Fire fighting-operation and maintenance integrated inspection robot for express logistics warehouses and workshops

Abstract

The invention discloses a fire-fighting-operation-maintenance integrated inspection robot for express logistics warehouses and workshops, and belongs to the field of inspection robots, the fire-fighting-operation-maintenance integrated inspection robot comprises a mechanical execution system, the mechanical execution system comprises an H-shaped suspension type guide rail, and a rail moving mechanism is movably arranged on the H-shaped suspension type guide rail; the lower portion of the track moving mechanism is connected with a fire extinguishing-operation and maintenance executing mechanism. The multi-mode detecting and sensing system is arranged on the fire extinguishing-operation and maintenance executing mechanism; the digital twinborn monitoring operation and maintenance management system establishes communication with the mechanical execution system and the multi-mode detection and sensing system respectively; the system has the functions of multi-sensor fusion identification, fire source three-dimensional positioning, autonomous fire extinguishing decision making, equipment fault diagnosis and early warning and the like, and is suitable for scenes of early fire identification, alarm, intervention, equipment fault early warning and the like of express logistics warehouses and sorting centers.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and in particular to a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops. Background Art

[0002] At present, the express logistics field is developing rapidly towards automation, intelligence, and digitalization. The traditional manpower-based safety management and operation and maintenance model relies on workers' regular inspections and their experience and judgment. It is very easy to have problems such as false detection and missed detection caused by human factors. It is impossible to detect hidden fires that are not visible to the naked eye in the early stages, and it is difficult to detect equipment failures in the first place. The response speed is slow and it will not be able to adapt to the operational requirements of warehouses and sorting centers in the new era of rapid growth in express logistics business volume.

[0003] In light of this, express logistics companies such as China Post, JD.com, SF Express, and Cainiao have all introduced automated equipment to assist manual operations and management. However, due to the complex physical layout of express logistics warehouses, traditional logistics robots (mostly wheeled or tracked ground mobile robots, such as the intelligent fire inspection robots proposed in patent documents CN118634469A and CN222748485U) are significantly affected by obstacles, have high requirements for terrain stability and balance, and have poor adaptability to the coverage area, making it difficult to respond quickly to complex scenarios.

[0004] In response to the shortcomings of ground mobile robots, patent document CN106512266A proposes a rail-mounted fire inspection robot, but it is limited to identifying fire conditions through gas and smoke detection, and does not have functions such as autonomous inspection, early multimodal perception of fire conditions, three-dimensional positioning intelligent decision-making for fire extinguishing, and equipment fault diagnosis and early warning. It is difficult to achieve unmanned express logistics warehouses and unmanned operation and maintenance of express sorting centers.

[0005] In summary, in order to solve the various problems and limitations in the above-mentioned existing fields, the present invention proposes a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops. Summary of the Invention

[0006] The purpose of the present invention is to provide a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops to solve the problems existing in the above-mentioned prior art, realize full-time spatial inspection of express logistics warehouses, monitor fire parameters such as temperature, smoke, gas concentration and equipment operating status in real time, autonomously identify fire conditions, accurately locate, extinguish fires on demand, quickly diagnose faults, and provide early warnings.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops, which is characterized by comprising:

[0009] A mechanical execution system, comprising an H-shaped suspension rail, on which a track moving mechanism is movably provided, and a fire extinguishing-operation and maintenance execution mechanism is connected below the track moving mechanism;

[0010] A multimodal detection and perception system, the multimodal detection and perception system being provided on the fire extinguishing-operation and maintenance actuator;

[0011] A digital twin monitoring, operation and maintenance management system establishes communication with the mechanical execution system and the multimodal detection and perception system respectively.

[0012] Preferably, the track moving mechanism includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are arranged in parallel, and the two are connected by a spring telescopic rod, a driven support wheel group is provided between the first connecting plate and the H-type suspension guide rail, and a driving wheel group is provided on the second connecting plate, and the driving wheel group passes through the first connecting plate and contacts the H-type suspension guide rail.

