 32 fixedly connected to the fire extinguishing agent tank body 2 is provided in the stable shell 31, and buffer oil cylinders 33 are installed on both sides of the stable mounting platform 32. The fire extinguishing agent tank body 2 includes a heat insulation layer and a protective layer. The fire extinguishing agent tank body 2 is also provided with a filling head 5, and the fire extinguishing agent tank body 2 is provided with a fire extinguishing agent nozzle 4.

[0023] The fire extinguishing agent tank body 2 and the stabilizing seat 3 are provided in the present invention, so that the fire extinguishing agent can be protected from the harm of high temperature and can be ensured not to be damaged by external forces during use.

[0024] Specifically, the fire extinguishing agent tank body 2 is composed of an inner tank 21, an isolation tank 22 and an outer shell 23 which are sequentially arranged. An insulation layer is formed between the inner tank 21 and the isolation tank 22, an aerogel layer 26 is provided between the inner tank 21 and the isolation tank 22, a protective layer is formed between the isolation tank 22 and the outer shell 23, and an insulation cotton layer 27 and a buffer layer 28 are provided between the isolation tank 22 and the outer shell 23.

[0025] In this embodiment, the inner tank 21 is made of high-temperature resistant carbon fiber-ceramic matrix composite material, which has the characteristics of high strength and low density and can withstand high temperatures of up to 1000°C. In addition, nano-scale thermal insulation particles are added inside the material to further reduce the heat conduction efficiency and effectively reduce the impact of external high temperatures on the electronic components and control modules inside the fuselage.

[0026] The isolation tank 22 is made of titanium alloy and coated with a multi-layer, high-temperature-resistant thermal insulation coating. This coating, a composite of ceramic fiber and high-temperature-resistant resin, reflects over 90% of thermal radiation while offering excellent corrosion resistance. This protects the extinguisher's internal structure and the stability of the extinguishing agent in high-temperature and complex fire environments. The outer shell 23 is made of steel, which offers high strength and low cost, making it a promising material for widespread use.

[0027] It should also be noted that the aerogel layer 26 has an extremely low thermal conductivity coefficient and can effectively block heat transfer. At the same time, the thermal insulation cotton layer 27 is filled with thermal insulation materials such as ceramic fiber and rock wool, and this material can effectively absorb impact force. A buffer layer 28 is designed in the area where the quadruped robot 100 body contacts the fire extinguisher. The buffer layer 28 is filled with inert gas to further enhance the thermal insulation effect and prevent heat from the body from being transferred to the fire extinguisher, also preventing the heat generated by the high temperature of the fire extinguisher from affecting the internal system of the body.

[0028] In addition, it should be noted that a number of reinforcing support plates 24 are installed at equal intervals between the inner tank 21 , the isolation tank 22 and the outer shell 23 , and the reinforcing support plates 24 on both sides are fixed with heat dissipation fins 25 that pass through the outer shell 23 .

[0029] In addition, cooling devices 9 are installed on both sides of the stabilizing seat 3, and the cooling device 9 includes an induced draft shell 95, and the heat dissipation fins 25 are located in the induced draft shell 95. The cooling device 9 also includes an auxiliary oil cylinder 91 fixed between adjacent buffer oil cylinders 33, and the liquid outlet end of the buffer oil cylinder 33 is connected to the auxiliary oil cylinder 91. The auxiliary oil cylinder 91 includes an auxiliary piston rod 92, and the auxiliary piston rod 92 is equipped with a movable plate 93 that can move in the induced draft shell 95. The movable plate 93 includes a sponge wipe 94, and the heat dissipation fins 25 are located in the sponge wipe 94, and the sponge wipe 94 is adsorbed with fire foam liquid.

[0030] Buffer cylinders 33 are provided on both sides of the four corners of the stable mounting platform 32 , the auxiliary cylinder 91 is installed between the buffer cylinders 33 on the same side, and a shock-absorbing spring 34 is fixedly installed between the middle of the stable mounting platform 32 and the stable shell 31 .

[0031] During operation, when the quadruped robot 100 moves with the fire extinguisher tank 2, high temperatures are blocked by the aerogel layer 26. In the event of an external impact, the outer shell 23 withstands the impact force, while the reinforcing plate 24 enhances the support strength. Subsequent vibrations cause the stabilizing mounting platform 32 to float, causing the piston rod of the buffer cylinder 33 to work, forcing the oil in the buffer cylinder 33 into the auxiliary cylinder 91. At this time, the shock-absorbing spring 34 is also compressed. The buffer cylinder 33 and shock-absorbing spring 34 absorb the floating caused by impact or movement of the quadruped robot 100, thus maintaining the stability of the fire extinguisher tank 2.

