Fire-fighting robot and fire-fighting system

Abstract

The invention discloses a fire extinguishing robot and a fire extinguishing system, relates to the technical field of fire extinguishing, and aims to solve the problem of poor stability. The fire fighting robot comprises a vehicle body, an electric drive type horizontal telescopic machine, a central control system and a solid gyroscope. The electric driving type horizontal telescopic machine is arranged in the vehicle body; two groups of ball screw linear transmission mechanisms of the electric driving type horizontal telescopic machine are used for driving the two tank chains to be far away from or close to each other; the solid gyroscope comprises an inner ring, an inner ring angle sensor, an outer ring and an outer ring angle sensor, the outer ring is rotatably connected with the vehicle body, and the inner ring is rotatably connected with the outer ring; the inner ring angle sensor is used for detecting the inclination condition of the vehicle body in the first direction and transmitting the inclination condition to the central control system. The outer ring angle sensor is used for detecting the inclination condition of the vehicle body in the second direction and transmitting the inclination condition to the central control system. The fire fighting robot provided by the invention is used for replacing fire rescue workers to enter a dangerous disaster accident site, and is good in stability and not easy to tip over.

Description

Technical Field

[0001] The present invention relates to the technical field of fire fighting and fire extinguishing, and in particular to a fire fighting and fire extinguishing robot and a fire fighting and fire extinguishing system. Background Art

[0002] In firefighting operations, firefighters usually enter the disaster area to carry out firefighting and rescue. However, in special circumstances in some buildings and enterprises, chemical hazardous materials and radioactive substances may leak, as well as combustion, explosion, and collapse accidents may occur. It is very dangerous for firefighters to face hazardous environments such as high temperature, darkness, toxicity, and thick smoke. Personnel cannot enter the high-risk area and cannot quickly deal with the dangerous situation, which has a huge impact on firefighting.

[0003] However, the existing fire-fighting robots have poor body stability and are prone to overturning when the working site is uneven. Summary of the Invention

[0004] The purpose of the present invention is to provide a fire-fighting robot, which is used to replace fire rescue personnel to enter the scene of dangerous disasters and accidents, and has good stability and is not easy to overturn.

[0005] In order to achieve the above-mentioned objectives, in a first aspect, the present invention provides a fire-fighting robot, comprising a vehicle body, two tank chains, an electric-driven horizontal telescopic machine, a central control system and a solid-state gyroscope, wherein the two tank chains are respectively arranged on both sides of the vehicle body; the electric-driven horizontal telescopic machine is arranged in the vehicle body, and the electric-driven horizontal telescopic machine comprises a first motor, two sets of ball screw linear transmission mechanisms, the two sets of ball screw linear transmission mechanisms have opposite rotation directions and are respectively arranged on both sides of the output shaft of the first motor; each ball screw linear transmission mechanism is respectively connected to a tank chain, and the two sets of ball screw linear transmission mechanisms are used to drive the two tank chains away from or close to each other; the central control system is connected to the first The motor is electrically connected, and the central control system is used to control the forward and reverse rotation of the first motor; the solid-state gyroscope is arranged in the vehicle body, and the solid-state gyroscope includes an inner ring, an inner ring angle sensor, an outer ring and an outer ring angle sensor, the outer ring is rotatably connected to the vehicle body, and the inner ring is arranged on the inner side of the outer ring and is rotatably connected to the outer ring; wherein, the inner ring angle sensor is fixedly connected to the inner ring, and the inner ring angle sensor is used to detect the inclination of the vehicle body in a first direction and transmit the signal to the central control system; the outer ring angle sensor is fixedly connected to the outer ring, and the outer ring angle sensor is used to detect the inclination of the vehicle body in a second direction and transmit the signal to the central control system; the first direction is perpendicular to the second direction.

[0006] Compared to the prior art, the present invention provides a firefighting robot with a body that supports various components and the entire robot, and a tank chain that drives the body. A central control system controls the forward and reverse rotation of the first motor, thereby moving the two ball screw linear transmission mechanisms. Because the two ball screw linear transmission mechanisms rotate in opposite directions, they can drive the two tank chains to move relative to or toward each other, adjusting the spacing between the two tank chains to adapt to different working environments. For example, the tank chain spacing can be reduced to facilitate passage through narrow passages, while it can be increased to facilitate passage through uneven terrain or steep slopes. When the working environment is uneven, causing the body to tilt in a first direction (e.g., left to right), the inner ring, under the influence of gravity, yaws relative to the body, adjusting its angle to maintain stability. When the body tilts in a second direction (e.g., front to back), the outer ring, under the influence of gravity, yaws relative to the body, adjusting its angle to maintain stability. A solid-state gyroscope maintains vehicle stability, preventing rollovers on complex terrain and uneven surfaces. Simultaneously, the inner and outer ring angle sensors transmit signals indicating the vehicle's tilt in a first direction to the central control system, which then reduces vehicle speed to prevent rollovers. The central control system also controls and increases the distance between the tank chains, improving vehicle stability and preventing rollovers.