[0013] Preferably, the driven support wheel group includes a first base and a second base arranged side by side above the first connecting plate, and the first base and the second base are each provided with two groups, and are located on both sides of the H-shaped suspension guide rail, and the side of the H-shaped suspension guide rail is orthogonally provided with driven support wheels and guide wheels, the driven support wheels are installed on the sides of the first base and the second base through wheel axles, and are in contact with the top surface of the lower wing plate of the H-shaped suspension guide rail, and the guide wheels are installed on the sides of the first base and the second base through spring telescopic fork frames, and are in contact with the web surface of the H-shaped suspension guide rail.

[0014] Preferably, the driving wheel group includes a driving wheel, which is mounted on the second connecting plate through a first bearing seat, and passes through the first connecting plate to contact the bottom of the H-shaped suspension guide rail. A first motor is provided on the side of the driving wheel, and the first motor is mounted on the second connecting plate through a first motor seat. A first synchronous pulley is provided at the power output end of the first motor and the side of the driving wheel, and the first synchronous pulleys are tensioned and connected by a synchronous belt.

[0015] Preferably, the bottom of the second connecting plate is connected to the fire extinguishing-operation and maintenance actuator through an electric rotating platform.

[0016] Preferably, the fire extinguishing-operation and maintenance execution mechanism includes a box body, a fire extinguishing medium storage box is provided in the box body, a plurality of steel cylinders are arranged side by side in the fire extinguishing medium storage box, different fire extinguishing media are stored in the steel cylinders, and are connected to the delivery pipeline through pipelines and electromagnetic valves. The end of the delivery pipeline is connected to a nozzle, and the nozzle is fixed on the telescopic arm module.

[0017] Preferably, a top plate is provided on the top of the box body, and a bottom plate is provided on the bottom of the box body. The top plate and the bottom plate are arranged in parallel and are fixedly connected by a long screw.

[0018] Preferably, the conveying pipeline is wound in a winch through a pulley block, the winch is fixed to the top of the fire extinguishing medium storage box through a second bearing seat, and a coil spring is provided inside the winch.

[0019] Preferably, the telescopic arm module is a chain-type telescopic structure, including two chains respectively arranged on the left and right, each of the chains is placed in a spiral square groove inside the telescopic arm module shell, and meshes with the gear, the chain includes a plurality of rack units connected in series, each of the rack units includes two rack pieces and two fixing pins, a second motor is installed in the box through a second motor seat, and a second synchronous pulley is provided at the power output end of the second motor and the side of the gear, and the second synchronous pulleys are tensioned by a synchronous belt.

[0020] Preferably, the multimodal detection and perception system includes an optical industrial camera, an infrared camera, a smoke sensor and a wireless charging and power supply module, all of which are installed on the base plate.

[0021] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0022] The H-shaped suspended guide rail used in the present invention can be arbitrarily changed according to the actual layout of the warehouse, ensuring that the inspection robot can flexibly move and turn along this track, smoothly reach the optimal fire extinguishing point, and complete the inspection work fully automatically and in all time and space, realizing accurate monitoring of the entire area, improving the timeliness of inspections, accelerating the speed of emergency response to fires, completing autonomous fire extinguishing, timely intervening in maintenance, and reducing the risk of downtime.

[0023] This invention can solve the problem of limited field of view, fill the gaps in manual inspections, reduce personnel requirements, cut labor costs, lower the incidence of fires, reduce false alarms and misreporting caused by misdetection or missed inspections, reduce operating costs, prevent major losses, and improve inspection efficiency.

[0024] The inspection robot is designed to be space-efficient, adaptable to harsh environments, and highly resistant to interference. Equipped with detection and perception modules, it integrates multi-dimensional data to improve recognition accuracy. It also features intelligent operation and maintenance, concurrent multi-tasking, dynamic execution scheduling, and automatic adjustment of inspection frequency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a top axonometric view of the track moving mechanism of the present invention.

[0028] Figure 3 It is a side view of the track moving mechanism of the present invention.

