Tunnel fire directional fire extinguishing mechanical arm device

Abstract

The invention discloses a directional fire extinguishing mechanical arm device for tunnel fire, and belongs to the technical field of fire fighting equipment. The directional fire extinguishing mechanical arm device for the tunnel fire comprises a base unit fixed to the top of a tunnel, and the base unit comprises a frame, a damping assembly and an environment monitoring module; the four-degree-of-freedom mechanical arm module comprises a horizontal rotating joint, a vertical pitching joint, a telescopic arm, a tail end spray head posture adjusting joint and a tail end spray head; the multi-mode fire source positioning unit comprises an infrared thermal imager, a multispectral flame detector and a laser radar; the intelligent injection control unit comprises a path planning algorithm module, a motion controller and a fire extinguishing agent flow adjusting system; the extreme environment resistant protection structure comprises a composite ceramic coating, an aerogel heat insulation sleeve and a nitrogen positive pressure cavity. According to the device, in a simulation test, 18-second fire source hitting is achieved, 10 m < 2 > oil fire is extinguished in 20 seconds, fire extinguishing agent consumption is reduced by 62%, and the rapid inhibition capacity and safety of tunnel fire are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting equipment, and specifically to a tunnel fire directional fire-fighting mechanical arm device fixed to the top or side wall of a tunnel, which is suitable for efficient fire-fighting in narrow and enclosed spaces such as tunnels and underground pipe galleries. Background Art

[0002] Tunnels, as a key component of modern transportation networks, are enclosed, confined, and difficult to escape, making fire one of the most serious potential hazards. Statistics show that the probability of a tunnel fire reaching peak temperature within five minutes exceeds 70%, and high-temperature smoke can spread at speeds exceeding five meters per second, making traditional firefighting methods often difficult to respond to in a timely manner. Currently, mainstream tunnel firefighting technologies include fixed sprinkler systems, mobile firefighting robots, and handheld fire extinguishers. However, these solutions have demonstrated significant limitations in practical application.

[0003] Fixed sprinkler systems are typically spaced evenly along the tunnel roof and rely on temperature or smoke sensors to trigger full-area spraying. While these systems offer rapid activation, they suffer from two major drawbacks: First, their coverage is limited by their installation density, making it difficult to address the random distribution of fire sources. This can lead to significant waste of extinguishing agents in areas not directly affected by the fire. Second, full-area spraying can cause secondary hazards, such as the expansion of high-pressure water mist in high-temperature environments, which can exacerbate visibility impairment and the risk of asphyxiation. Furthermore, fixed sprinkler heads lack directional control, making it impossible to dynamically adjust the spray angle based on the fire's intensity. This limits their effectiveness in suppressing specialized fires, such as oil and electrical fires.

[0004] Mobile firefighting robots, equipped with cameras and robotic arms, are cutting-edge technology and can penetrate deep into fires to extinguish them. However, at the scene of tunnel fires, robots often face obstacles such as vehicle collisions, road deformation caused by high temperatures, and dense smoke interference with navigation signals. These factors severely limit the mobility of ground-based robots. In some real-world cases, robots failed at tunnel fires in up to 40% of cases due to melted tires or communication interruptions. Furthermore, the robots must travel long distances from the tunnel entrance to the fire source, delaying the optimal firefighting window and making it difficult to meet the "golden five minutes" emergency response standard.

[0005] Handheld fire extinguishing devices rely on manual operation by firefighters. While flexible, they are extremely difficult to reach due to the long distances and highly toxic smoke in tunnels. Studies have shown that once tunnel temperatures exceed 200°C, firefighters wearing protective clothing can operate effectively for less than three minutes. Furthermore, manual firefighting suffers from low spray accuracy and uneven dispersion of the extinguishing agent, making it inadequate for suppressing large fires.

[0006] While a handful of patents have attempted to apply robotic arm technology to tunnel firefighting in recent years, these designs often focus too much on the mechanical structure itself and fail to fully consider the unique characteristics of the tunnel environment. For example, some robotic arms lack adequate heat protection, making key components susceptible to failure in persistently high temperatures. Other solutions rely solely on a single infrared sensor to locate the fire source, but in the presence of dense smoke, positioning errors can exceed 2 meters, making precise spraying impossible. Furthermore, existing robotic arms have limited joint freedom, making it difficult to adjust their posture at multiple angles within the complex spaces of tunnel vaults and sidewalls. This results in blind spots exceeding 15%.