[0007] Specifically, in the firefighting robot described above, the solid-state gyroscope also includes a main shaft, a rotor, an inner ring rotating shaft, and an outer ring rotating shaft. The inner ring is fixedly connected to the main shaft; the rotor is sleeved on the main shaft; the inner ring rotating shaft is fixedly connected to the inner ring, and the inner ring is rotatably connected to the outer ring via the inner ring rotating shaft; the outer ring rotating shaft is fixedly connected to the outer ring, and the outer ring is rotatably connected to the vehicle body via the outer ring rotating shaft. The inner ring angle sensor is fixedly connected to the inner ring rotating shaft; and the outer ring angle sensor is fixedly connected to the outer ring rotating shaft.

[0008] Specifically, the fire-fighting robot further includes an energy supply system disposed within the vehicle body, including a battery and a thermal power supply board, which is used to convert thermal energy into electrical energy.

[0009] Specifically, the fire-fighting robot further includes an analog inertial measurement unit, which is disposed inside the vehicle body and is used to measure the position and acceleration of the center of gravity of the vehicle body.

[0010] Specifically, the fire-fighting robot further includes at least two cameras, which are respectively arranged at the front end and the rear end of the vehicle body.

[0011] Specifically, the fire-fighting robot further includes at least two explosion-proof lighting lamps, which are respectively arranged at the front end and the rear end of the vehicle body.

[0012] Specifically, the fire-fighting robot also includes at least two sets of obstacle avoidance radars, which are respectively arranged on both sides of the vehicle body. When the obstacle avoidance radar detects that the vehicle body is close to an obstacle, the obstacle avoidance radar is also used to transmit information to the central control system. The central control system is used to calculate a reasonable distance and feedback it to the operator.

[0013] Specifically, in the fire-fighting robot described above, the outer shell of the vehicle body is made of high-temperature resistant material; the outer shell surface of the vehicle body also has a high-temperature resistant heat-insulating coating.

[0014] Specifically, the fire-fighting robot further includes a fire-fighting spray mechanism, which includes a high-pressure nozzle and a booster pump. The high-pressure nozzle is arranged on the top of the vehicle body, and the booster pump is arranged between the high-pressure nozzle and the vehicle body.

[0015] In addition, the vehicle body is provided with a water pipe joint, which is connected to the high-pressure nozzle and is used to connect to the water pipe; and / or the vehicle body is also provided with a dry powder bomb compartment, which is connected to the high-pressure nozzle and is used to accommodate spherical dry powder bombs; and / or the vehicle body is also provided with a heptafluoropropane bottle compartment, which is connected to the high-pressure nozzle and is used to accommodate a cylinder filled with heptafluoropropane. For example, the vehicle body may be provided with a water pipe joint, a dry powder bomb compartment, or a heptafluoropropane bottle compartment; or the vehicle body may be provided with a water pipe joint and a dry powder bomb compartment; or the vehicle body may be provided with a water pipe joint and a heptafluoropropane bottle compartment; or the vehicle body may be provided with a water pipe joint, a dry powder bomb compartment, and a heptafluoropropane bottle compartment.

[0016] Specifically, in the above-mentioned fire-fighting robot, there is a hatch on the top of the vehicle body, and the fire-fighting robot also includes a telescopic mechanical arm, a telescopic lifter and an arm drive motor. The telescopic lifter is fixedly connected to the telescopic mechanical arm; the arm drive motor is arranged in the vehicle body, for controlling the lifting and lowering of the telescopic lifter, and the telescopic lifter is used to control the telescopic mechanical arm to extend or retract into the vehicle body through the hatch.

[0017] Specifically, the fire-fighting robot further includes an airdrop parachute, and the vehicle body has a parachute ejection port, through which the airdrop parachute can be ejected from the vehicle body and opened.

[0018] Specifically, the fire-fighting robot further includes a bottom shock-absorbing mechanism, which is provided on the vehicle body and is used to mitigate the impact of the vehicle body when the fire-fighting robot enters the work site by airdrop.

[0019] In a second aspect, the present invention further provides a fire extinguishing system, comprising the fire extinguishing robot and a control terminal, wherein the central control system of the fire extinguishing robot is communicatively connected to the control terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 A schematic structural diagram of a fire-fighting robot provided by an embodiment of the present invention;

[0022] Figure 2 for Figure 1 Schematic diagram of the internal structure of the fire-fighting robot shown

[0023] Figure 3 for Figure 1 The diagram shows a partial structure of the fire-fighting robot after the body and tank chain are removed;

[0024] Figure 4 A schematic structural diagram of a solid-state gyroscope provided in an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a fire-fighting robot provided by an embodiment of the present invention at a work site;

[0026] Figure 6 A schematic diagram of a fire-fighting robot provided by an embodiment of the present invention in another work site;

[0027] Figure 7 A schematic diagram of a fire-fighting robot provided by an embodiment of the present invention in another work site;

[0028] Figure 8 A schematic diagram of a fire-fighting robot provided by an embodiment of the present invention in another work site;

[0029] Figure 9 A schematic structural diagram of another fire-fighting robot provided by an embodiment of the present invention;

[0030] Figure 10 for Figure 1 A top view of the fire-fighting robot shown;