[0029] Figure 4 This is the front view of the fire extinguishing-operation and maintenance actuator of the present invention.

[0030] Figure 5 This is a schematic diagram of the fire extinguishing medium connection principle of the present invention.

[0031] Figure 6 This is the front view of the telescopic arm module of the present invention.

[0032] Figure 7 It is a flow chart of the program of the present invention.

[0033] In the figure: 1. H-shaped suspension guide rail; 2. First connecting plate; 3. Second connecting plate; 4. Organ cover; 5. Driving wheel; 6. First bearing seat; 7. First motor; 8. First motor seat; 9. First synchronous pulley; 10. Spring telescopic rod; 11. Driven support wheel; 12. Wheel axle; 13. Guide wheel; 14. Spring telescopic fork; 151. First base; 152. Second base; 16. Driven support wheel assembly; 17. Box body; 18. Top plate; 19. Bottom plate; 20. Long screw; 21. Pulley assembly ; 22. Winch; 23. Fire extinguishing medium storage box; 231. Cylinder; 232. Fixed seat; 24. Telescopic arm module; 241. Chain; 242. Rack unit; 243. Rack piece; 244. Fixed pin; 245. Gear; 25. Second bearing seat; 26. Nozzle; 27. Second motor; 28. Second motor seat; 29. ​​Second synchronous pulley; 30. Electric rotary table; 31. Optical industrial camera; 32. Infrared camera; 33. Smoke sensor; 34. Wireless charging and power supply module. DETAILED DESCRIPTION

[0034] The serial numbers of the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship 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 cannot be understood as limiting the present invention.

[0035] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] The purpose of the present invention is to provide a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops to solve the problems existing in the prior art.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1:

[0040] This embodiment provides a fire-fighting and operation-maintenance integrated inspection robot for express logistics warehouses and workshops, such as Figure 1 Shown, including:

[0041] The mechanical execution system includes an H-shaped suspension guide rail 1, on which a track moving mechanism is movably provided, and a fire extinguishing-operation and maintenance execution mechanism is connected below the track moving mechanism;

[0042] Multimodal detection and perception system, which is installed on the fire extinguishing-operation and maintenance actuator;

[0043] The digital twin monitoring, operation and maintenance management system establishes communication with the mechanical execution system and the multimodal detection and perception system respectively.

[0044] As an implementation method, Figure 1-3 As shown, the track moving mechanism includes a first connecting plate 2 and a second connecting plate 3, and an accordion cover 4 is provided between the two plates to form a protection. The first connecting plate 2 and the second connecting plate 3 are arranged in parallel, and the two are connected by a spring telescopic rod 10. A driven support wheel group 16 is provided between the first connecting plate 2 and the H-type suspension guide rail 1, which generally plays a supporting and guiding role. A driving wheel group is provided on the second connecting plate 3, which passes through the first connecting plate 2 and contacts the H-type suspension guide rail 1, thereby playing a driving role.

[0045] As an implementation method, Figure 1 and 3 As shown, the driven support wheel group 16 includes a first base 151 and a second base 152 arranged side by side above the first connecting plate 2. The first base 151 and the second base 152 are each provided with two groups and are located on both sides of the H-type suspension guide rail 1, for supporting the overall weight of the body and maintaining forward and backward stability. The side of the H-type suspension guide rail 1 is orthogonally provided with a driven support wheel 11 and a guide wheel 13. The driven support wheel 11 is installed on the side of the first base 151 and the second base 152 through the wheel axle 12, and contacts the top surface of the lower wing plate of the H-type suspension guide rail 1. The guide wheel 13 is installed on the side of the first base 151 and the second base 152 through the spring telescopic fork frame 14, and contacts the web surface of the H-type suspension guide rail 1.