[0007] In summary, existing technologies have not yet solved the problem of coordination between rapid and accurate positioning of fire sources in tunnel fires, efficient and directional delivery of fire extinguishing agents, and adaptability to complex environments. There is an urgent need for a dedicated fire extinguishing device that integrates intelligent perception, high-degree-of-freedom movement, and resistance to extreme environments. Summary of the Invention

[0008] The present invention provides a mechanical arm device for directional spraying of fire extinguishing agents in tunnels, which achieves rapid and accurate suppression of tunnel fires by integrating a high-freedom mechanical arm, a multimodal sensing system and a design resistant to extreme environments.

[0009] The purpose of the present invention can be achieved by the following technical solutions: a fire prevention and directional spraying fire extinguishing agent mechanical arm device in a tunnel, comprising:

[0010] The base unit fixed to the top of the tunnel includes a frame, shock-absorbing components, and an environmental monitoring module;

[0011] Four-degree-of-freedom robotic arm module, including horizontal rotation joint, vertical pitch joint, telescopic arm, end nozzle posture adjustment joint and end nozzle;

[0012] Multimodal fire source location unit, including infrared thermal imager, multispectral flame detector and lidar;

[0013] Intelligent injection control unit, including path planning algorithm module, motion controller and fire extinguishing agent flow regulation system;

[0014] Extreme environment resistant protective structure, including composite ceramic coating, aerogel insulation sleeve and nitrogen positive pressure chamber.

[0015] The base unit is rigidly connected to the tunnel embedded parts through expansion bolts; a rubber-disc spring composite shock absorber is set at the bottom of the frame, and a power management module and a communication module are integrated inside.

[0016] The horizontal rotation joint of the four-degree-of-freedom robotic arm module adopts a combination of a harmonic reducer and an absolute encoder, the vertical pitch joint is equipped with an RV reducer, the telescopic arm adopts a nested structure of a carbon fiber inner core and a titanium alloy outer shell, the maximum stroke is 5 meters, and the end nozzle attitude adjustment joint supports ±180° spin adjustment.

[0017] The multimodal fire source positioning unit processes thermal imaging data through the DBSCAN clustering algorithm, combines ultraviolet pulse frequency detection with CO2 characteristic spectrum verification, and uses the PnP algorithm to fuse the lidar point cloud to realize three-dimensional coordinate solution.

[0018] The path planning algorithm module adopts an improved RRT*-Connect method, introduces a tunnel wall B-spline constraint model and a thermal barrier avoidance strategy into the cost function, and the planning time is ≤0.8 seconds.

[0019] The terminal nozzle adopts a coaxial double-channel design, with swirl blades arranged in the inner channel to form a concentrated jet, and inert gas introduced into the outer channel to form a wrapping air curtain, with a spray diffusion angle of ≤±5°.

[0020] In the extreme environment protection structure, the surface of the robotic arm is covered with a 2mm thick composite ceramic coating, the internal cables use a liquid cooling circulation system, and the electronic components are encapsulated in a nitrogen positive pressure cavity.

[0021] It also includes a communication system, which uses dual redundant channels of optical fiber and 5G millimeter wave, supports LDPC coding and 28GHz frequency band transmission, and has a data transmission reliability of ≥99.99%.

[0022] The fire extinguishing agent flow regulation system dynamically switches the spray mode according to the fire source temperature, and includes:

[0023] High temperature mode: ultra-fine water mist and compressed air foam mixed spray;

[0024] Electrical Fire Mode: Directed spray of perfluorohexanone.

[0025] The terminal nozzle adopts a modular quick-release interface, and the replacement time of the terminal nozzle takes ≤8 minutes. The sensor cluster supports hot-swap maintenance.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] In a simulated tunnel fire (referring to NFPA 502 standard), the device achieved that the extinguishing agent hit the fire source within 18 seconds and extinguished the fire within 10m in 20 seconds. 2 For oil fires, the fire extinguishing agent consumption is reduced by 62%, and the system can operate continuously for 35 minutes without any faults in extreme environments with a high temperature of 800°C and visibility less than 1m. The modular design reduces maintenance costs by 45%, and the replacement time of sensors and terminal nozzles takes less than 8 minutes, significantly improving the reliability and economy of the tunnel fire protection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the multi-modal fire source locating unit in the present invention;

[0030] Figure 3 It is a schematic structural diagram of the intelligent injection control unit in the present invention;

