Multi-mode forest fire detection and cooperative rescue robot

Abstract

The invention provides a multi-mode forest fire detection and cooperative rescue robot, and belongs to the technical field of fire fighting, the robot comprises a machine body module, track driving modules, a mechanical arm module, an image acquisition module and a supporting module, the track driving modules are arranged at the two ends of the machine body module, and the mechanical arm module is arranged on the machine body module; the mechanical arm module comprises a large mechanical arm and a small mechanical arm, the mechanical arm module is fixedly arranged at the upper end of the machine body module, the image acquisition module is fixedly installed at the front end of the machine body module, the supporting module comprises a hydraulic rod, and the supporting module penetrates through the machine body module and is fixedly connected with the machine body module. The multi-mode forest fire detection and cooperative rescue robot can adapt to the disaster environment, has efficient search and rescue capacity, and guarantees the safety of fire fighters and victims to the maximum extent.

Description

Technical Field

[0001] This invention relates to the field of fire fighting technology, and in particular to a multimodal forest fire detection and collaborative rescue robot. Background Technology

[0002] Currently, forest fires, as a natural disaster, pose a serious threat to the ecological environment and the safety of human life and property. Traditional forest fire rescue methods mainly rely on firefighters to enter the fire scene to fight the fire. This method is not only inefficient, but also exposes rescuers to extremely high safety risks, such as burns from high temperatures, poisoning from toxic gases, and building collapses. Especially in complex and ever-changing fire environments, such as unstable structures, debris accumulation, and the spread of toxic and harmful substances, traditional rescue methods are inadequate and struggle to quickly and effectively control the fire and rescue trapped people.

[0003] While existing forest fire rescue technologies have made some progress, they still have many limitations. Some rescue equipment has limited functionality, capable only of firefighting or simple detection tasks, and cannot comprehensively address the diverse and complex situations encountered at fire scenes. Some high-end rescue robots, while possessing multi-functionality, lack stability and durability in extreme high-temperature and toxic gas environments, making them prone to malfunction due to harsh conditions. Furthermore, existing equipment has limited capabilities in obstacle-crossing search and rescue, precise fire source location, autonomous navigation, and obstacle avoidance, failing to meet the demands for rapid response and high-precision search. More importantly, there is a lack of a comprehensive rescue solution that can effectively assist firefighters and reduce their workload and risks.

[0004] Therefore, a new device is urgently needed. Summary of the Invention

[0005] The purpose of this invention is to provide a multimodal forest fire detection and collaborative rescue robot that can adapt to disaster environments, has efficient search and rescue capabilities, and ensures the safety of firefighters and disaster victims to the greatest extent.

[0006] To achieve the above objectives, the present invention provides a multimodal forest fire detection and collaborative rescue robot. The robot includes a body module, a track drive module, a robotic arm module, an image acquisition module, and a support module. The track drive module is located at both ends of the body module. The robotic arm module includes a large robotic arm and a small robotic arm, which are fixedly located at the upper end of the body module. The image acquisition module is fixedly installed at the front end of the body module. The support module includes a hydraulic rod, which passes through the body module and is fixedly connected to it.

[0007] Preferably, the track drive module includes a set of main drive tracks, two sets of driven obstacle-crossing tracks, and a connecting rod. The driven obstacle-crossing tracks are disposed at both ends of the main drive tracks. A front wheel and a rear wheel are respectively disposed at both ends of the main drive tracks. A driven wheel is disposed at both ends of the driven obstacle-crossing tracks. A connecting rod is disposed between the driven obstacle-crossing tracks. The front wheel is connected to the driven wheel via a front axle. The front axle is keyed to the inner ring of the driven wheel. The front axle is connected to the front wheel via a bearing. The rear wheel is connected to the driven wheel via a rear axle. The rear axle is keyed to the rear wheel. The rear axle is connected to the driven wheel via a bearing. The other end of the front axle is connected to a front axle motor. The other end of the rear axle is connected to a rear axle motor.

[0008] Preferably, the main drive track is provided with an auxiliary wheel, one end of which is fixedly connected to the body module.

[0009] Preferably, the image acquisition module includes a three-photon detector and a lidar detector. The lidar detector is located on the upper part of the three-photon detector. The three-photon detector includes an infrared emitter, a camera, and a night vision device. A rotation controller is provided at one end of the three-photon detector, and a circuit tube and a gas detector are provided at the other end. The three-photon detector is connected to the body module through the rotation controller and communicates with the central processing unit through the circuit tube.