[0046] As an implementation method, Figure 2 As shown, the driving wheel group includes a driving wheel 5, which is mounted on the second connecting plate 3 through a first bearing seat 6, and passes through the first connecting plate 2 to contact the bottom of the H-shaped suspension guide rail 1. A first motor 7 is provided on the side of the driving wheel 5, and the first motor 7 is mounted on the second connecting plate 3 through a first motor seat 8. A first synchronous pulley 9 is provided at the power output end of the first motor 7 and the side of the driving wheel 5. The first synchronous pulleys 9 are connected by a synchronous belt tensioning connection, and power is transmitted to the driving wheel 5 through the first synchronous pulley 9 to drive the robot body to move forward or backward.

[0047] As an implementation method, Figure 1 As shown, the bottom of the second connecting plate 3 is connected to the fire extinguishing-operation and maintenance actuator through an electric rotating platform 30, which is convenient for adjusting the inspection operation direction.

[0048] As an implementation method, Figure 1 、 4 As shown in Figures 5 and 6, the fire extinguishing-operation and maintenance execution mechanism includes a box body 17, in which a fire extinguishing medium storage box 23 is provided. Four steel cylinders 231 are arranged side by side in the fire extinguishing medium storage box and fixed by a fixing seat 232. Different fire extinguishing media (such as dry powder, foam, carbon dioxide and clean water) are stored in each steel cylinder 231 and are connected to the delivery pipeline through pipelines and electromagnetic valves. The corresponding valve is automatically opened to spray the fire extinguishing medium according to the type of fire. A handle is provided at one end of the fire extinguishing medium storage box 23 for opening the fire extinguishing medium storage box 23 and replacing empty steel cylinders. A nozzle 26 is connected to the end of the delivery pipeline, which is fixed on the telescopic arm module 24. When the telescopic arm module 24 is extended, the nozzle 26 is transported to the fire extinguishing position together with the delivery pipeline.

[0049] As an implementation method, Figure 4 、 6 As shown, a top plate 18 is provided on the top of the box body 17 , and a bottom plate 19 is provided on the bottom of the box body 17 . The top plate 18 and the bottom plate 19 are arranged in parallel and are fixedly connected by a long screw 20 .

[0050] As an embodiment, the delivery pipeline is wound around the winch 22 through a pulley set 21 so that the delivery pipeline can be extended and retracted into the machine. The winch 22 is fixed to the top of the fire extinguishing medium storage box 23 through a second bearing seat 25. A coil spring is provided inside the winch 22 to automatically retract the delivery pipeline.

[0051] As an implementation method, Figure 6 As shown, the telescopic arm module 24 is a chain 241 type telescopic structure, including two chains 241 respectively arranged on the left and right, each chain 241 is placed in a spiral square groove inside the shell of the telescopic arm module 24, and meshes with a gear 245. The chain 241 is extended or retracted by the rotation of the gear 245. When the left and right chains 241 are extended, they can mesh to form a telescopic arm. The chain 241 includes a plurality of rack units 242 connected in series, and each rack unit 242 includes two rack pieces 243 and two fixing pins 244. A second motor 27 is installed in the box body 17 through a second motor seat 28. A second synchronous pulley 29 is provided at the power output end of the second motor 27 and the side of the gear 245. The second synchronous pulleys 29 are tensioned by a synchronous belt.

[0052] As an implementation method, Figure 1As shown, the multimodal detection and perception system includes an optical industrial camera 31, an infrared camera 32, a smoke sensor 33 and a wireless charging and power supply module 34. The wireless charging and power supply module 34 is composed of a charging head, a charging base, a main battery pack, a communication module and a control module, all of which are installed on the base plate 19 and move with the robot.