[0031] Figure 4 It is a structural schematic diagram of the terminal nozzle in the present invention;

[0032] In the figure, 10, base unit; 101, frame; 102, shock absorption component; 103, environmental monitoring module; 104, power management module; 105, communication module; 20, four-degree-of-freedom robotic arm module; 201, horizontal rotation joint; 202, vertical pitch joint; 203, telescopic arm; 204, terminal nozzle attitude adjustment joint; 205, terminal nozzle; 2051, outer flow channel; 2052, inner flow channel; 205a, swirl blade; 30, multi-modal fire source positioning unit; 301, multi-spectral flame detector; 302, laser radar; 303, infrared thermal imager; 40, intelligent injection control unit; 401, motion controller; 402, fire extinguishing agent flow regulation system; 403, path planning algorithm module. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any form of modification and / or change made to the present invention will fall within the scope of protection of the present invention.

[0034] like Figures 1-4 As shown, the tunnel fire directional fire extinguishing robot arm device of the present invention, its specific implementation process combines the coordinated operation of the mechanical structure, sensing positioning, control algorithm and fire extinguishing agent system, is now described in detail as follows:

[0035] The base unit 10 fixed on the top of the tunnel includes a frame 101, a shock absorbing assembly 102 and an environmental monitoring module 103. Specifically, the base unit 10 is a high-temperature resistant base unit 10, the frame 101 is an integrated pre-buried steel structure frame, and the environmental monitoring module 103 is an existing product and is installed and fixed in an existing manner. The base unit 10 is rigidly connected to the embedded parts of the tunnel through expansion bolts. A rubber-disc spring composite shock absorber is set at the bottom of the frame 101, with a damping coefficient of 1500N·s / m and a rubber-disc spring composite shock absorber. The combined shock absorber is the shock absorbing assembly 102, which is mounted on the frame 101 using existing technology. The internal integrated power management module 104 and communication module 105, in practice, specifically refer to: a 48V DC power supply module and a 5G millimeter wave communication antenna. The base unit 10 uses a pre-embedded steel structure frame 101 and the shock absorbing assembly 102, which is fixed to the tunnel vault embedded parts using existing high-strength fasteners. It can withstand high temperatures of 250°C for more than one hour, ensuring stable operation in the early stage of a fire.

[0036] The four-degree-of-freedom robotic arm module 20 includes a horizontal rotation joint 201, a vertical pitch joint 202, a telescopic arm 203, a terminal nozzle posture adjustment joint 204, and a terminal nozzle 205. The four-degree-of-freedom robotic arm module 20 includes a horizontal rotation joint 201, a vertical pitch joint 202, a telescopic arm 203, a terminal nozzle posture adjustment joint 204, and a terminal nozzle 205. The telescopic arm 203 adopts a nested design of a carbon fiber composite material inner core and a titanium alloy outer shell, with a maximum extension length of 5 meters, which can achieve 270° fan-shaped coverage within the tunnel cross section, breaking through the spatial limitations of traditional fixed nozzles. As for the connection relationship and movement mode between the various components of the four-degree-of-freedom robotic arm module 20, this can be achieved using existing technologies.

[0037] The multimodal fire source positioning unit 30 includes an infrared thermal imager 303, a multispectral flame detector 301, and a laser radar 302. Specifically, the multimodal fire source positioning unit 300 is composed of a multispectral flame detector 301, an infrared thermal imager 303, and a laser rangefinder distributed in an array. The sensors are distributed at 120-degree intervals at the end of the robotic arm, and this installation method adopts existing technology. The multimodal fire source positioning unit 300 processes thermal imaging data using the DBSCAN clustering algorithm, combines ultraviolet pulse frequency detection with CO2 characteristic spectrum verification, and uses the PnP algorithm to fuse the laser radar 302 point cloud to achieve three-dimensional coordinate solution. The path planning algorithm module 403 uses an improved RRT*-Connect method, introduces a tunnel wall B-spline constraint model and a thermal barrier avoidance strategy into the cost function, and has a planning time of ≤0.8 seconds. Through thermal radiation gradient analysis, flame spectrum feature matching, and smoke particle scattering signal fusion processing, the three-dimensional coordinates of the fire source are located in real time with an accuracy of 0.1 meters in dense smoke environments, and the positioning response time is less than 3 seconds.