[0010] Preferably, the body module includes a body chassis, a battery module is disposed on top of the body chassis, a battery heat insulation plate is disposed between the body chassis and the battery module, the battery module is fixedly connected to the body chassis by bolts, a cooling fan is disposed at the front end of the battery module, and a housing air duct is disposed at the rear end of the battery module.

[0011] Preferably, the upper end of the battery module is provided with a water tank and a foam extinguishing agent tank. There is a gap between the water tank, the foam extinguishing agent tank and the upper surface of the battery module. One end of the water tank is fixedly connected to the battery module by bolts, and the other end of the water tank extends to the rear of the body module and is fixedly connected to the chassis. One end of the foam extinguishing agent tank is fixedly connected to the battery module by bolts, and the other end of the foam extinguishing agent tank extends to the rear of the body module and is fixedly connected to the chassis. A water tank support column is provided between the water tank and the foam extinguishing agent tank. The lower end of the water tank support column is fixedly connected to the chassis, and the upper end of the water tank support column is connected to the water tank and the foam extinguishing agent tank respectively.

[0012] Preferably, the lower end of the small robotic arm is connected to the body module via a turntable. The small robotic arm includes three rotary joints, namely rotary joint one, rotary joint two, and rotary joint three. The end of the small robotic arm is connected to a rotary cutting saw or a drill bit.

[0013] Preferably, the large robotic arm includes a rotating device and a gripping device. The rotating device is connected to the gripping device via a primary rod. A limit rod is provided on the primary rod. A second drive motor is provided at the end of the primary rod. The second drive motor is connected to a gimbal via a motor fixing block. The gimbal is fixed to the rotating device by bolts.

[0014] Preferably, the rotating device includes a first drive motor, the output shaft of which is connected to a worm gear via a coupling, the worm gear meshing with a turbine gear, and the turbine gear connected to a planetary gear via a transmission shaft.

[0015] Preferably, the gripping device includes a secondary rod and a tertiary rod. The secondary rod is connected to the primary rod via a connecting plate. One end of the secondary rod is connected to the output shaft of a third drive motor, and the other end of the secondary rod is connected to the tertiary rod via a connecting plate. One end of the tertiary rod is connected to the output shaft of a fourth drive motor. A fifth drive motor is installed inside the tertiary rod. The fifth drive motor is connected to the mechanical claw via a synchronous belt. One end of the mechanical claw is equipped with a first nozzle and a second nozzle. The first nozzle and the second nozzle are connected to a water tank and a foam extinguishing agent tank, respectively, via extension tubes.

[0016] Therefore, the present invention employs the aforementioned multimodal forest fire detection and collaborative rescue robot, with the following technical effects:

[0017] 1. Enhanced adaptability to extreme environments: Through the design of one main drive track and two driven obstacle-crossing tracks, combined with linkage mechanism and differential turning function, the robot can drive stably in complex terrain such as mud, gravel, and slopes, which significantly improves its passability and adaptability in extreme terrain after forest fires.

[0018] 2. Enhanced image acquisition and environmental detection capabilities: It integrates a three-dimensional photoelectric detector and a lidar detector, achieves wide-angle detection through a rotary controller, and transmits data to the central processor through a circuit tube, improving the clarity and range of image acquisition. It also achieves precise obstacle avoidance through lidar, effectively solving the navigation difficulties caused by obstructed vision and complex environment in fire scenes.

[0019] 3. Optimized thermal management: By installing a battery heat insulation plate between the chassis and the battery module, and by installing cooling fans and air ducts in the front and rear of the battery module, the operating temperature of the battery and drive system in high-temperature environments is effectively reduced, preventing failures caused by overheating.

[0020] 4. Multifunctional integration and modular design: The combination of large and small robotic arms enables the robot to not only grasp and move heavy objects, but also perform precision operations such as cutting and drilling. This multifunctional integration significantly enhances the robot's rescue capabilities and adapts to the diverse rescue needs in fire scenes. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the rescue robot of the present invention;

[0022] Figure 2 This is a schematic diagram of the bottom structure of the rescue robot of the present invention;

[0023] Figure 3 This is a schematic diagram of the main drive track and the driven obstacle-crossing track structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the overall structure of the image acquisition module of the present invention;

[0025] Figure 5 This is a schematic diagram of the overall structure of the body module of the present invention;

[0026] Figure 6 This is a schematic diagram of the overall structure of the small robotic arm of the present invention;

[0027] Figure 7 This is a schematic diagram of the overall structure of the large robotic arm of the present invention.

