Rotary lifting jet robot for fire fighting

Abstract

The invention discloses a rotary lifting injection robot for fire fighting, which comprises an AGV mobile platform as a bottom layer mobile carrier of the robot, and the top plane of the AGV mobile platform is used for bearing each upper layer system; the power supply system is fixedly installed at the top of the AGV mobile platform through the frame body and comprises a battery, a DC-DC converter, a control panel, a switch, a receiver, a 48V-to-12V power supply, a circuit breaker, a network hard disk video recorder and a wireless router, the battery is electrically connected with the DC-DC converter and the 48V-to-12V power supply, the control panel is in signal connection with the circuit breaker, the switch and the receiver, and the wireless router is in signal connection with the network hard disk video recorder. The wireless router is in communication connection with the switch; the AGV mobile platform is integrated, so that the maneuvering performance of the fire-fighting robot is remarkably improved, and the robot can autonomously plan a path in a complex indoor and outdoor environment, flexibly avoid obstacles and quickly arrive at a fire scene. The lifting mechanism adopts a multi-section telescopic structure to be matched with a rotatable nozzle, so that the spraying height and angle are flexibly adjusted.

Description

Technical Field

[0001] This invention relates to the field of fire extinguishing technology, specifically to a rotating, lifting, and spraying robot for fire extinguishing. Background Technology

[0002] Traditional firefighting equipment has many limitations in practical applications, especially in complex buildings and large warehouses, where its lack of mobility is particularly prominent, often making it difficult to quickly reach the core of a fire. During firefighting operations, the equipment's spray angle and height adjustment flexibility is poor, limiting the extinguishing range and preventing precise coverage of fire sources in different locations. Furthermore, fire source location relies mainly on manual observation or single detection methods, which are easily affected by environmental factors such as smoke and light, directly impacting firefighting efficiency due to insufficient positioning accuracy. In addition, traditional equipment is highly dependent on firefighters' operation; in dangerous environments such as high temperatures and dense smoke, firefighters must work at close range, facing high safety risks, making it difficult to meet the demands of modern, diverse firefighting for efficiency, safety, and intelligence. Summary of the Invention

[0003] Therefore, the present invention provides a rotating lifting spray robot for fire fighting to solve the above-mentioned problems in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] According to a first aspect of the present invention, a rotating lifting spray robot for fire extinguishing comprises:

[0006] The AGV mobile platform, as the underlying mobile carrier of the robot, has its top plane used to support various upper-level systems;

[0007] The power supply system is fixedly installed on the top of the AGV mobile platform via a frame, and includes a battery, a DC-DC converter, a control board, a switch, a receiver, a 48V to 12V power supply, a circuit breaker, a network hard disk recorder, and a wireless router. The battery is electrically connected to the DC-DC converter and the 48V to 12V power supply. The control board is connected to the circuit breaker, the switch, and the receiver for signal transmission. The wireless router is connected to the switch for communication.

[0008] The water supply system is set above the power supply system frame and includes a water tank, an automatic telescopic high-pressure water drum, a DC high-pressure washer, and piping components. The bottom of the water tank is fixedly connected to the frame, the water inlet is located at the top of the water tank, one end of the drain pipe is connected to the bottom of the water tank, and the other end is connected to the input end of the DC high-pressure washer through a solenoid valve and a contactor. The output end of the DC high-pressure washer is connected to the nozzle of the lifting mechanism through the automatic telescopic high-pressure water drum. Guide wheels are installed on the side wall of the water tank to assist in guiding the extension and retraction of the water pipe of the automatic telescopic high-pressure water drum.

[0009] The lifting mechanism is vertically installed at the center of the top of the water tank in the water supply system. It includes a multi-section telescopic structure with an electric screw, a nozzle adjustment frame, a nozzle and a nozzle top cover. The bottom of the electric screw telescopic structure is fixed to the water tank, and the top is connected to the nozzle adjustment frame. The nozzle is installed at the front end of the nozzle adjustment frame through a rotating shaft. A baffle plate and a cloud-shaped barrier are arranged around the outer periphery of the nozzle and fixed to the nozzle adjustment frame.

[0010] The fire-finding camera system is fixedly mounted on the top of the nozzle adjustment frame of the lifting mechanism by a bracket, and includes a first fire-finding camera and a second fire-finding camera;

[0011] The AGV mobile platform is electrically connected to the control board of the power supply system and receives its control signals. The power supply system provides power to the DC high-pressure cleaner of the water supply system, the electric screw extension structure of the lifting mechanism, and the fire-finding camera system through cables. The fire-finding camera system communicates with the control board through signal lines. The system's industrial control computer is connected to the liquid level sensor, pressure sensor, and control board signals respectively.