[0038] The intelligent injection control unit 40 includes a path planning algorithm module 403, a motion controller 401 and a fire extinguishing agent flow control system 402; the intelligent injection control unit 40 adopts an existing unit;

[0039] The extreme environment resistant protection structure includes a composite ceramic coating, an aerogel insulation sleeve and a nitrogen positive pressure cavity; specifically: in the extreme environment resistant protection structure, the surface of the robotic arm is covered with a 2mm thick composite ceramic coating, which is a silicon nitride-silicon carbide composite ceramic coating; the internal cables use a liquid cooling circulation system, which refers to: ethylene glycol solution, flow rate ≥2L / min; electronic components are encapsulated in a nitrogen positive pressure cavity; in terms of environmental resistance design, the surface of the robotic arm is covered with a 2mm thick silicon nitride-silicon carbide composite ceramic coating, which can withstand short-term burning at 1200℃, and the internal cables are double-protected by aerogel insulation sleeves and active liquid cooling circulation. The key electronic components are encapsulated in a nitrogen positive pressure cavity, and the temperature is maintained at ≤60℃ by semiconductor refrigeration chips to ensure continuous operation in high temperature and thick smoke environments.

[0040] The horizontal rotation joint 201 of the four-degree-of-freedom robotic arm module 20 adopts a combination of a harmonic reducer and an absolute encoder, the vertical pitch joint 202 is equipped with an RV reducer, and the telescopic arm 203 adopts a nested structure of a carbon fiber inner core and a titanium alloy outer shell, with a maximum stroke of 5 meters. The end nozzle posture adjustment joint 204 supports ±180° spin adjustment; the drive system consists of a brushless servo motor and a harmonic reducer, and cooperates with a high-precision encoder to achieve 0.01° level motion control. The control unit plans the path based on the improved RRT* algorithm, introduces a tunnel wall geometric constraint model and a real-time thermal barrier avoidance strategy, to ensure that the robotic arm can quickly reach the optimal spraying posture while avoiding obstacles.

[0041] The end nozzle 205 adopts a coaxial double-channel design. The inner channel 2052 is provided with a swirl blade 205a to form a concentrated jet, and the outer channel 2051 is introduced with inert gas to form a wrapping gas curtain. The spray diffusion angle is ≤±5°.

[0042] It also includes a communication system, which uses dual redundant channels of optical fiber and 5G millimeter wave, supports LDPC coding and 28GHz frequency band transmission, and has a data transmission reliability of ≥99.99%.

[0043] The fire extinguishing agent flow control system 402 dynamically switches the spray mode according to the fire source temperature, and includes:

[0044] High temperature mode refers to ≥800℃: ultra-fine water mist and compressed air foam are mixed and sprayed at a speed of 8L / s;

[0045] Electrical fire mode refers to ≤≤300℃: perfluorohexanone directional spray at a speed of 2L / s.

[0046] A hierarchical decision-making architecture is employed. The upper layer generates collision-free paths based on an improved RRT*-Connect algorithm, reducing planning time to 0.8 seconds. The lower layer achieves ±2mm trajectory tracking accuracy through an adaptive sliding mode controller. The safety monitoring layer detects joint temperature, vibration, and current fluctuations in real time, triggering abnormal degradation or shutdown protection. The fire extinguishing agent flow is regulated via a PID closed-loop, dynamically switching the spray mode based on the fire source temperature. For fire sources above 800°C, a mixed spray of ultrafine water mist and compressed air foam is used at 8L / s. For electrical fires below 300°C, a targeted spray of perfluorohexanone is used at 2L / s, ensuring a balanced balance of efficiency and safety.

[0047] The terminal nozzle 205 adopts a modular quick-release interface. The replacement time of the terminal nozzle 205 is ≤8 minutes, and the sensor cluster supports hot-swap maintenance. The fire extinguishing agent injection system adopts a modular design. The terminal nozzle 205 is compatible with three modes of dry powder, ultra-fine water mist and compressed air foam through the quick-release interface. The nozzle has a built-in double-annular swirl generator to form a laminar injection structure with an outer layer of inert gas wrapped and an inner layer of fire extinguishing medium core, so that the diffusion angle within a range of 10 meters is controlled within ±5°, significantly improving the anti-interference ability.