[0031] Figure 11 A schematic structural diagram of another fire-fighting robot provided by an embodiment of the present invention;

[0032] Figure 12 A schematic structural diagram of another fire-fighting robot provided by an embodiment of the present invention;

[0033] Figure 13 A schematic structural diagram of another fire-fighting robot provided by an embodiment of the present invention;

[0034] Figure 14A structural schematic view of still another fire extinguishing robot provided by the embodiment of the present application;

[0035] Figure 15 A Figure 14 A working schematic view of the fire extinguishing robot shown in the figure;

[0036] Figure 16 A structural schematic view of still another fire extinguishing robot provided by the embodiment of the present application;

[0037] Figure 17 A Figure 16 A schematic view of the telescopic mechanical arm of the fire extinguishing robot shown in the figure extending out of the vehicle body;

[0038] Figure 18 A combined schematic view of the telescopic mechanical arm, telescopic lifter and arm driving motor provided by the embodiment of the present application;

[0039] Figure 19 A Figure 16 A schematic view of the telescopic mechanical arm of the fire extinguishing robot shown in the figure extending out of the vehicle body;

[0040] Figure 20 A Figure 16 A sectional view of the telescopic mechanical arm of the fire extinguishing robot shown in the figure extending out of the vehicle body;

[0041] Figure 21 A Figure 16 A front view of the fire extinguishing robot shown in the figure;

[0042] Figure 22 A structural schematic view of still another fire extinguishing robot provided by the embodiment of the present application;

[0043] Figure 23 A structural schematic view of still another fire extinguishing robot provided by the embodiment of the present application;

[0044] Figure 24 A partial sectional view of the outer shell of the vehicle body of a fire extinguishing robot provided by the embodiment of the present application;

[0045] Figure 25 A schematic view of a fire extinguishing system provided by the embodiment of the present application.

[0046] Reference signs:

[0047] 1 - vehicle body; 101 - shell; 1011 - high-temperature-resistant thermal insulation coating; 1012 - polyurethane insulation layer; 1013 - natural convection heat dissipation support framework; 1014 - EPS layer of thermal insulation material; 102 - water pipe joint; 103 - dry powder bomb cabin; 104 - heptafluoropropane bottle cabin; 105 - cabin door; 106 - parachute ejection port; 2 - tank chain; 3 - electric drive horizontal telescopic machine; 31 - first motor; 32 - ball screw linear transmission mechanism; 33 - base; 4 - central control system; 5 - solid-state gyroscope; 51 - inner ring; 52 - inner ring angle sensor; 53 - outer ring; 54 - outer ring angle sensor; 55 - main shaft; 56 - rotor; 57 - inner ring rotating shaft; 58 - outer ring rotating shaft; 6 - energy supply system; 61 - battery; 62 - thermal energy power supply plate; 7 - analog inertial measurement unit; 8 - camera; 9 - explosion-proof lighting lamp; 10 - obstacle avoidance radar; 11 - fire extinguishing spraying mechanism; 111 - high-pressure nozzle; 112 - booster pump; 113 - water curtain heat-proof nozzle; 12 - steel cylinder; 13 - forward-looking camera; 14 - telescopic mechanical arm; 15 - telescopic lifter; 16 - arm driving motor; 17 - air drop parachute; 18 - bottom damping mechanism; 19 - measuring instrument; 20 - water pipe; 01 - fire-fighting robot; 02 - control terminal. DETAILED DESCRIPTION

[0048] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0049] It should be noted that when an element is referred to as being "fixedly disposed on" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0050] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited. The meaning of "several" is one or more, unless otherwise explicitly and specifically limited.

[0051] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like 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 a limitation on the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the term "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0053] Firefighting operations often require firefighters to enter affected areas to extinguish and rescue. However, in some buildings and industrial production environments, hazardous chemical and radioactive substances may leak, leading to combustion, explosions, and collapses. Firefighters face high temperatures, darkness, toxic environments, and dense smoke, creating a dangerous environment. This prevents personnel from entering these high-risk areas and quickly handling the situation, significantly impacting firefighting efforts. Existing firefighting robots, however, have poor body stability and are prone to tipping over on uneven work surfaces.

