Multifunctional mountain fire rescue loader

Abstract

The invention provides a multifunctional mountain fire rescue loader which comprises a front vehicle body, a rear vehicle body and a fire extinguishing bin, the front vehicle body is hinged to the rear vehicle body, a turning mechanism used for controlling steering of the front vehicle body is connected between the front vehicle body and the rear vehicle body, and moving wheels are installed on the front vehicle body and the rear vehicle body; the front vehicle body is rotationally connected with a loading vehicle hopper, and a first driving mechanism used for controlling the loading vehicle hopper to move is connected between the loading vehicle hopper and the front vehicle body. The bottom end of the fire extinguishing bin is provided with an arc-shaped supporting face matched with the curvature radius of the inner arc face of the loading vehicle hopper. A plurality of anti-skid grains are arranged on the moving wheels, and the adjacent anti-skid grains are arranged in a staggered manner; the fire extinguishing bin is connected with supporting legs. The problems that in the prior art, conventional fire extinguishing equipment cannot quickly enter a rugged complex road environment to extinguish a fire point, and a fire extinguishing agent cannot be guaranteed in time can be solved.

Description

Technical Field

[0001] This invention relates to the field of wildfire rescue equipment technology, specifically a multi-functional wildfire rescue loader. Background Technology

[0002] Wildfire rescue typically requires rapid and efficient firefighting equipment. In existing technologies, forest fire prevention and suppression in forests, grasslands, and areas with rugged roads often employs manually carried forest fire extinguishers to extinguish fires at the source. For example, inventions with announcement numbers CN220877568U and CN219700877U disclose fire extinguishing devices for wildfire prevention and suppression using a manually carried method.

[0003] However, handheld backpack forest fire extinguishers are easily affected by the weight and size of the water tank when used. Firefighters find it difficult to carry the fire extinguisher while moving it, and the limited capacity of the fire extinguisher may result in insufficient extinguishing agent, leading to poor fire extinguishing effect. In addition, since wildfires mostly occur in forests and mountains, other conventional fire extinguishing equipment such as hand-operated fire extinguishers are not entirely suitable because they cannot quickly reach the fire scene. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-functional wildfire rescue loader, which, in actual use, can solve the problems that conventional fire-fighting equipment in the prior art cannot quickly enter complex environments with rugged roads to extinguish fires, and that fire extinguishing agents cannot be guaranteed in a timely manner.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] The multi-functional wildfire rescue loader includes a front body, a rear body, and a fire extinguishing compartment. The front body is hinged to the rear body, and a turning mechanism for controlling the steering of the front body is connected between the front body and the rear body. Both the front body and the rear body are equipped with casters.

[0007] A loading bucket is rotatably connected to the front vehicle body, and a first drive mechanism for controlling the movement of the loading bucket is connected between the loading bucket and the front vehicle body; the bottom end of the fire extinguishing chamber is provided with an arc-shaped support surface that matches the radius of curvature of the inner arc surface of the loading bucket; the moving wheels are provided with a number of anti-slip patterns, and adjacent anti-slip patterns are staggered.

[0008] The fire extinguishing chamber is connected to a support leg, and the support leg and the arc-shaped support surface form a groove for cooperating with the loading truck bed.

[0009] Preferably, the fire extinguishing chamber includes a chamber body and fire extinguishing components installed on the chamber body.

[0010] Preferably, the fire extinguishing assembly includes a drive device, a mounting platform, a spraying mechanism, and a control system for connecting to the drive device. The mounting platform is fixedly installed on the top of the fire extinguishing chamber, the spraying mechanism is rotatably installed on the mounting platform, and the drive device is installed on the mounting platform and used to drive the spraying mechanism to rotate.

[0011] Preferably, the spraying mechanism includes a fixed box, a first spray pipe, and a liquid inlet pipe. The driving device is used to drive the fixed box to rotate. The first spray pipe is rotatably connected to the fixed box. A second driving mechanism for driving the first spray pipe to rotate is installed inside the fixed box. A water pump is installed inside the chamber. The first spray pipe is connected to the water pump through the liquid inlet pipe. The second driving mechanism is connected to the control system.

[0012] Preferably, the inlet pipe is a telescopic pipe.

[0013] Preferably, a thermal imager is installed on the fixed box, and the thermal imager is connected to the control system.

[0014] Preferably, each first spray pipe is equipped with a switch valve, which is connected to the control system.