[0028] Figure Labels

[0029] 1. Track drive module; 2. Image acquisition module; 3. Body module; 4. Robotic arm module; 5. Support module; 11. Main drive track; 12. Driven obstacle-crossing track; 13. Rear axle motor; 14. Front axle motor; 15. Auxiliary wheel; 16. Front axle; 17. Rear axle; 18. Linkage; 21. Three-dimensional photoelectric detector; 22. Rotation controller; 23. Wiring conduit; 24. LiDAR detector; 25. Gas detector; 211. Infrared emitter; 212. Camera; 213. Night vision device; 31. Battery module; 32. Battery heat insulation plate; 33. Water tank; 34. Water tank support column; 35. Cooling fan; 36. Foam extinguishing agent tank; 37. Tank air duct; 41. Large robotic arm; 42. Small robotic arm; 401, First drive motor; 402, Coupling; 403, Worm gear; 404, Turbine; 405, Drive shaft; 406, Planetary gear; 407, Second drive motor; 408, Motor mounting block; 409, Gimbal; 410, Limiting rod; 411, First stage rod; 412, Third drive motor; 413, Connecting plate; 414, Second stage rod; 415, Fourth drive motor; 416, Synchronous belt; 417, Fifth drive motor; 418, First nozzle; 419, Second nozzle; 420, Third stage rod; 421, Turntable; 422, Rotary joint one; 423, Rotary joint two; 424, Rotary joint three; 425, Rotary cutting saw; 426, Drill bit; 51, Hydraulic rod. Detailed Implementation

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0032] Example 1

[0033] like Figures 1-2 As shown, this invention provides a multimodal forest fire detection and collaborative rescue robot, which integrates a body module 3, a track drive module 1, a robotic arm module 4, an image acquisition module 2, and a support module 5. The track drive module 1 is located at both ends of the body module 3. The robotic arm module 4 includes a large robotic arm 41 and a small robotic arm 42, which are fixedly installed on the upper end of the body module 3. The image acquisition module 2 is fixedly installed at the front end of the body module 3. The support module 5 includes a hydraulic rod 51, which penetrates the body module 3 and is fixedly connected to it. All modules work together to achieve efficient and safe fire rescue.

[0034] like Figure 3As shown, the track drive module 1 adopts a design with one main drive track 11 and two sets of driven obstacle-crossing tracks 12. An auxiliary wheel 15 is added to the main drive track 11. The main drive track 11 is equipped with a front wheel and a rear wheel at both ends, respectively. The driven obstacle-crossing tracks 12 are equipped with driven wheels at both ends. The driven wheels connected to the front axle 16 have an inner and outer ring design. The inner ring is fixedly connected to the side plate, and the outer ring is connected to the inner ring through a bearing. A connecting rod 18 is set between the driven obstacle-crossing tracks 12. The connecting rod 18 is located between the two sets of driven obstacle-crossing tracks 12. When the front axle motor 14 drives one set of driven obstacle-crossing tracks 12 to rotate around the front axle 16, it can simultaneously drive the other set of tracks to rotate around the rear axle 17. Therefore, two-way obstacle crossing can be achieved by one front axle motor 14.

[0035] The front wheel is connected to the driven wheel via the front axle 16, which is keyed to the inner ring of the driven wheel and connected to the front wheel via a bearing. The rear wheel is connected to the driven wheel via the rear axle 17, which is keyed to the rear wheel and connected to the driven wheel via a bearing. The other end of the front axle 16 is connected to the front axle motor 14, and the other end of the rear axle 17 is connected to the rear axle motor 13. The front axle 16 is a single, continuous shaft driven by one front axle motor 14, while the rear axle 17 consists of two separate drive shafts, each driven by a rear axle motor 13 on either side, enabling differential control for track turning.