[0054] In order to solve the above problems, Figure 1 、 Figure 2 as well as Figure 3 As shown, an embodiment of the present invention provides a fire-fighting robot, comprising a vehicle body 1, two tank chains 2, an electric-driven horizontal telescopic machine 3, a central control system 4 and a solid-state gyroscope 5, wherein the two tank chains 2 are respectively arranged on both sides of the vehicle body 1; the electric-driven horizontal telescopic machine 3 is arranged in the vehicle body 1, and the electric-driven horizontal telescopic machine 3 comprises a first motor 31 and two sets of ball screw linear transmission mechanisms 32, the two sets of ball screw linear transmission mechanisms 32 have opposite rotation directions and are respectively arranged on both sides of the output shaft of the first motor 31; each ball screw linear transmission mechanism 32 is respectively connected to a tank chain 2, and the two sets of ball screw linear transmission mechanisms 32 are used to drive the two tank chains 2 away from or close to each other; the central control system 4 is electrically connected to the first motor 31, and the central control system 4 is used to control the forward and reverse rotation of the first motor 31; the solid-state gyroscope 5 is arranged in the vehicle body 1, as shown in FIG. Figure 4As shown, the solid-state gyroscope 5 includes an inner ring 51, an inner ring angle sensor 52, an outer ring 53 and an outer ring angle sensor 54. The outer ring 53 is rotatably connected to the vehicle body 1, and the inner ring 51 is arranged on the inner side of the outer ring 53 and is rotatably connected to the outer ring 53. The inner ring angle sensor 52 is fixedly connected to the inner ring 51 and is used to detect the tilt of the vehicle body 1 in a first direction A and transmit the signal to the central control system 4. The outer ring angle sensor 54 is fixedly connected to the outer ring 53 and is used to detect the tilt of the vehicle body 1 in a second direction B and transmit the signal to the central control system 4. The first direction A is perpendicular to the second direction B. For example, Figure 4 As shown, the first direction A may be the left-right direction of the vehicle body 1, and the second direction may be the front-back direction of the vehicle body 1. Alternatively, in other embodiments of the present invention, the first direction may be the left-right direction of the vehicle body 1, and the second direction may be the front-back direction of the vehicle body 1.

[0055] During operation of the fire-fighting robot provided by the embodiment of the present invention, the tank chain 2 drives the vehicle body 1. Under different operating conditions, the central control system 4 controls the forward and reverse rotation of the first motor 31, thereby moving the two sets of ball screw linear transmission mechanisms 32, thereby driving the two tank chains 2 to move relative to or toward each other, adjusting the spacing between the two tank chains 2. When the vehicle body 1 tilts in a first direction A (e.g., left-right direction), the inner ring 51, under the action of gravity, deflects relative to the vehicle body 1, making angular adjustments to maintain vehicle body 1 stability. When the vehicle body 1 tilts in a second direction B (e.g., front-back direction), the outer ring 53, under the action of gravity, deflects relative to the vehicle body 1, making angular adjustments to maintain vehicle body 1 stability. Simultaneously, the inner ring angle sensor 52 and the outer ring angle sensor 54 transmit signals indicating the tilt of the vehicle body 1 to the central control system 4.

[0056] Compared to existing technologies, the firefighting robot provided in the present invention features a body 1 that supports various components and the entire firefighting robot, while a tank chain 2 drives the body 1. A central control system 4 controls the forward and reverse rotation of a first motor 31, thereby moving two sets of ball screw linear transmission mechanisms 32. Because the two sets of ball screw linear transmission mechanisms 32 rotate in opposite directions, they can drive the two tank chains 2 toward or away from each other, allowing for adjustment of the spacing between the two tank chains 2 to adapt to different working environments. For example, the spacing between the tank chains 2 can be reduced to facilitate passage through narrow passages, while it can be increased to facilitate navigating uneven terrain or steep slopes. When the working environment is uneven, causing the vehicle body 1 to tilt in a first direction A (e.g., left-right), the inner ring 51, under the influence of gravity, deflects relative to the vehicle body 1, adjusting its angle to maintain stability. When the vehicle body 1 tilts in a second direction B (e.g., front-back), the outer ring 53, under the influence of gravity, deflects relative to the vehicle body 1, adjusting its angle to maintain stability. The solid-state gyroscope 5 maintains vehicle stability, preventing rollovers on complex terrain and uneven surfaces. Simultaneously, the inner and outer ring angle sensors 52 and 54 transmit signals indicating the tilt of the vehicle body 1 to the central control system 4, which controls the vehicle speed to reduce and prevent rollovers. The central control system 4 can also control and increase the spacing between the tank chains 2 to improve vehicle stability.

[0057] For example, the tank chain 2 can be connected to the base 33 on the ball screw linear transmission mechanism 32.

[0058] like Figure 5 、 Figure 6 、 Figure 7 as well as Figure 8 As shown, with the assistance of the solid-state gyroscope 5, the electrically driven horizontal telescopic mechanism 3, and the tank chain 2, the vehicle body 1 can navigate a variety of harsh terrains, such as steep mountains, building stairways, and muddy and sandy environments, and can navigate freely without flipping. The solid-state gyroscope 5 ensures that the core of the vehicle body 1 remains permanently horizontal, thus enabling it to navigate various harsh terrains. Furthermore, with the assistance of the electrically driven horizontal telescopic mechanism 3 and the tank chain 2, the longitudinal spacing of the tank chain 2 can be adjusted according to road conditions. The large contact area between the tank chain 2 and the ground ensures the vehicle body is stable, making it suitable for crawling, accelerating, and avoiding obstacles in various harsh environments.

[0059] In addition, the central control system 4 can also send the information of the vehicle body 1 to the outside (such as a control terminal), thereby facilitating remote operators to understand the operation status of the vehicle body 1 in real time.