[0012] Furthermore, lidar and ultrasonic sensors are installed on the bottom front end and sides of the AGV mobile platform, respectively. The lidar is connected to the control board to realize autonomous path planning, and the ultrasonic sensors are electrically connected to the drive module of the AGV mobile platform to realize obstacle avoidance function.

[0013] Furthermore, the power supply system uses a lithium battery pack, and the DC-DC converter converts the high-voltage output of the battery into multiple voltage levels of 12V, 24V and 48V, which power the control board, switch, receiver and lifting mechanism respectively. The circuit breaker is connected in series with the battery output terminal to realize overcurrent protection.

[0014] Furthermore, the water tank of the water supply system is made of stainless steel and is equipped with a level gauge and a level sensor. The level gauge is electrically connected to the system's industrial control computer. The pressure sensor and pressure gauge are connected in series on the pipeline between the drain pipe and the solenoid valve to monitor the water pressure in real time.

[0015] Furthermore, the electric lead screw extension structure of the lifting mechanism has a built-in displacement sensor, which is connected to the control board via signal.

[0016] Furthermore, the first fire-finding camera in the fire-finding camera system is a visible light camera, and the second fire-finding camera is an infrared thermal imaging camera.

[0017] Furthermore, the wireless router establishes a wireless communication link with the remote control center, and the network hard disk recorder is electrically connected to the fire-finding camera system and control board to store on-site video and operational data.

[0018] Furthermore, the guide wheel has a U-shaped groove structure and is symmetrically installed on the upper part of both sides of the water tank. The water pipe of the automatic telescopic high-pressure water drum passes through the U-shaped groove of the guide wheel and extends along the telescopic direction of the lifting mechanism.

[0019] Furthermore, the baffle plate is an arc-shaped metal plate, and the cloud enclosure is an annular rubber ring. The two are concentrically set behind the nozzle. The bottom of the baffle plate is fixed to the nozzle adjustment frame, and the cloud enclosure is fitted onto the outer wall of the nozzle's spray pipe.

[0020] Furthermore, the system's industrial control computer communicates with the control board via an Ethernet switch, receiving monitoring data from the liquid level sensor and pressure sensor, and sending lifting height and spray mode control commands to the control board based on the fire source location information from the fire-finding camera system.

[0021] The present invention has the following advantages:

[0022] 1. This invention significantly improves the mobility of firefighting robots by integrating an AGV mobile platform, enabling them to autonomously plan paths and flexibly avoid obstacles in complex indoor and outdoor environments, quickly reaching the fire scene. The lifting mechanism adopts a multi-section telescopic structure combined with a rotatable nozzle, allowing for flexible adjustment of the spray height and angle, effectively expanding the fire extinguishing coverage area and adapting to fire scenarios on different floors and in different spaces.

[0023] 2. This invention's fire-finding camera system combines dual cameras working in tandem to accurately identify fire sources in complex environments, improving positioning reliability. The device supports remote control, reducing the need for firefighters to work at close range and lowering personal safety risks. The overall design, through the coordinated operation of various systems, achieves an integrated workflow from rapid response and precise positioning to efficient firefighting, improving the timeliness and effectiveness of fire suppression and better meeting the requirements of modern firefighting for intelligence and safety. Attached Figure Description

[0024] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0025] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0026] Figure 1 This is a front view of a rotating lifting spray robot for fire extinguishing, provided for some embodiments of the present invention.

[0027] Figure 2 This is a structural schematic diagram of a rotating lifting spray robot for fire extinguishing, provided for some embodiments of the present invention.

[0028] Figure 3 This is a perspective view of a rotating, lifting, and spraying robot for fire extinguishing, provided for some embodiments of the present invention.