[0015] Preferably, the hopper body is provided with an installation frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In this invention, by hinged the front and rear vehicle bodies, the front vehicle body has flexible turning ability, and the moving wheels with anti-slip texture can enhance the passability of the front and rear vehicle bodies in narrow and rugged terrain, further improving the fire extinguishing efficiency.

[0018] The fire extinguishing chamber can achieve automatic centering and initial positioning through the cooperation of the arc-shaped support surface and the loading truck bed, which greatly simplifies the installation process. Through the cooperation of the groove formed between the support legs and the arc-shaped support surface and the side wall of the loading truck bed, the fire extinguishing chamber placed in the loading truck bed can be further constrained, effectively preventing the fire extinguishing chamber from moving or overturning in any direction.

[0019] Operators can slowly tilt and move the loading truck bed vertically by manipulating the first drive mechanism to quickly and accurately load and unload the fire extinguishing chamber without the need for crane (or other conventional lifting equipment) assistance during installation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is the control flowchart of the present invention.

[0022] Figure 2 This is a schematic diagram illustrating the usage state of the present invention.

[0023] Figure 3 This is a schematic diagram of the fire extinguishing chamber in this invention.

[0024] Figure 4 This is a perspective view of the fire extinguishing chamber in this invention.

[0025] Figure 5 This is a schematic diagram of the structure of the present invention.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 101-Fire extinguishing chamber, 102-Fire extinguishing components, 103-Loading truck bed, 104-Arc-shaped support surface, 105-Support leg, 106-Slot, 107-Mounting platform, 108-Sprinkler mechanism, 109-Fixing box, 110-First sprinkler pipe, 111-Anti-slip texture, 112-Liquid inlet pipe, 113-Mounting frame, 114-Hook, 115-Horizontal part, 116-Inclined part. Detailed Implementation

[0028] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the embodiments of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0029] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0032] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] The following disclosure provides many different implementations or examples for carrying out different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the embodiments of the present invention; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0034] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] Example 1

[0036] See Figures 1-5This embodiment discloses a multi-functional wildfire rescue loader, including a front body, a rear body and a fire extinguishing chamber 101. The front body is hinged to the rear body, and a turning mechanism for controlling the steering of the front body is connected between the front body and the rear body. Both the front body and the rear body are equipped with movable wheels.

[0037] A loading bucket 103 is rotatably connected to the front vehicle body, and a first drive mechanism for controlling the movement of the loading bucket 103 is connected between the loading bucket 103 and the front vehicle body; the bottom end of the fire extinguishing chamber 101 is provided with an arc-shaped support surface 104 that matches the radius of curvature of the inner arc surface of the loading bucket 103; the moving wheels are provided with a plurality of anti-slip patterns 111, and adjacent anti-slip patterns 111 are staggered.

[0038] The fire extinguishing chamber 101 is connected to a support leg 105, and a slot 106 is formed between the support leg 105 and the arc-shaped support surface 104 for cooperating with the loading truck bed 103.

[0039] In this embodiment, the rear vehicle body is used to drive the front vehicle body and the fire extinguishing chamber 101 to move, and the front vehicle body is used to guide the rear vehicle body; the front and rear vehicle bodies are rotatably connected by a hinge device in the prior art, such as a front drive axle of model YT1204 or a universal joint yoke of model PNKAL161459; the turning mechanism is a steering mechanism in the prior art used to drive the front vehicle body to turn, such as a steering device of model QJ25 / 32PS or LMC-554, etc., and the turning mechanism is independently controlled by the vehicle driving control system integrated inside the rear vehicle body, and the operator operates it through a traditional driving device such as a steering wheel; the first drive mechanism is a hydraulic linkage mechanism in the prior art, and the hydraulic cylinder in the first drive mechanism is hinged to the front vehicle body, and the piston rod end of the hydraulic cylinder is hinged. It is attached to the bottom of the loading truck bed 103; the first drive mechanism is independently controlled by the engineering operation control system integrated inside the rear vehicle body. The operator controls the tilting and lifting of the loading truck bed 103 through hydraulic levers and other devices; the connection relationship, structure and function of the articulation device, the turning mechanism and the first drive mechanism will not be described in detail here; the front and rear vehicle bodies equipped with the turning mechanism are articulated, which enables the front vehicle body to have flexible turning ability. The turning radius of the front and rear vehicle bodies articulated by the turning mechanism is much smaller than that of a vehicle with an integral frame of the same size. It can flexibly turn, reverse and pass through narrow and winding mountain forest roads, thereby achieving rapid and direct access to the fire scene that conventional vehicles cannot reach; at the same time, the moving wheels with anti-slip texture 111 can enhance the passability of the front and rear vehicle bodies in narrow and rugged terrain, further improving the fire extinguishing efficiency.