[0060] Specifically, in the above-mentioned fire-fighting robot, Figure 4As shown, the solid-state gyroscope 5 also includes a main shaft 55, a rotor 56, an inner ring rotating shaft 57, and an outer ring rotating shaft 58. The inner ring 51 is fixedly connected to the main shaft 55; the rotor 56 is sleeved on the main shaft 55; the inner ring rotating shaft 57 is fixedly connected to the inner ring 51, and the inner ring 51 is rotatably connected to the outer ring 53 via the inner ring rotating shaft 57; the outer ring rotating shaft 58 is fixedly connected to the outer ring 53, and the outer ring 53 is rotatably connected to the vehicle body 1 via the outer ring rotating shaft 58. The inner ring angle sensor 52 is fixedly connected to the inner ring rotating shaft 57; and the outer ring angle sensor 54 is fixedly connected to the outer ring rotating shaft 58.

[0061] The high-speed rotation of the rotor 56, mounted on the main shaft 55, further maintains the stability of the vehicle body 1. For example, the rotor 56 can be driven to rotate about the main shaft 55 by the magnetic field of the electrodes within the vehicle body 1. The inner ring 51 is rotatably connected to the outer ring 53 via the inner ring shaft 57. This allows the inner ring 51 to rotate relative to the outer ring 53, and therefore relative to the vehicle body 1, under the influence of gravity. This adjusts the center of gravity of the vehicle body 1 and maintains the stability of the vehicle body. Similarly, the outer ring 53 is rotatably connected to the vehicle body 1 via the outer ring shaft 58. This allows the outer ring 53 to rotate relative to the vehicle body 1 under the influence of gravity, thereby adjusting the center of gravity of the vehicle body 1 and maintaining the stability of the vehicle body. This prevents rollover on complex terrain and uneven surfaces. Furthermore, when the vehicle body 1 tilts left or right, the inner ring 51 swings relative to the vehicle body 1 under the influence of gravity. This drives the inner ring shaft 57 to rotate, which in turn drives the inner ring angle sensor 52 fixed to the inner ring shaft 57. The inner ring angle sensor 52 can detect the degree of tilt of the vehicle body 1. Similarly, when the vehicle body 1 tilts forward or backward, under the action of gravity, the outer ring 53 swings relative to the vehicle body 1, and the outer ring 53 drives the outer ring rotating shaft 58 to rotate, thereby driving the outer ring angle sensor 54 fixed to the outer ring rotating shaft 58 to rotate. The outer ring angle sensor 54 can detect the degree of tilt of the vehicle body 1 forward or backward.

[0062] Specifically, if Figure 3 and Figure 9 As shown, the fire-fighting robot further includes an energy supply system 6, which is provided on the vehicle body 1. The energy supply system 6 includes a battery 61 and a thermal power supply board 62, and the thermal power supply board 62 is used to convert thermal energy into electrical energy. Exemplarily, the battery 61 may include a lithium fluorocarbon battery 61. As another example, the thermal power supply board 62 may be embedded in the front end of the vehicle body 1. The fire-fighting robot is equipped with a dual power supply structure of a battery 61 and a thermal power supply board 62. In addition to the battery 61, thermal power supply is also added. The temperature in the working environment is sensed by the thermal power supply board 62. The higher the temperature, the higher the heat energy generated, and it will be converted into electrical energy through the thermal power supply board 62 to supply the vehicle body for operation.

[0063] Specifically, if Figure 3As shown, the firefighting robot also includes an analog inertial measurement unit 7, which is disposed within the vehicle body 1 and is used to measure the center of gravity position and acceleration of the vehicle body 1. For example, the analog inertial measurement unit 7 may include an angular rate gyroscope and a three-axis acceleration sensor. During vehicle operation, the analog inertial measurement unit 7 can sense the center of gravity position and acceleration, and determine the driving direction and mileage using the angular rate gyroscope, three-axis acceleration sensor, and other sensors.

[0064] Specifically, if Figure 1 and Figure 9 As shown, the fire-fighting robot further includes at least two cameras 8, which are respectively arranged at the front end of the vehicle body 1 and the rear end of the vehicle body 1. The camera 8 can be operated through an external control terminal to realize the functions of taking pictures and recording videos. For example, the camera 8 can perfectly capture dynamic images through laser scanning, so that the vehicle body 1 can accurately capture the fire scene during high-speed operation. For example. The camera 8 can be equipped with 50 million (f / 1.4-f / 4.0) + 40 million (f / 2.2) dual-camera multi-spectral high-definition pixels, with a maximum resolution of 3456×2304, and can have multi-functional adjustment of intelligent filters, and can achieve shooting and recording in two extreme environments of strong light and dark through the infrared night vision function. Of course, in other embodiments of the present application, the camera 8 can also adopt other pixels and resolutions, which are not specifically limited in this application.

[0065] Specifically, if Figure 1 and Figure 9 As shown, the fire-fighting robot further includes at least two explosion-proof lighting lamps 9, which are respectively arranged at the front end and the rear end of the vehicle body 1. The explosion-proof lighting lamps 9 illuminate the front end and the rear end of the vehicle body 1, further ensuring the clarity of the image captured by the camera 8.

[0066] like Figure 10 As shown, through the front and rear cameras 8 and explosion-proof lighting lamps 9 of the vehicle body 1, a 160° wide-angle shooting and lighting can be achieved.