[0048] In summary, the base unit 10 is welded from Q345B low-alloy steel into a frame 101 measuring 800mm × 600mm × 200mm. It is rigidly connected to the embedded parts of the tunnel vault via four sets of M30 × 200mm stainless steel expansion bolts. A rubber-disc spring composite shock absorber with a damping coefficient of 1500N·s / m is installed at the bottom, effectively attenuating vibration interference caused by passing vehicles. Frame 101 integrates a 48V DC power module, a 5G millimeter-wave communication antenna (gain 24dBi), and an environmental monitoring module 103 to collect real-time temperature, humidity, and harmful gas concentrations within the tunnel. The main body of the robotic arm consists of a four-degree-of-freedom motion mechanism: the horizontal rotation joint 201 adopts a harmonic reducer with specification HD-SH-32-100, which is combined with a 17-bit absolute encoder to achieve 360° unlimited rotation; the vertical pitch joint 202 is driven by an RV reducer with specification RV-40E, with an output torque of 450N·m, covering an angle range of -30° to +90°; the telescopic arm 203 adopts a carbon fiber inner core with specification T700 grade and outer diameter of 80mm, nested in a titanium alloy shell with specification TC4 and wall thickness of 3mm, and achieves 0-5m telescopic travel through a ball screw, specifically: lead 10mm, positioning accuracy of ±0.1mm; the end nozzle attitude adjustment joint 204 is equipped with a micro harmonic reducer with specification CSG-17-100, which supports the end nozzle 205 ±180° rotation and a maximum speed of 60° / s to ensure precise adjustment of the spray angle.

[0049] Multimodal fire source location unit 30: Infrared thermal imager 303, specification: FLIR A67, installed at the end of telescopic arm 203, captures temperature fields from -40°C to 1500°C with a resolution of 640×512 pixels and a spatial resolution of 0.5 mrad; multispectral flame detector 301 integrates ultraviolet (Hamamatsu R7154), visible light (Sony IMX535) and near-infrared (InGaAs) sensors, and transmits spectral data via a fiber optic bundle; lidar 302 (Velodyne VLP-16) generates a 16-beam point cloud at a scanning frequency of 20 Hz to construct a three-dimensional tunnel environment model. During data processing, the main control chip (Xilinx Zynq UltraScale+) first executes the DBSCAN clustering algorithm (neighborhood radius 0.3m, minimum number of points 50) on the thermal imaging data to segment the high-temperature area; then the authenticity of the fire source is verified by ultraviolet pulse frequency (5-30Hz) and near-infrared CO2 characteristic peak (4.26μm); finally, combined with the lidar 302 point cloud matching, the PnP algorithm is used to solve the three-dimensional coordinates of the fire source, and an error compensation model Δ=0.12e^(-0.3d)+0.05 (d is the distance to the fire source) is introduced to ensure that the positioning accuracy is ≤0.15m (confidence level 99%). The whole process takes less than 3 seconds.

[0050] The control and path planning system adopts a layered architecture. The upper layer improves the RRT*-Connect algorithm, models the tunnel wall as a B-spline curve (control point spacing of 1m, order 3), assigns thermal barrier avoidance a weight of 0.4 in the path cost function, and generates a collision-free path that balances safety and efficiency, with planning time compressed to 0.8 seconds. The lower layer uses an adaptive sliding mode controller (sliding mode surface coefficient λ = diag(2.5, 1.8, 3.0), switching gain K = diag(120, 90, 150)) to achieve a tracking accuracy of ±2mm for the terminal trajectory. The safety monitoring layer collects joint temperature (PT100 sensor), vibration (MEMS accelerometer, range ±50g), and current data in real time. When the temperature exceeds 80°C, a liquid cooling cycle is triggered, which uses an ethylene glycol solution with a flow rate of 2L / min. PID active damping (Kp = 8.5, Ki = 0.2, Kd = 1.3) is activated when the vibration exceeds the limit (>5g). The communication system uses dual redundant channels of optical fiber (LC interface, 10Gbps) and 5G millimeter wave (28GHz frequency band, LDPC coding) to ensure data transmission reliability of >99.99% in dense smoke environments.