[0032] As the ambient temperature continues to rise, the heat dissipation fins 25 can achieve the effect of heat dissipation, and when the stable mounting platform 32 floats, oil is input into the auxiliary oil cylinder 91, thereby causing the auxiliary piston rod 92 of the auxiliary oil cylinder 91 to move, so that the auxiliary piston rod 92 can drive the sponge 94 to move in the induced draft shell 95. The sponge 94 contacts the heat dissipation fins 25, so that the fire foam liquid adsorbed on the sponge 94 wipes the heat dissipation fins 25 to cool it down.

[0033] The foam liquid has good cooling and heat insulation properties. It can not only reduce the temperature of the heat dissipation fins, but also form a protective film on their surface to isolate the air and prevent the fins from further heating.

[0034] A temperature sensor 8 is installed in the fire agent tank body 2, and a pressure sensor 6 and a pressure relief valve 7 are provided. The temperature sensor 8 can monitor the problems in the fire extinguishing agent tank body 2 in real time to prevent the pressure in the fire extinguishing agent tank body 2 from being too high due to high temperature. When the pressure is too high, it will also be monitored by the pressure sensor 6 at the same time. The pressure relief valve 7 is electrically connected to the control system of the quadruped robot 100, and the quadruped robot 100 will open the pressure relief valve 7 to release the pressure out of the fire extinguishing agent tank body 2.

[0035] Refer to the attached Figure 1-7 The present invention also discloses an unmanned micro station for placing or loading the above-mentioned four-legged fire extinguisher robot. The unmanned micro station 1 includes a four-legged robot supply area 11 and a drone supply area 12. The four-legged robot supply area 11 is equipped with a lifting platform 111, a dry powder filler 112, a gas tank 113 and an electric slide 114. The electric slide 114 includes a mounting seat 115, on which a rotating disk 116 is mounted. The rotating disk 116 is provided with an air blowing pipe 117 and a material feeding plug 118 respectively connected to the outlet ends of the dry powder filler 112 and the gas tank 113. The unmanned micro station 1 is provided with an intelligent power supply system, which is divided into a drone charging unit 121 and a four-legged robot charging unit 122.

[0036] The existing quadruped robot 100 and drone 200 are connected via wireless signals in the fire area. The drone 200 is used to detect the fire situation and judge the development of the fire, and provide the quadruped robot 100 with a specific fire-fighting path. The quadruped robot 100 also has a perception system built with intelligent hardware, including cameras, infrared sensors, and laser radars. Therefore, the quadruped robot 100 has the kinetic energy to extinguish the fire on the spot. These are all existing technologies, so I will not go into details here.

[0037] The present invention addresses the resupply operations for the quadruped robot 100 and the drone 200 during firefighting, including continuously supplying fire extinguishing agent to the quadruped robot 100 and charging the drone 200. It also addresses the issues that existing fire extinguishers, when installed on the quadruped robot 100, may face, such as the need to protect against damage caused by high temperatures, high pressures, and severe collisions or vibrations.

[0038] This solution involves placing an unmanned microstation 1 outside the fire area. The unmanned microstation 1 is divided into a quadruped robot supply area 11 and a drone supply area 12. It has the functions of adding fire extinguishing agent to the quadruped robot 100 and charging the drone 200 to meet the needs of long-term fire fighting operations.

[0039] Specifically, the quadruped robot 100 moves to the quadruped robot supply area 11, and the gas tank 113 is started to blow out the residual impurities through the blowing pipe 117 to the filling head 5, and then the dry powder filling machine 112 is started to connect with the filling head 5 through the feeding tube 118, so that the fire extinguishing agent is input into the fire extinguishing agent tank body 2, thereby meeting the supply requirements of the fire extinguishing agent tank body 2.

[0040] In addition, the drone 200 can be charged through the drone charging unit 121, and the quadruped robot charging unit 122 can charge the quadruped robot 100.

[0041] It should be noted that in this embodiment, the drone charging unit 121 uses an automatic charging plate using electromagnetic induction or contact charging technology. Electromagnetic induction charging achieves energy transmission through magnetic field coupling, while contact charging transmits electrical energy through electrodes in physical contact. It includes a charging plate body, a control circuit, a power module, etc. The quadruped robot charging unit 122 uses wireless charging technologies such as electromagnetic induction or magnetic resonance. When the quadruped robot is located in the wireless charging area, electrical energy can be transmitted to the robot's battery through the magnetic field. It includes a wireless charging transmitter and a receiver. The transmitter includes a power supply, an inverter, a coil, etc., which is responsible for generating an alternating magnetic field. The receiver is installed on the quadruped robot 100 and includes a coil, a rectifier, a battery management circuit, etc., which is used to receive magnetic field energy and convert it into electrical energy to charge the battery. These are all existing technologies, so they will not be described in detail here.