[0036] The general workflow of the track drive module 1 is as follows: The rear axle 17 is keyed to the rear wheel and connected to the inner driven wheel bearing. The rear axle motor 13 drives the rear wheel to rotate, causing the track to start moving. The differential rotation of the rear axle motor 13 allows the robot to turn. An auxiliary wheel 15 is added to the main drive track 11. One end of the auxiliary wheel 15 is connected to the body to support the track. The front axle 16 is connected to the front wheel bearing and keyed to the inner ring of the inner driven wheel. When encountering an obstacle (such as a large tree trunk), since the inner ring of the driven wheel is fixedly connected to the side plate, the front axle motor 14 is equivalent to outputting to the side plate, causing the driven obstacle-crossing track 12 to rotate around the front axle 16. The main drive track 11 then provides power to make the robot continue to move forward. Since the front wheel and the driven wheel have the same diameter, the contact surface between the driven obstacle-crossing track 12 on the front axle 16 and the obstacle (such as a large tree trunk) can be perfectly transitioned to the main drive track 11, thereby achieving the function of obstacle crossing and search and rescue. When crossing obstacles forward, the maximum angle between the main drive track 11 and the driven obstacle crossing track 12 on the front axle 16 side can reach 170°, and when crossing obstacles backward, the maximum angle between the main drive track 11 and the driven obstacle crossing track 12 on the rear axle 17 side can reach 140°.

[0037] like Figure 4As shown, the image acquisition module 2 mainly consists of a three-pole optical detector 21 and a lidar detector 24. The three-pole optical detector 21 includes an infrared emitter 211, a camera 212, and a night vision device 213, and is mounted on the outer shell of the robot. It can rotate within a certain angle range via a rotation controller 22, thus expanding the detection angle range. Data is transmitted to the central processing unit via a circuit duct 23. The lidar detector 24 is mounted on the second-level platform, which is a certain height above the top platform to obtain a better scanning field of view, helping the robot avoid obstacles. The gas detector 25 integrates various sensors for detecting different toxic and harmful gases. This module is used to detect whether various toxic gases are leaking and the oxygen content. When encountering an environment with a toxic gas leak, the sensor quickly detects and uploads the converted signal to the gas detection module. After determining whether the threshold is exceeded, an alarm is triggered and an alarm light flashes, providing early warning for subsequent firefighters to enter the scene.

[0038] High-temperature resistance and fire extinguishing functions mainly involve the systems in the bottom space of the robot body. In this robot, the bottom layer of the body is the place with the most heat generation. Its bottom space contains core systems such as drive, power, and control. It generates a lot of heat when working and is easily affected by the external temperature. For example, in the high-temperature environment near a fire, excessively high internal temperature may cause the robot to malfunction and become paralyzed.

[0039] like Figure 5 As shown, the body module 3 includes a chassis, with a battery module 31 mounted on top of the chassis. A battery heat insulation plate 32 is installed between the chassis and the battery module 31, and a dual-cell design is adopted to improve the safety of the battery module 31. A water tank 33 and a foam extinguishing agent tank 36 are installed on the upper part of the battery module 31. There is a 3mm gap between the bottom surface of the water tank 33 and the upper surface of the battery module 31. One end of the water tank 33 is fixedly connected to the battery module 31 by bolts, and the other end of the water tank 33 extends to the rear of the body module 3 and is fixedly connected to the chassis. This ensures the capacity of the water tank 33 while also cooling the battery. A water tank support column 34 is installed between the water tank 33 and the foam extinguishing agent tank 36. The lower end of the water tank support column 34 is fixedly connected to the chassis, and the upper end of the water tank support column 34 is connected to both the water tank 33 and the foam extinguishing agent tank 36. A cooling fan 35 is installed at the front end of the battery module 31, and an air duct 37 is installed at the rear end of the battery module 31. When the fan is blowing air, the airflow passes through the gap between the housing and the second platform, and between the housing and the battery module 31, which can cool the water tank 33 and the battery module 31. The airflow then flows through the air ducts on the upper and lower surfaces of the housing to the rear of the machine, cooling the drive motor. This cooling system reuses the water tank 33 used for fire extinguishing, achieving better cooling while making the machine structure more compact and maximizing space utilization.