[0067] For example, the interior of the explosion-proof lighting lamp 9 can be designed with a nano-reflector, which has a 30%-40% higher light efficiency than conventional chrome plating. The exterior of the explosion-proof lighting lamp 9 can be surrounded by a nickel-based alloy, which has excellent high-temperature strength and toughness. The nickel-based alloy surface can also be protected with a high-temperature insulation coating to extend the service life of the explosion-proof lighting lamp 9.

[0068] Specifically, if Figure 1 and Figure 9As shown, the fire-fighting robot further includes at least two sets of obstacle avoidance radars 10, which are respectively arranged on both sides of the vehicle body 1. When the obstacle avoidance radar 10 detects that the vehicle body 1 is close to an obstacle, the obstacle avoidance radar 10 is also used to transmit information to the central control system 4. The central control system 4 is used to calculate a reasonable distance and feed it back to the operator, forming a semi-automatic semi-operation mode, slowing down the speed automatically, avoiding obstacles to avoid collision, and thus ensuring the safe passage of the vehicle body 1 in complex terrain.

[0069] Specifically, in the fire-fighting robot described above, the outer shell 101 of the vehicle body 1 is constructed of a high-temperature resistant material. For example, this material may include a nickel-based alloy, which exhibits excellent high-temperature strength and toughness, thereby extending the service life of the vehicle body 1 in high-temperature operating environments while maintaining a constant internal temperature. Furthermore, the outer shell 101 of the vehicle body 1 is coated with a high-temperature resistant thermal insulation coating 1011. This coating further extends the service life of the vehicle body 1 while maintaining a constant internal temperature.

[0070] Or, for example, Figure 24 As shown, the outer shell 101 of the vehicle body 1 includes, from the outside to the inside, a high-temperature resistant heat-insulating coating 1011, a polyurethane insulation layer 1012, a natural heat-dissipating support frame 1013, and an insulating material EPS (polystyrene) layer 1014. These four layers of heat dissipation protection ensure that the internal temperature of the vehicle body 1 does not change due to environmental changes.

[0071] Specifically, if Figure 1 As shown, the fire-fighting robot further includes a fire-fighting spray mechanism 11, which includes a high-pressure nozzle 111 and a booster pump 112. The high-pressure nozzle 111 is mounted on top of the vehicle body 1, and the booster pump 112 is disposed between the high-pressure nozzle 111 and the vehicle body 1. The booster pump 112 can pressurize the fire-fighting medium into the high-pressure nozzle 111 to form a high-pressure fire-fighting medium with a lift of 60 to 120 meters.

[0072] In addition, if Figure 11 、 Figure 12 or Figure 13As shown, the vehicle body 1 is provided with a water pipe joint 102, which is in communication with the high-pressure nozzle 111 and is used to connect with the water pipe 20; and / or, the vehicle body 1 is also provided with a dry powder bomb cabin 103, which is in communication with the high-pressure nozzle 111 and is used to accommodate spherical dry powder bombs; and / or, the vehicle body 1 is also provided with a heptafluoropropane bottle cabin 104, which is in communication with the high-pressure nozzle 111 and is used to accommodate the steel bottle 12 filled with heptafluoropropane. Exemplarily, the vehicle body 1 can be provided with the water pipe joint 102, the dry powder bomb cabin 103 or the heptafluoropropane bottle cabin 104; or, the vehicle body 1 can be provided with the water pipe joint 102 and the dry powder bomb cabin 103; or, the vehicle body 1 can be provided with the water pipe joint 102 and the heptafluoropropane bottle cabin 104; or, the vehicle body 1 can be provided with the water pipe joint 102, the dry powder bomb cabin 103 and the heptafluoropropane bottle cabin 104.

[0073] In the case that the working site is close to a fire hydrant or a water source such as a river or a lake, the water pipe 20 can be connected to the water pipe joint 102 to provide water source for the fire extinguishing spray mechanism 11, or the water pipe 20 can be put into the river or the lake to suck water source through the water suction function of the booster pump 112 to form a water cannon to quickly extinguish the fire.

[0074] In the case that the working site is far away from the water source, such as in a dry area or a high building, the spherical dry powder bomb filled in the dry powder bomb cabin 103 can be thrown to the fire source through the high-pressure nozzle to extinguish the fire. Alternatively, the steel bottle 12 filled with heptafluoropropane in the heptafluoropropane bottle cabin 104 can be used to provide heptafluoropropane, which is sprayed to the fire source through the high-pressure nozzle to extinguish the fire.

[0075] In some embodiments, the water pipe connected to the water pipe joint 102 and the extinguishing methods of the spherical dry powder bomb and the steel bottle 12 filled with heptafluoropropane can be installed on the vehicle body 1 at the same time and can be freely switched by the operator remotely to adapt to various harsh environments for fire extinguishing.

[0076] In some embodiments, as shown in Figure 14 and Figure 15 , the high-pressure nozzle 111 and the booster pump 112 are also provided with a water curtain heat protection nozzle 113. The water curtain heat protection nozzle 113 is used to spray cooling liquid in the form of water curtain downward to the vehicle body 1 in the case of extremely harsh or industrial fuel environments with extremely high temperature to protect the vehicle body 1 and reduce the temperature.