[0040] The fire extinguishing chamber 101 can achieve automatic centering and initial positioning through the cooperation of the arc-shaped support surface 104 and the loading hopper 103, greatly simplifying the installation process. The slot 106 formed between the support leg 105 and the arc-shaped support surface 104, in cooperation with the side wall of the loading hopper 103, further constrains the fire extinguishing chamber 101 placed in the loading hopper 103, effectively preventing the fire extinguishing chamber 101 from moving or overturning in any direction. When the fire extinguishing chamber 101 needs to be disassembled, the support leg 105 can serve as a ground support base for the fire extinguishing chamber 101, ensuring smooth disassembly. When the fire extinguishing chamber 101 needs to be transferred to the hopper, the edge of the arc-shaped plate of the loading hopper 103 will first contact the support leg. The guide ramps formed by the support legs 105 and the side of the fire extinguishing chamber 101 guide the arc-shaped plate of the loading truck 103 to accurately enter the slot 106 formed by the support legs 105 and the arc-shaped support surface 104. The operator can slowly rotate and move the loading truck 103 vertically by operating the first drive mechanism to quickly and accurately load and unload the fire extinguishing chamber 101 without the need for cranes or other conventional lifting equipment. During the firefighting process, if the loading truck 103 is needed to clear obstacles such as roads or trees and shrubs, the operator only needs to operate the loading truck 103 to lower the fire extinguishing chamber 101. When entering the firefighting phase, the loading truck 103 can be operated to quickly assemble the fire extinguishing chamber 101, realizing professional firefighting.

[0041] Further optimization involves installing a reversing radar on the rear of the vehicle, which includes an ultrasonic sensor, a radar host, and a display component.

[0042] In this embodiment, the ultrasonic probe, radar host, and display component are all connected to the power supply system installed in the rear vehicle body via conventional cables to ensure the normal operation of each component. In this embodiment, the power supply system is a conventional power generation device that can generate electricity via diesel fuel. While supplying power to the components installed in the rear vehicle body in this embodiment, the power supply system can also supply power to drones, robots, night lighting, emergency power, and mobile lighting devices below 5.5KW. The display component is installed in the rear vehicle body and is a conventional display mechanism with information visualization and multi-dimensional prompting functions; its structure and details are not described here. The principle is explained in detail: the ultrasonic probe is installed on the rear of the vehicle body, and a signal transmission line is connected to the ultrasonic probe. The ultrasonic probe is connected to the signal input terminal of the radar host through a conventional signal transmission line, enabling the ultrasonic probe to convert the detected ultrasonic echo into an electrical signal and transmit it to the radar host for processing. In actual use, when the vehicle is put into reverse gear, the radar host automatically starts, driving the ultrasonic probe to detect obstacles. The detected information is processed by the reversing radar host and transmitted to the display component. The driver is alerted through digital display, voice, or buzzer, thereby achieving the purpose of reversing safety, ensuring the safety of the vehicle and the people behind, and avoiding accidents. Further optimization includes a fire extinguishing chamber 101 comprising a chamber body and a fire extinguishing component 102 installed on the chamber body. The chamber body stores fire extinguishing media, and the fire extinguishing component 102 is installed on the chamber body and sprays the fire extinguishing media towards the fire point to extinguish the fire.

[0043] It should be noted that, in some preferred embodiments, the power supply system may also be powered by a lithium battery.

[0044] The fire extinguishing assembly 102 includes a drive unit, a mounting platform 107, a spray mechanism 108, and a control system for connecting to the drive unit. The mounting platform 107 is fixedly installed on the top of the fire extinguishing chamber 101, and the spray mechanism 108 is rotatably installed on the mounting platform 107. The drive unit is installed on the mounting platform 107 and is used to drive the spray mechanism 108 to rotate. In this embodiment, the control system is a conventional controller in the prior art, including a main control module for executing program logic and coordinating the work of various modules, an image processing module for processing thermal imaging data, identifying and locating the fire source, a motion planning module for calculating the motion parameters of the spray mechanism 108 and the vehicle body, a drive control module for driving the drive unit, the second drive mechanism, the water pump, and the switching valve, and a data communication module for exchanging data with conventional sensors in the prior art, such as thermal imagers, sensor-integrated gyroscopes, GPS receivers, angle sensors, and wheel encoders, as well as a human-machine interface. The control system and the sensors can communicate via wired means (cables and other related equipment) or wireless means (Wi-Fi module connection, etc.).