[0029] In the picture:

[0030] 1. AGV mobile platform;

[0031] 2. Power supply system; 21. Battery; 22. DC-DC converter; 23. Control board; 24. Switch; 25. Receiver; 26. 48V to 12V power supply; 27. Circuit breaker; 28. Network video recorder; 29. ​​Wireless router; 210. Frame;

[0032] 3. Water supply system; 31. Water tank; 32. Drain pipe; 33. Automatic telescopic high-pressure water drum; 34. Level gauge; 35. Pressure gauge; 36. Pressure sensor; 37. Solenoid valve; 38. System control computer; 39. Contactor; 310. Water tank inlet; 311. Guide wheel; 312. Level sensor; 313. DC high-pressure washer;

[0033] 4. Lifting mechanism; 41. Nozzle; 42. Water baffle; 43. Cloud enclosure; 44. Nozzle top cover; 45. Nozzle adjustment bracket;

[0034] 5. Fire-finding camera system; 51. First fire-finding camera; 52. Second fire-finding camera. Detailed Implementation

[0035] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figures 1-3 As shown, the present invention provides a rotating lifting spray robot for fire extinguishing, comprising:

[0037] The AGV mobile platform, as the underlying mobile carrier of the robot, has its top plane used to support various upper-level systems;

[0038] The power supply system is fixedly installed on the top of the AGV mobile platform via a frame, and includes a battery, a DC-DC converter, a control board, a switch, a receiver, a 48V to 12V power supply, a circuit breaker, a network hard disk recorder, and a wireless router. The battery is electrically connected to the DC-DC converter and the 48V to 12V power supply. The control board is connected to the circuit breaker, the switch, and the receiver for signal transmission. The wireless router is connected to the switch for communication.

[0039] The water supply system is set above the power supply system frame and includes a water tank, an automatic telescopic high-pressure water drum, a DC high-pressure washer, and piping components. The bottom of the water tank is fixedly connected to the frame, the water inlet is located at the top of the water tank, one end of the drain pipe is connected to the bottom of the water tank, and the other end is connected to the input end of the DC high-pressure washer through a solenoid valve and a contactor. The output end of the DC high-pressure washer is connected to the nozzle of the lifting mechanism through the automatic telescopic high-pressure water drum. Guide wheels are installed on the side wall of the water tank to assist in guiding the extension and retraction of the water pipe of the automatic telescopic high-pressure water drum.

[0040] The lifting mechanism is vertically installed at the center of the top of the water tank in the water supply system. It includes a multi-section telescopic structure with an electric screw, a nozzle adjustment frame, a nozzle and a nozzle top cover. The bottom of the electric screw telescopic structure is fixed to the water tank, and the top is connected to the nozzle adjustment frame. The nozzle is installed at the front end of the nozzle adjustment frame through a rotating shaft. A baffle plate and a cloud-shaped barrier are arranged around the outer periphery of the nozzle and fixed to the nozzle adjustment frame.

[0041] The fire-finding camera system is fixedly mounted on the top of the nozzle adjustment frame of the lifting mechanism by a bracket, and includes a first fire-finding camera and a second fire-finding camera;

[0042] The AGV mobile platform is electrically connected to the control board of the power supply system and receives its control signals. The power supply system provides power to the DC high-pressure cleaner of the water supply system, the electric screw extension structure of the lifting mechanism, and the fire-finding camera system through cables. The fire-finding camera system communicates with the control board through signal lines. The system's industrial control computer is connected to the liquid level sensor, pressure sensor, and control board signals respectively.

[0043] Preferably, a lidar and an ultrasonic sensor are installed at the bottom front end and sides of the AGV mobile platform, respectively. The lidar is connected to the control board to realize autonomous path planning, and the ultrasonic sensor is electrically connected to the drive module of the AGV mobile platform to realize obstacle avoidance function.

[0044] Preferably, the power supply system uses a lithium battery pack. The DC-DC converter converts the high-voltage output of the battery into multiple voltage levels of 12V, 24V, and 48V, which power the control board, switch, receiver, and lifting mechanism, respectively. A circuit breaker is connected in series with the battery output to achieve overcurrent protection.

[0045] Preferably, the water tank of the water supply system is made of stainless steel and is equipped with a level gauge and a level sensor. The level gauge is electrically connected to the system's industrial control computer. The pressure sensor and pressure gauge are connected in series on the pipeline between the drain pipe and the solenoid valve to monitor the water pressure in real time.

[0046] In this invention, preferably, the electric lead screw extension structure of the lifting mechanism has a built-in displacement sensor, and the displacement sensor is connected to the control board for signal transmission.

[0047] In this invention, preferably, the first fire-finding camera of the fire-finding camera system is a visible light camera, and the second fire-finding camera is an infrared thermal imaging camera.

[0048] In this invention, preferably, the wireless router establishes a wireless communication link with the remote control center, and the network hard disk recorder is electrically connected to the fire-finding camera system and the control board for storing on-site video and operational data.