[0077] In an alternative embodiment, as shown in Figure 9As shown, the fire-fighting robot further includes a camera 13, which is disposed on the top of the high-pressure nozzle 111. The camera 13 on the top of the high-pressure nozzle 111 can rotate with the high-pressure nozzle 111 to achieve 360° shooting without blind spots.

[0078] Specifically, in the above-mentioned fire-fighting robot, Figure 1 As shown, the top of the vehicle body 1 has a hatch 105, as shown in FIG. Figure 16 、 Figure 17 and Figure 18 As shown, the firefighting robot also includes a telescopic robotic arm 14, a telescopic lifter 15, and an arm drive motor 16. The telescopic lifter 15 is fixedly connected to the telescopic robotic arm 14. The arm drive motor 16 is disposed within the vehicle body 1 and is used to control the raising and lowering of the telescopic lifter 15. The telescopic lifter 15 is used to control the extension and retraction of the telescopic robotic arm 14 through the hatch 105 into the vehicle body 1. The telescopic robotic arm 14 is extended by the arm drive motor 16. The telescopic robotic arm 14 can lift heavy objects and clear roadblocks. In complex terrain, the telescopic robotic arm 14 can also carry boulders for rescue operations.

[0079] For example, Figure 19 As shown, the top hatch 105 of the vehicle body 1 can be opened by remotely controlling the central control system 4, as shown in FIG. Figure 20 As shown, when the rear hatch 105 is opened, it will slide into the interior of the vehicle body 1 in the form of a slide rail. The bottom of the telescopic mechanical arm 14 is equipped with a remote arm drive motor 16 to drive and control the telescopic lifter 15 to lift the telescopic mechanical arm 14 from the interior of the vehicle body 1 to the top of the vehicle body 1 and fix it (as shown in FIG. Figure 17 shown).

[0080] like Figure 21 As shown, the telescopic robotic arm 14 can be controlled by the central control system 4 to be freely extended and can rotate 360 ​​degrees to cope with rescue and obstacle removal work in different environments and terrains.

[0081] Specifically, if Figure 22 As shown, the firefighting robot also includes an airdrop parachute 17. The vehicle body 1 has a parachute ejection port 106, through which the airdrop parachute 17 can be ejected from the vehicle body 1 and deployed. In harsh environments, damaged roads, or high-altitude fires that prevent access, the firefighting robot can be airdropped directly to the disaster site, reducing travel time and enabling direct firefighting and rapid response. The airdrop parachute 17 slows the firefighting robot's descent, reducing the impact of the robot landing and preventing damage.

[0082] Specifically, if Figure 23As shown, the fire-fighting robot further includes a bottom shock-absorbing mechanism 18, which is provided on the vehicle body 1 and is used to mitigate the impact of the vehicle body 1 when the fire-fighting robot enters the work site by airdrop, thereby further preventing the fire-fighting robot from being damaged.

[0083] Furthermore, during an airdrop, the vehicle body 1 will not flip mid-air due to the influence of the solid-state gyroscope 5. In some embodiments, a measuring instrument 19 may be provided on the bottom of the vehicle body 1 to detect the height of the vehicle body 1 above the ground. When the vehicle body 1 reaches a certain safe distance from the ground, the parachute ejection port 106 of the vehicle body 1 automatically deploys the airdrop parachute 17, slowing the descent and allowing the vehicle body 1 to land safely. In some possible implementations, after the fire-fighting robot lands, the parachute ejection port 106 automatically cuts the landing cord, ensuring the normal operation of the vehicle body 1.

[0084] For example, the central control system 4 may include a single-chip main control processor, which can monitor battery status and fault information, and can also collect on-site conditions in real time through cameras and obstacle avoidance radar sensor information, and integrate and transmit the data to the central control system 4, and remotely transmit it to the external control terminal.

[0085] like Figure 25 As shown, an embodiment of the present invention further provides a fire-fighting system, including the fire-fighting robot 01 described in any of the above embodiments. The fire-fighting system also includes a control terminal 02, with the central control system 4 of the fire-fighting robot 01 in communication with the control terminal 02. The control terminal 02 can be controlled by a firefighter. Signals sent from the central control system 4 within the vehicle 1 are remotely transmitted to the control terminal 02, enabling remote control of the host, fire monitoring, fluid level monitoring, valve opening and closing, lighting, photography and video recording, and robotic arm control. This allows the operator and external firefighters to monitor the disaster area in real time.

[0086] For example, the central control system 4 can transmit the temperature and environmental conditions within the scannable range of the vehicle body 1, air flow and wind speed, wind direction, AC / DC electronic load power and voltage changes, remote monitoring system network transmission values, remote monitoring system maximum transmission frame rate values, emergency power supply power values, operating fuel content and spray liquid content, vehicle body 1 and environmental safety collection and analysis detection (including environmental measurement, equipment measurement, equipment detection system values, equipment maintenance system and emergency support system values), robotic arm operation status, tank chain 2 operation status, heat conduction values, etc. to the control terminal 02.