[0053] As an implementation method, the digital twin monitoring, operation, and maintenance management system incorporates multiple software algorithms. It utilizes a multimodal fusion detection framework based on deep learning and an early fire detection module based on unsupervised feature learning using convolutional neural networks. Using an optical industrial camera 31, an infrared camera 32, and a smoke sensor 33, the system extracts and fuses features from environmental parameters within the warehouse, providing real-time monitoring of environmental conditions. If a fire occurs, a dynamic path planning algorithm is employed to rapidly respond with three-dimensional navigation and positioning to the optimal spray point. Fire type and development trends are analyzed, and appropriate measures are taken, with simultaneous audible and visual alarms. The system adjusts the spray angle to the optimal spray angle, spraying the appropriate extinguishing medium based on the fire type to promptly control and extinguish the flames. An unmanned auxiliary communication operation and maintenance system is employed to conduct real-time inspections and monitoring of equipment status and package stacking at the worksite. This system identifies any faults such as abnormal noise, equipment overload, motor overheating, or abnormal vibration that could cause conveyor interruptions, blockages, or stoppages. Early warning data is then updated and transmitted to the operation and maintenance department, ensuring that even under unmanned operation and maintenance, production and operation support responses can be implemented. The digital twin monitoring, operation, and maintenance management system enables real-time data synchronization and remote control.

[0054] The method of using the present invention includes steps S101 to S107. Figure 6 As shown:

[0055] Step S101: Start the digital twin monitoring and operation management system, initialize the database and communication module, and load historical operating parameters and data.

[0056] Step S102: Start the inspection robot and initialize the multimodal detection and perception module and the wireless charging and power supply module. The robot begins autonomous navigation and inspection along a predetermined track, controlling the rotation of the electric rotating platform to scan and inspect the entire space and time environment.

[0057] Step S103: Using multiple system software algorithms in conjunction with multimodal detection and perception modules, multiple types of sensors are simultaneously running. Visual recognition is performed using an optical industrial camera, temperature monitoring is performed using an infrared camera, and gas analysis is performed using a smoke sensor. By integrating this multifaceted data, the system determines whether the environmental state is abnormal. If an abnormality is detected, the type of abnormality is determined.

[0058] Step S104: Fire detection is combined with environmental parameter information to perform integrated verification of fire hazards. If a fire is confirmed, emergency response measures are automatically implemented, using the optimal route for three-dimensional navigation and positioning, and moving to the optimal injection point. The fire type is determined and confirmed, and an alarm is issued in both acoustic and visual forms. The optimal injection angle is adjusted, and the appropriate extinguishing medium is selected based on the fire type. The injection command is accurately executed to extinguish the flames and achieve fire control. The processed data is uploaded to the digital twin monitoring and operation and maintenance management system for information synchronization with the operation and maintenance department.

[0059] Step S105: Conduct 24 / 7 inspections of equipment status and package stacking at the worksite. If an equipment failure is confirmed, the fault type is screened and determined to determine whether abnormal noise, equipment overload, motor overheating, or abnormal vibration are present, which could cause the conveyor to break, block, or stop. Based on the diagnostic results, the potential type of accident is estimated and warning information is uploaded to the digital twin monitoring and operation and maintenance management system for timely intervention and assistance to the operation and maintenance department in production activities.

[0060] Step S106: After the abnormal situation is handled, the robot automatically resets and returns to the originally interrupted inspection route to continue the inspection task, ensuring the continuity of the robot inspection.

[0061] Step S107: The robot regularly checks its battery level and status. When charging is needed, it automatically navigates to a pre-set docking point to complete the process. If any abnormality (overtemperature, overcurrent, voltage abnormality, communication interruption, etc.) occurs during this process, a protection mechanism is immediately triggered, halting charging. When the battery level reaches the preset value, charging is complete, and the robot returns to its patrol route to continue its inspection mission.

[0062] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] It should be noted that the components mentioned in the above embodiments are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0064] The present invention 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. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. Firefighting and maintenance-integrated inspection robot for express logistics warehouses and workshops, featuring: include: A mechanical execution system, the mechanical execution system comprising an H-shaped suspension guide rail (1), a track moving mechanism movably provided on the H-shaped suspension guide rail (1), and a fire extinguishing-operation and maintenance execution mechanism connected below the track moving mechanism; A multimodal detection and perception system, the multimodal detection and perception system being provided on the fire extinguishing-operation and maintenance actuator; A digital twin monitoring, operation and maintenance management system establishes communication with the mechanical execution system and the multimodal detection and perception system respectively.

2. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 1 is characterized by: The track moving mechanism comprises a first connecting plate (2) and a second connecting plate (3), wherein the first connecting plate (2) and the second connecting plate (3) are arranged in parallel and connected via a spring telescopic rod (10), a driven supporting wheel group (16) is provided between the first connecting plate (2) and the H-shaped suspension guide rail (1), and a driving wheel group is provided on the second connecting plate (3), wherein the driving wheel group passes through the first connecting plate (2) and contacts the H-shaped suspension guide rail (1).

3. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 2 is characterized by: The driven support wheel group (16) includes a first base (151) and a second base (152) arranged side by side above the first connecting plate (2), and the first base (151) and the second base (152) are each provided with two groups, and are located on both sides of the H-type suspension guide rail (1), and the side of the H-type suspension guide rail (1) is orthogonally provided with a driven support wheel (11) and a guide wheel (13), and the driven support wheel (11) is installed on the side of the first base (151) and the second base (152) through a wheel axle (12) and contacts the top surface of the lower wing plate of the H-type suspension guide rail (1), and the guide wheel (13) is installed on the side of the first base (151) and the second base (152) through a spring telescopic fork frame (14) and contacts the web surface of the H-type suspension guide rail (1).

4. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 2 is characterized by: The driving wheel group includes a driving wheel (5), which is installed on the second connecting plate (3) through a first bearing seat (6) and contacts the bottom of the H-shaped suspension guide rail (1) through the first connecting plate (2). A first motor (7) is provided on the side of the driving wheel (5), and the first motor (7) is installed on the second connecting plate (3) through a first motor seat (8). A first synchronous pulley (9) is provided at the power output end of the first motor (7) and the side of the driving wheel (5), and the first synchronous pulleys (9) are tensioned by a synchronous belt.

5. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 2 is characterized in that: The bottom of the second connecting plate (3) is connected to the fire extinguishing-operation and maintenance actuator via an electric rotating platform (30).

6. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 5 is characterized by: The fire extinguishing-operation and maintenance execution mechanism includes a box body (17), a fire extinguishing medium storage box (23) is provided in the box body (17), a plurality of steel cylinders (231) are arranged side by side in the fire extinguishing medium storage box (23), different fire extinguishing media are stored in the steel cylinders (231), and the steel cylinders (231) are connected to the delivery pipeline through pipelines and electromagnetic valves, and the end of the delivery pipeline is connected to a nozzle (26), and the nozzle (26) is fixed on the telescopic arm module (24).

7. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 6 is characterized by: The top of the box body (17) is provided with a top plate (18), and the bottom of the box body (17) is provided with a bottom plate (19). The top plate (18) and the bottom plate (19) are arranged in parallel and are fixedly connected by a long screw (20).

8. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 6 is characterized in that: The conveying pipeline is wound in a winch (22) through a pulley block (21), and the winch (22) is fixed to the top of the fire extinguishing medium storage box (23) through a second bearing seat (25). A coil spring is provided inside the winch (22).

9. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 6 is characterized by: The telescopic arm module (24) is a chain (241) type telescopic structure, comprising two chains (241) respectively arranged on the left and right, each of the chains (241) being placed in a spiral square groove inside the housing of the telescopic arm module (24) and meshing with a gear (245), the chain (241) comprising a plurality of rack units (242) connected in series, each of the rack units (242) comprising two rack pieces (243) and two fixing pins (244), a second motor (27) being installed in the housing (17) via a second motor seat (28), a second synchronous pulley (29) being provided at the power output end of the second motor (27) and the side of the gear (245), and the second synchronous pulleys (29) being tensioned by a synchronous belt.

10. The firefighting and operation and maintenance integrated inspection robot for express logistics warehouses and workshops according to claim 6, characterized in that: The multimodal detection and perception system comprises an optical industrial camera (31), an infrared camera (32), a smoke sensor (33) and a wireless charging and power supply module (34), all of which are mounted on the base plate (19).

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