[0049] In this invention, preferably, the guide wheel has a U-shaped groove structure and is symmetrically installed on the upper part of both sides of the water tank. The water pipe of the automatic telescopic high-pressure water drum passes through the U-shaped groove of the guide wheel and extends along the telescopic direction of the lifting mechanism.

[0050] In this invention, preferably, the baffle is an arc-shaped metal plate and the cloud enclosure is an annular rubber ring. The two are concentrically arranged behind the nozzle. The bottom of the baffle is fixed to the nozzle adjustment frame, and the cloud enclosure is sleeved on the outer wall of the nozzle's spray pipe.

[0051] In this invention, preferably, the system's industrial control computer communicates with the control board via an Ethernet switch, receives monitoring data from the liquid level sensor and pressure sensor, and sends lifting height and spray mode control commands to the control board based on the fire source location information of the fire-finding camera system.

[0052] The working principle and usage process of this invention are as follows: Upon system startup, the battery 21 of the power supply system 2 converts the high-voltage output to multiple voltage levels via a DC-DC converter 22 to power various components. The circuit breaker 27 provides overcurrent protection. The control board 23 receives instructions transmitted from the remote control center via a wireless router 29 and a switch 24, coordinating the operation of each system. The AGV mobile platform 1 activates the laser radar and ultrasonic sensors based on the signal from the control board 23, enabling autonomous path planning and obstacle avoidance. It flexibly moves to the fire scene in complex environments. Upon arrival, the first and second fire-finding cameras 51 and 52 of the fire-finding camera system 5 begin operation. The visible light camera captures images of the scene, while the infrared thermal imaging camera penetrates smoke to detect high-temperature areas. The dual-camera data is transmitted to the control board 23 via signal lines. The system industrial control computer 38 analyzes and processes the data to determine the precise location and height of the fire source. Based on the fire source positioning data, the system industrial control computer 38 sends lifting commands to the control board 23. The multi-section telescopic structure of the electric screw of the lifting mechanism 4 is precisely adjusted under the feedback of the displacement sensor. The height is adjusted, driving the nozzle adjustment frame 45 and nozzle 41 to the designated position. At the same time, the guide wheel 311 assists the automatic telescopic high-pressure water drum 33 in extending and retracting the water pipe synchronously with the lifting. The water supply system 3 starts the DC high-pressure washer 313, and the solenoid valve 37 and contactor 39 are opened. The fire extinguishing water in the water tank 31 enters the DC high-pressure washer 313 through the drain pipe 32 for pressurization, and is then delivered to the nozzle 41 through the automatic telescopic high-pressure water drum 33. The system industrial control computer 38 adjusts the water pressure and flow rate based on the real-time data from the liquid level sensor 312 and pressure sensor 36. The nozzle 41 adjusts the spray angle through the rotating shaft. The water baffle 42 and the cloud enclosure 43 prevent water splashing, achieving precise fire extinguishing. During the operation, the network hard disk recorder 28 continuously stores the on-site video and operation data, and the wireless router 29 maintains the communication link with the remote control center, supporting manual intervention and data monitoring. After the fire is extinguished, the control board 23 coordinates the reset of each system, and the AGV mobile platform 1 autonomously returns to the standby position. The entire process realizes fully automated operation from autonomous movement, fire source detection, height adjustment to precise spraying.