[0087] For example, control terminal 02 can also be equipped with a touchscreen display, a control handle, and a network signal source. Dual closed-loop Ethernet redundancy is used between control terminal 02 and the fire headquarters, ensuring that communication can be restored within 300 milliseconds in the event of a network failure. In addition, an alarm can be issued via an error relay, indicator light, or SNMP if the ring network link is disconnected.

[0088] In addition, the fire extinguishing system can also include a universal monitoring and distribution database management integrated platform, which can unify the situation in the disaster area, realize real-time direct communication between the fire headquarters and the disaster area, and form a national fire integrated system of command, management and monitoring.

[0089] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0090] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A fire-fighting robot, characterized in that: include: body; two tank chains, provided on either side of the hull; An electrically driven horizontal telescopic mechanism is disposed within the vehicle body, comprising a first motor and two sets of ball screw linear transmission mechanisms, the two sets of ball screw linear transmission mechanisms having opposite rotation directions and being disposed on either side of an output shaft of the first motor; each of the ball screw linear transmission mechanisms is connected to one of the tank chains, and the two sets of ball screw linear transmission mechanisms are used to drive the two tank chains to move away from or towards each other; a central control system electrically connected to the first motor, the central control system being used to control forward and reverse rotation of the first motor; a solid-state gyroscope disposed within the vehicle body, the solid-state gyroscope comprising an inner ring, an inner ring angle sensor, an outer ring, and an outer ring angle sensor, the outer ring being rotatably connected to the vehicle body, the inner ring being disposed inside the outer ring and rotatably connected to the outer ring; The inner ring angle sensor is fixedly connected to the inner ring, and is used to detect the tilt of the vehicle body in a first direction and transmit the signal to the central control system; The outer ring angle sensor is fixedly connected to the outer ring, and is used to detect the inclination of the vehicle body in a second direction and transmit the signal to the central control system; the first direction is perpendicular to the second direction.

2. The fire-fighting robot according to claim 1, characterized in that: The solid-state gyroscope further comprises: a main shaft, the inner ring being fixedly connected to the main shaft; a rotor, wherein the rotor is sleeved on the main shaft; an inner ring rotating shaft, the inner ring rotating shaft being fixedly connected to the inner ring, the inner ring being rotatably connected to the outer ring via the inner ring rotating shaft; the inner ring angle sensor being fixedly connected to the inner ring rotating shaft; An outer ring rotating shaft is fixedly connected to the outer ring, and the outer ring is rotatably connected to the vehicle body via the outer ring rotating shaft; the outer ring angle sensor is fixedly connected to the outer ring rotating shaft.

3. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot also includes: An energy supply system is provided on the vehicle body, and the energy supply system includes a battery and a thermal energy power supply board, and the thermal energy power supply board is used to convert thermal energy into electrical energy.

4. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot also includes: An analog inertial measurement unit is disposed in the vehicle body and is used to measure the center of gravity and acceleration of the vehicle body.

5. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot also includes: At least two cameras, respectively arranged at the front end and the rear end of the vehicle body; At least two explosion-proof lighting lamps are respectively arranged at the front end and the rear end of the vehicle body.

6. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot also includes: At least two sets of obstacle avoidance radars are respectively arranged on both sides of the vehicle body. When the obstacle avoidance radar detects that the vehicle body is close to an obstacle, the obstacle avoidance radar is also used to transmit information to the central control system. The central control system is used to calculate a reasonable distance and feed back to the operator.

7. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot further includes a fire-fighting spray mechanism, which includes a high-pressure nozzle and a booster pump. The high-pressure nozzle is arranged on the top of the vehicle body, and the booster pump is arranged between the high-pressure nozzle and the vehicle body. The vehicle body is provided with a water pipe joint, which is connected to the high-pressure nozzle and is used to connect to the water pipe; and / or, the vehicle body also has a dry powder bomb compartment, which is connected to the high-pressure nozzle and is used to accommodate spherical dry powder bombs; and / or, the vehicle body also has a heptafluoropropane bottle compartment, which is connected to the high-pressure nozzle and is used to accommodate a steel cylinder filled with heptafluoropropane.

8. The fire-fighting robot according to claim 1, characterized in that: The top of the vehicle body is provided with a hatch, and the fire-fighting robot further comprises: telescopic robotic arm; a telescopic lifter fixedly connected to the telescopic mechanical arm; An arm drive motor is provided in the vehicle body and is used to control the raising and lowering of the telescopic lifter. The telescopic lifter is used to control the telescopic mechanical arm to extend through the hatch or to be retracted into the vehicle body.

9. The fire-fighting robot according to claim 1, characterized in that: The fire-fighting robot also includes: An airdrop parachute, the vehicle body having a parachute ejection port, through which the airdrop parachute can be ejected from the vehicle body and opened; The bottom shock-absorbing mechanism is provided on the vehicle body and is used to reduce the impact of the vehicle body when the fire-fighting robot enters the working site by airdrop.

10. A fire extinguishing system, characterized in that: include: The fire-fighting robot according to any one of claims 1 to 9; The central control system is in communication with the control terminal.

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