[0040] The robot's firefighting function is mainly concentrated at the end of the robotic arm's gripper. Two water pipes extend from the water tank 33 and the fire-fighting foam tank to the base of the robotic arm, and then connect to the nozzles on the gripper via flexible hoses wrapped around the robotic arm. The high degree of freedom and wide coverage of the robotic arm allow for expanded firefighting range and improved efficiency. In addition to a large robotic arm 41 at the tail, the forest firefighting robot also has two smaller robotic arms 42, each equipped with a rotary cutting saw 425 and a drill bit 426.

[0041] like Figure 6 As shown, the lower end of the small robotic arm 42 is connected to the body module 3 via a turntable 421. The small robotic arm 42 includes three rotary joints, namely rotary joint one 422, rotary joint two 423, and rotary joint three 424. The end of the small robotic arm 42 is connected to a rotary cutting saw 425 or a drill bit 426.

[0042] like Figure 7 As shown, the large robotic arm 41 includes a rotating device and a gripping device. The rotating device is connected to the gripping device via a primary rod 411. A limit rod 410 is provided on the primary rod 411. A second drive motor 407 is provided at the end of the primary rod 411. The second drive motor 407 is connected to a gimbal 409 via a motor fixing block 408. The gimbal 409 is fixed to the rotating device with bolts. The rotation of the primary rod 411 is driven by the second drive motor 407. The second drive motor 407 is connected to the gimbal 409 via the fixing block. The limit rod 410 on the primary rod 411 prevents the robotic arm from directly damaging the vehicle body due to force majeure, thus acting as a buffer.

[0043] The rotating device includes a first drive motor 401. The output shaft of the first drive motor 401 is connected to a worm gear 403 via a coupling 402. The worm gear 403 is meshed with a turbine gear 404, which is connected to a planetary gear 406 via a transmission shaft 405. The first drive motor 401 provides power, which is transmitted to the worm gear 403 via the coupling 402. Through the worm gear 403, a first-stage reduction is achieved, changing the power from horizontal to vertical. Then, through the bottom transmission shaft 405, the power is transmitted to the planetary gear 406 for a second-stage reduction, preventing instability in the robotic arm's gripping motion due to excessively high bottom rotation speed.

[0044] The gripping device includes a secondary lever 414 and a tertiary lever 420. The secondary lever 414 is connected to the primary lever 411 via a connecting plate 413. One end of the secondary lever 414 is connected to the output shaft of the third drive motor 412, enabling the secondary lever 414 to rotate around the end of the primary lever 411, thus allowing for multi-directional gripping. The other end of the secondary lever 414 is connected to the tertiary lever 420 via the connecting plate 413. One end of the tertiary lever 420 is connected to the output shaft of the fourth drive motor 415. A fifth drive motor 417 is installed inside the tertiary lever 420. The fifth drive motor 417 is connected to the mechanical gripper via a synchronous belt 416. The fourth drive motor 415 controls the rotation of the tertiary lever 420, and the fifth drive motor 417 controls the position of the mechanical gripper via the synchronous belt 416, thereby achieving all-position gripping. The mechanical claw is equipped with a first nozzle 418 and a second nozzle 419 at one end. The first nozzle 418 and the second nozzle 419 are connected to the water tank 33 and the foam extinguishing agent tank 36 respectively through extension pipes.

[0045] Considering that trees are prone to falling after a fire, posing a safety hazard to subsequent firefighters, a robot is needed to provide support and create a safe firefighting environment. Support module 5 includes hydraulic rods 51, with three pairs of hydraulic rods 51 installed within the robot body, assembled in pairs and opposite each other. When the robot moves to the floor slab requiring support, the hydraulic rods 51 begin to work, extending from both the top and bottom of the robot body, gradually suspending the robot in mid-air. At the supported height, only the hydraulic rods 51 bear the load; because the robot body is suspended in mid-air, the structural strength of the robot body will not be damaged by the support.

[0046] The specific workflow of this forest fire rescue robot is as follows:

[0047] In a forest fire rescue scenario, once the robot is activated, its image acquisition module begins operating in all directions. This module's three-pronged optical detector (including an infrared emitter, a camera, and a night vision device) continuously scans and detects the surrounding environment. When a fire source is detected within the detection range, the infrared emitter senses the intense heat radiation generated by the fire, the camera captures the bright spots of light and smoke patterns from the fire, and the night vision device clearly displays the fire source and its surroundings in low-light or smoky conditions. Simultaneously, the lidar detector accurately obtains information about the distance between the fire source and the robot, as well as the distribution of surrounding obstacles, by emitting laser beams and measuring reflection time. This detection data is transmitted in real-time to the central processing unit for processing via wiring.