[0053] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

[0054] The terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

Claims

1. A rotating, lifting, spraying robot for fire extinguishing, characterized in that, include: AGV mobile platform (1), as the bottom mobile carrier of the robot, its top plane is used to support various upper-level systems; The power supply system (2) is fixedly installed on the top of the AGV mobile platform (1) via a frame (210), and includes a battery (21), a DC-DC converter (22), a control board (23), a switch (24), a receiver (25), a 48V to 12V power supply (26), a circuit breaker (27), a network hard disk recorder (28), and a wireless router (29). The battery (21) is electrically connected to the DC-DC converter (22) and the 48V to 12V power supply (26). The control board (23) is connected to the circuit breaker (27), the switch (24), and the receiver (25) via signals. The wireless router (29) is communicatively connected to the switch (24). The water supply system (3) is set above the frame (210) of the power supply system (2), including a water tank (31), an automatic telescopic high-pressure water drum (33), a DC high-pressure cleaner (313) and pipeline components. The bottom of the water tank (31) is fixedly connected to the frame (210). The water tank inlet (310) is opened at the top of the water tank (31). One end of the drain pipe (32) is connected to the bottom of the water tank (31), and the other end is connected to the input end of the DC high-pressure cleaner (313) through the battery valve (37) and the contactor (39). The output end of the DC high-pressure cleaner (313) is connected to the nozzle (41) of the lifting mechanism (4) through the automatic telescopic high-pressure water drum (33). The guide wheel (311) is installed on the side wall of the water tank (31) to assist the water pipe of the automatic telescopic high-pressure water drum (33) in guiding the telescopic movement. The lifting mechanism (4) is vertically installed at the center of the top of the water tank (31) of the water supply system (3). It includes an electric screw multi-section telescopic structure, a nozzle adjustment frame (45), a nozzle (41) and a nozzle top cover (44). The bottom of the electric screw telescopic structure is fixed to the water tank (31), and the top is connected to the nozzle adjustment frame (45). The nozzle (41) is installed at the front end of the nozzle adjustment frame (45) through a rotating shaft. The baffle plate (42) and the cloud enclosure (43) are arranged around the outer periphery of the nozzle (41) and fixed to the nozzle adjustment frame (45). The fire-finding camera system (5) is fixedly mounted on the top of the nozzle adjustment frame (45) of the lifting mechanism (4) by a bracket, including a first fire-finding camera (51) and a second fire-finding camera (52); The AGV mobile platform (1) is electrically connected to the control board (23) of the power supply system (2) and receives its control signals. The power supply system (2) provides power to the DC high-pressure cleaner (313) of the water supply system (3), the electric screw telescopic structure of the lifting mechanism (4), and the fire-finding camera system (5) through cables. The fire-finding camera system (5) is connected to the control board (23) through signal lines. The system industrial control computer (38) is connected to the liquid level sensor (312), the pressure sensor (36), and the control board (23) through signals.

2. The rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The bottom front end and sides of the AGV mobile platform (1) are respectively equipped with laser radar and ultrasonic sensors. The laser radar is connected to the control board (23) to realize autonomous path planning, and the ultrasonic sensors are electrically connected to the drive module of the AGV mobile platform (1) to realize obstacle avoidance function.

3. The rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The battery (21) of the power supply system (2) is a lithium battery pack. The DC-DC converter (22) converts the high voltage output of the battery (21) into multiple voltages of 12V, 24V and 48V, which power the control board (23), the switch (24), the receiver (25) and the lifting mechanism (4) respectively. The circuit breaker (27) is connected in series at the output terminal of the battery (21) to realize overcurrent protection.

4. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The water tank (31) of the water supply system (3) is made of stainless steel and is equipped with a level gauge (34) and a level sensor (312). The level gauge (34) is electrically connected to the system control computer (38). The pressure sensor (36) and the pressure gauge (35) are connected in series on the pipeline between the drain pipe (32) and the battery valve (37) for real-time monitoring of water pressure.

5. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The electric screw extension structure of the lifting mechanism (4) has a built-in displacement sensor, and the displacement sensor is connected to the control board (23) via signal.

6. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The first fire-finding camera (51) of the fire-finding camera system (5) is a visible light camera, and the second fire-finding camera (52) is an infrared thermal imaging camera.

7. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The wireless router (29) establishes a wireless communication link with the remote control center, and the network hard disk recorder (28) is electrically connected to the fire-finding camera system (5) and the control board (23) for storing on-site video and operation data.

8. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The guide wheel (311) has a U-shaped groove structure and is symmetrically installed on the upper part of both sides of the water tank (31). The water pipe of the automatic telescopic high-pressure water drum (33) passes through the U-shaped groove of the guide wheel (311) and extends along the telescopic direction of the lifting mechanism (4).

9. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The baffle plate (42) is an arc-shaped metal plate, and the cloud enclosure (43) is an annular rubber ring. The two are concentrically set behind the nozzle (41). The bottom of the baffle plate (42) is fixed to the nozzle adjustment frame (45), and the cloud enclosure (43) is sleeved on the outer wall of the spray pipe of the nozzle (41).

10. A rotating lifting spray robot for fire extinguishing according to claim 1, characterized in that: The system's industrial control computer (38) communicates with the control board (23) through an Ethernet switch (24), receives monitoring data from the liquid level sensor (312) and pressure sensor (36), and sends lifting height and spray mode control commands to the control board (23) based on the fire source location information from the fire-finding camera system (5).

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