[0042] Finally, in this embodiment, an ultrasonic vibrator is installed at the dry powder filling machine 112, a laser locator 300 is installed on the mounting base 115, a pressure detector and an electromagnetic lock are provided on the feed tube 118, and a protective door installed on the unmanned micro station 1 is provided outside the drone supply area 12.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0045] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A four-legged fire extinguisher robot, characterized in that: The invention comprises a fire extinguishing agent tank body (2) and a stabilizing seat (3), wherein the stabilizing seat (3) comprises a stabilizing shell (31) fixed on the quadruped robot (100), a stabilizing mounting platform (32) fixedly connected to the fire extinguishing agent tank body (2) is provided in the stabilizing shell (31), a buffer oil cylinder (33) is installed on both sides of the stabilizing mounting platform (32), the fire extinguishing agent tank body (2) comprises a heat insulation layer and a protective layer, the fire extinguishing agent tank body (2) is further provided with a filling head (5), and the fire extinguishing agent tank body (2) is provided with a fire extinguishing agent nozzle (4).

2. A quadruped fire extinguisher robot according to claim 1, characterized in that: The fire extinguishing agent tank body (2) is composed of an inner tank (21), an isolation tank (22) and an outer shell (23) which are sequentially mounted. A heat insulation layer is formed between the inner tank (21) and the isolation tank (22). An aerogel layer (26) is provided between the inner tank (21) and the isolation tank (22). A protective layer is formed between the isolation tank (22) and the outer shell (23). A heat insulation cotton layer (27) and a buffer layer (28) are provided between the isolation tank (22) and the outer shell (23).

3. A quadruped fire extinguisher robot according to claim 2, characterized in that: A plurality of reinforcing support plates (24) are installed at equal intervals between the inner tank (21), the isolation tank (22) and the outer shell (23), and the reinforcing support plates (24) on both sides are fixed with heat dissipation fins (25) that penetrate the outer shell (23).

4. A quadruped fire extinguisher robot according to claim 3, characterized in that: A cooling device (9) is installed on both sides of the stabilizing shell (31). The cooling device (9) includes an air induced draft shell (95). The heat dissipation fins (25) are located in the air induced draft shell (95). The cooling device (9) further includes an auxiliary oil cylinder (91) fixed between adjacent buffer oil cylinders (33). The liquid outlet end of the buffer oil cylinder (33) is connected to the auxiliary oil cylinder (91). The auxiliary oil cylinder (91) includes an auxiliary piston rod (92). The auxiliary piston rod (92) is equipped with a movable plate (93) movable in the air induced draft shell (95). The movable plate (93) includes a sponge (94). The heat dissipation fins (25) are located in the sponge (94). Firefighting foam liquid is adsorbed on the sponge (94).

5. The quadruped fire extinguisher robot according to claim 3, characterized in that: Buffer cylinders (33) are provided on both sides of the four corners of the stable mounting platform (32), the auxiliary cylinder (91) is installed between the buffer cylinders (33) on the same side, and a shock-absorbing spring (34) is fixedly installed between the middle of the stable mounting platform (32) and the stable housing (31).

6. The quadruped fire extinguisher robot according to claim 1, characterized in that: A temperature sensor (8), a pressure sensor (6) and a pressure relief valve (7) are provided in the fire extinguishing agent tank (2).

7. An unmanned microstation for placing the quadruped fire extinguisher robot according to claim 1, characterized in that: The unmanned micro-station (1) includes a quadruped robot supply area (11) and a drone supply area (12). The quadruped robot supply area (11) is equipped with a lifting platform (111), a dry powder filling machine (112), a gas tank (113) and an electric slide (114). The electric slide (114) includes a mounting base (115). A rotating disk (116) is installed on the mounting base (115). The rotating disk (116) is provided with an air blowing pipe (117) and a material feeding plug (118) which are respectively connected to the outlet ends of the dry powder filling machine (112) and the gas tank (113). An intelligent power supply system is provided in the unmanned micro-station (1), and the intelligent power supply system is divided into a drone charging unit (121) and a quadruped robot charging unit (122).

8. The quadruped fire extinguisher robot according to claim 7, characterized in that: An ultrasonic vibrator is installed at the dry powder filling machine (112), a laser positioning device (300) is installed on the mounting base (115), a pressure detector and an electromagnetic lock are provided on the feeding cannula (118), and a protective door installed on the unmanned micro station (1) is provided outside the drone supply area (12).

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