[0048] After receiving data from the image acquisition module, the central processing unit (CPU) performs rapid analysis using advanced algorithms and models. First, it processes the image data transmitted by the three-photon detector, accurately identifying the shape, size, and combustion state of the fire source through image recognition technology. Combined with distance information provided by the lidar detector, the CPU can precisely calculate the fire source's exact coordinates in three-dimensional space. Simultaneously, based on obstacle distribution data acquired by the lidar, the CPU analyzes the optimal path area for the robot to reach the fire source, providing crucial information for subsequent path planning.

[0049] The central processing unit sends the analyzed fire source location and optimal path information to the track drive module. Based on these instructions, the track drive module begins planning its path. The main drive track of this module is powered by a rear axle motor that rotates the rear wheels. The two rear axle motors can be set to different speeds to drive the rear wheels on either side, allowing the main drive tracks to achieve different travel speeds and enabling differential turning to adapt to different directions of travel. During travel, when encountering obstacles, the front axle motor drives the driven obstacle-crossing track to rotate around the front axle, coordinating with the power of the main drive tracks to achieve obstacle crossing.

[0050] Once the robot reaches a suitable position near the fire source, the central processing unit (CPU) sends commands to the large robotic arm. The robotic arm's rotating mechanism begins operation. The first drive motor drives a worm gear via a coupling. The worm gear meshes with a turbine, transmitting power to the drive shaft. This power is then reduced in two stages via planetary gears, ensuring stable rotation of the first-stage rod. Simultaneously, the second-stage rod rotates around the end of the first-stage rod under the drive of the third drive motor, and the third-stage rod is further adjusted in position under the drive of the fourth drive motor. Through these actions, the large robotic arm accurately moves its end-effector gripper above the fire source. A first and second nozzle, located at one end of the gripper, are connected to a water tank and a foam extinguishing agent tank, respectively. Based on the type and intensity of the fire, the CPU controls the gripper to adjust the nozzle angle, ensuring that water or foam extinguishing agent is precisely sprayed onto the core area of ​​the fire for effective extinguishing.

[0051] During firefighting, if obstacles such as fallen trees or burning debris are found around the fire source, the central processing unit will direct a small robotic arm to perform demolition work. The small robotic arm is connected to the main module via a turntable and can be flexibly adjusted in posture as needed. Its three end joints (rotary joint one, rotary joint two, and rotary joint three) work in concert to accurately aim a rotary cutting saw or drill bit at the obstacle. The appropriate tool is selected based on the material and size of the obstacle. For example, a rotary cutting saw is used to cut wooden obstacles; a drill bit is used to drill holes in harder obstacles. After demolition, the large robotic arm continues the firefighting operation to ensure the fire is completely controlled.

[0052] Therefore, the present invention adopts the above-mentioned multimodal forest fire detection and collaborative rescue robot, which features a track drive module design with one main drive track and two driven obstacle-crossing tracks, an image acquisition module integrating a three-dimensional photoelectric detector and a lidar detector, an optimized battery insulation and heat dissipation system, a combination design of large and small robotic arms, and a hydraulic rod support module. This enables the forest fire rescue robot to travel efficiently in complex terrain, accurately detect and avoid obstacles, operate stably in high-temperature environments, perform diverse rescue operations, and provide a safe support environment for firefighters.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A multi-modal forest fire detection and coordinated rescue robot, characterized in that, The robot comprises a body module, a track driving module, a mechanical arm module, an image acquisition module and a support module, the track driving module is arranged at both ends of the body module, the mechanical arm module comprises a large mechanical arm and a small mechanical arm, the mechanical arm module is fixedly arranged at the upper end of the body module, the image acquisition module is fixedly installed at the front end of the body module, and the support module comprises a hydraulic rod.