[0051] The terminal nozzle 205 utilizes a coaxial dual-channel design: the inner channel 2052 (25mm diameter) is coated with polytetrafluoroethylene (Ra ≤ 0.8µm), and the outlet is equipped with six 45°-angled swirl blades 205a, which form a concentrated jet of dry powder or water mist. The outer channel 2051 (with a 2mm annular gap) is supplied with 0.8MPa high-purity nitrogen, forming an air curtain barrier that envelops the extinguishing agent and suppresses jet diffusion. The quick-release interface, specified in accordance with the ISO 72 terminal nozzle attitude adjustment joint 204-1 standard, supports rapid exchange within 10 seconds between dry powder nozzles (Φ6mm aperture), water mist nozzles (1.2MPa pressure, 50µm particle size), and foam nozzles (0.5mm foaming mesh). Flow control is dynamically adjusted according to the fire situation: in dry powder mode, powder is supplied through the existing pipeline under negative pressure, with a flow rate Q = 0.12A (A is the area of the fire source); in water mist mode, it is driven by a 7.5kW variable frequency pump with an adjustable pressure of 1.0-1.5MPa; in foam mode, compressed air and AFFF stock solution are mixed in a ratio of 8:1, with a foaming multiple ≥8.

[0052] Tests in the practical example show that when the device is deployed at 50m intervals in a 1.2km tunnel, simulating a 10m² oil fire (950°C) scenario, the system completes fire source identification and location in 3.2 seconds (with an error of 0.13m), and the robotic arm moves to the spraying position (coordinates X = 4.8m, Y = 2.1m, Z = 3.5m) in 7.5 seconds. After 18 seconds of spraying a mixture of ultrafine water mist and foam, the fire is completely extinguished, consuming 42L of extinguishing agent (a 62% reduction compared to traditional systems). In extreme environment testing, the robotic arm operated continuously for 30 minutes in an 800°C high-temperature zone, with the surface temperature stabilizing below 85°C and the temperature of electronic components in the nitrogen positive pressure chamber ≤ 60°C, verifying the system's environmental tolerance and reliability.

[0053] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. Tunnel fire directional fire extinguishing mechanical arm device, characterized in that: include: The base unit fixed to the top of the tunnel includes a frame, shock-absorbing components, and an environmental monitoring module; Four-degree-of-freedom robotic arm module, including horizontal rotation joint, vertical pitch joint, telescopic arm, end nozzle posture adjustment joint and end nozzle; Multimodal fire source location unit, including infrared thermal imager, multispectral flame detector and lidar; Intelligent injection control unit, including path planning algorithm module, motion controller and fire extinguishing agent flow regulation system; Extreme environment resistant protective structure, including composite ceramic coating, aerogel insulation sleeve and nitrogen positive pressure chamber.

2. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The base unit is rigidly connected to the embedded parts of the tunnel through expansion bolts; a rubber-disc spring composite shock absorber is set at the bottom of the frame, and a power management module and a communication module are integrated inside.

3. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The horizontal rotation joint of the four-degree-of-freedom robotic arm module adopts a combination of a harmonic reducer and an absolute encoder, the vertical pitch joint is equipped with an RV reducer, the telescopic arm adopts a nested structure of a carbon fiber inner core and a titanium alloy outer shell, the maximum stroke is 5 meters, and the end nozzle attitude adjustment joint supports ±180° spin adjustment.

4. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The multimodal fire source positioning unit processes thermal imaging data through the DBSCAN clustering algorithm, combines ultraviolet pulse frequency detection with CO2 characteristic spectrum verification, and uses the PnP algorithm to fuse the lidar point cloud to realize three-dimensional coordinate solution.

5. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The path planning algorithm module adopts an improved RRT*-Connect method and introduces a tunnel wall B-spline constraint model and a thermal barrier avoidance strategy into the cost function.

6. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The terminal nozzle adopts a coaxial double-channel design, with swirl blades arranged in the inner channel to form a concentrated jet, and inert gas introduced into the outer channel to form a wrapping air curtain, with a spray diffusion angle of ≤±5°.

7. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: In the extreme environment protection structure, the surface of the robotic arm is covered with a 2mm thick composite ceramic coating, the internal cables use a liquid cooling circulation system, and the electronic components are encapsulated in a nitrogen positive pressure cavity.

8. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: It also includes a communication system, which uses dual redundant channels of optical fiber and 5G millimeter wave, supports LDPC coding and 28GHz frequency band transmission.

9. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The fire extinguishing agent flow regulation system dynamically switches the spray mode according to the fire source temperature, and includes: High temperature mode: ultra-fine water mist and compressed air foam mixed spray; Electrical Fire Mode: Directed spray of perfluorohexanone.

10. The tunnel fire directional fire extinguishing mechanical arm device according to claim 1, characterized in that: The terminal nozzle adopts a modular quick-release interface, and the replacement time of the terminal nozzle takes ≤8 minutes. The sensor cluster supports hot-swap maintenance.

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