2. The multi-modal forest fire detection and coordinated rescue robot according to claim 1, wherein, The track driving module comprises a group of main drive tracks, two groups of driven obstacle-crossing tracks and connecting rods, the driven obstacle-crossing tracks are arranged at both ends of the main drive tracks, the main drive tracks are respectively provided with front wheels and rear wheels at both ends, the driven obstacle-crossing tracks are respectively provided with driven wheels at both ends, the connecting rods are arranged between the driven obstacle-crossing tracks, the front wheels are connected with the driven wheels through front shafts, the front shafts are connected with the inner rings of the driven wheels through keys, the front shafts are connected with the front wheels through bearings, the rear wheels are connected with the driven wheels through rear shafts, the rear shafts are connected with the rear wheels through keys, the rear shafts are connected with the driven wheels through bearings, one end of the front shaft is connected with a front shaft motor, and the other end of the rear shaft is connected with a rear shaft motor.

3. The multi-modal forest fire detection and coordinated rescue robot of claim 2, wherein, The main drive track is provided with an auxiliary wheel, one end of the auxiliary wheel is fixedly connected with the body module.

4. The multi-modal forest fire detection and coordinated rescue robot of claim 1, wherein, The image acquisition module comprises a three-eye photoelectric detector and a laser radar detector, the laser radar detector is arranged at the upper end of the three-eye photoelectric detector, the three-eye photoelectric detector comprises an infrared emitter, a camera and a night vision device, one end of the three-eye photoelectric detector is provided with a rotary controller, the other end of the three-eye photoelectric detector is provided with a line pipe and a gas detector, the three-eye photoelectric detector is connected with the body module through the rotary controller, and the three-eye photoelectric detector is connected with a central processing unit in communication through the line pipe.

5. The multi-modal forest fire detection and coordinated rescue robot of claim 1, wherein, The body module comprises a body chassis, a battery module is arranged above the body chassis, a battery heat insulation plate is arranged between the body chassis and the battery module, the battery module is fixedly connected with the body chassis through bolts, a heat dissipation fan is arranged at the front end of the battery module, and a box air duct is arranged at the rear end of the battery module.

6. The multi-modal forest fire detection and coordinated rescue robot of claim 5, wherein, A water tank and a foam extinguishing agent tank are arranged at the upper end of the battery module, gaps exist between the water tank, the foam extinguishing agent tank and the upper surface of the battery module, one end of the water tank is fixedly connected with the battery module through bolts, the other end of the water tank extends to the rear of the body module and is fixedly connected with the body chassis, one end of the foam extinguishing agent tank is fixedly connected with the battery module through bolts, the other end of the foam extinguishing agent tank extends to the rear of the body module and is fixedly connected with the body chassis, a water tank support column is arranged between the water tank and the foam extinguishing agent tank, the lower end of the water tank support column is fixedly connected with the body chassis, and the upper end of the water tank support column is connected with the water tank and the foam extinguishing agent tank respectively.

7. The multi-modal forest fire detection and coordinated rescue robot of claim 1, wherein, The lower end of the small mechanical arm is connected with the body module through a turntable, the small mechanical arm comprises three rotary joints, the rotary joints are rotary joint one, rotary joint two and rotary joint three respectively, and a rotary cutting saw or a drill bit is connected to the tail end of the small mechanical arm.

8. The multi-modal forest fire detection and coordinated rescue robot of claim 1, wherein, The large mechanical arm comprises a rotating device and a grabbing device, the rotating device is connected with the grabbing device through a first lever, a limiting lever is arranged on the first lever, a second driving motor is arranged at the end of the first lever, the second driving motor is connected with a holder through a motor fixing block, and the holder is fixed on the rotating device through bolts.

9. The multi-modal forest fire detection and coordinated rescue robot of claim 8, wherein, The rotating device comprises a first driving motor, an output shaft of the first driving motor is connected with a worm through a shaft coupling, the worm is connected with a turbine in meshing engagement, and the turbine is connected with a planetary gear through a transmission shaft.

10. The multi-modal forest fire detection and coordinated rescue robot of claim 8, wherein, The grabbing device comprises a second lever and a third lever, the second lever is connected with the first lever through a connecting disc, one end of the second lever is connected with an output shaft of a third driving motor, the other end of the second lever is connected with the third lever through a connecting disc, one end of the third lever is connected with an output shaft of a fourth driving motor, a fifth driving motor is arranged in the third lever, the fifth driving motor is connected with a mechanical claw through a synchronous belt, one end of the mechanical claw is provided with a first spray head and a second spray head, and the first spray head and the second spray head are respectively connected with a water tank and a foam extinguishing agent tank through extension pipes.

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