[0045] The drive device is a conventional integrated drive and control servo motor in the prior art. The output end of the drive device is connected to the spraying mechanism 108. The control system and the drive device can be connected via wired means (cables and other related equipment) or wireless means (wifi module connection, etc.). In this embodiment, the control system and the drive device are connected via cable. The drive device can receive instructions from the control system. The control system can be detachably installed on the loader body. After the operator operates on the control system, the drive device receives the instructions from the control system and can drive the spraying mechanism 108, which is fixedly connected to the output end of the drive device, to rotate around the axis of the output end of the drive device.

[0046] Further optimized, the spraying mechanism 108 includes a fixed box 109, a first spray pipe 110, and a liquid inlet pipe 112. The driving device is used to drive the fixed box 109 to rotate. The first spray pipe 110 is rotatably connected to the fixed box 109, and a second driving mechanism for driving the first spray pipe 110 to rotate is installed inside the fixed box 109. A water pump is installed inside the chamber, and the first spray pipe 110 is connected to the water pump through the liquid inlet pipe 112. The second driving mechanism is connected to the control system. Sprayers are installed on the first spray pipe 110. The spray head is rotatably equipped with an adjusting ring, which has various shaped water outlets. By rotating the adjusting ring, the water jet sprayed from the first spray pipe 110 can be matched with different shaped water outlets, so that the first spray pipe 110 can spray water jets or water mist according to the actual needs, thereby responding to different usage scenarios and having the functions of fire extinguishing, disaster area epidemic prevention, disinfection and cleaning, and humidification and isolation. In this embodiment, the spray head with the adjusting ring is a conventional multi-functional adjustable sprayer in the prior art, and its structure and function will not be described in detail here.

[0047] In this embodiment, an angle sensor is installed on the second drive mechanism; the water pump is a miniature ultra-high pressure vacuum self-priming water pump in the prior art, capable of pumping the extinguishing agent in the chamber into the first spray pipe 110 for spraying; the output end of the drive device is fixedly connected to the fixed box 109, so that the drive device can drive the fixed box 109 to rotate; there are several first spray pipes 110 and second drive mechanisms, and the second drive mechanism is set one-to-one with the first spray pipe 110, so that the control system can operate a single second drive mechanism to adjust the corresponding first spray pipe 110; the second drive mechanism includes a driving gear, a driven gear, and a second drive motor, and the fixed end of the second drive motor is fixedly connected to the inner wall of the fixed box 109, and the first spray pipes 110 are all rotatably mounted on the fixed box 109 by conventional rotating shafts in the prior art. On the fixed housing 109, the driven gear is fixedly sleeved on the rotating shaft, and the driving gear is fixedly sleeved on the output end of the second drive motor and meshes with the driven gear. The second drive motor is connected to the control system via wired or wireless means. In this embodiment, the second drive motor is connected to the control system via a cable. The second drive motor is a conventional integrated drive and control servo motor in the prior art, which can receive the pitch angle command from the control system and drive the second drive motor to rotate forward and backward. Thus, through the cooperation of the driving gear and the driven gear, the pitch angle of the first spray pipe 110 is adjusted. When the second drive motor drives the driving gear to rotate, the driven gear meshing with the driving gear can adjust the pitch angle of the first spray pipe 110 up and down to further expand the spray range of the first spray pipe 110.

[0048] Further optimization involves providing several slots on the fixed box 109, with each slot corresponding to the first spray pipe 110. The end of the first spray pipe 110 away from the rotating shaft extends through the slots to the outside of the fixed box 109. A flexible dust cover is fixedly installed on the fixed box 109, with the end of the flexible dust cover away from the fixed box 109 connected to the first spray pipe 110. By providing the flexible dust cover, the slots can be sealed, preventing external dust and debris from entering the fixed box 109 and affecting the use of the second drive mechanism.

[0049] The liquid inlet pipe 112 is a telescopic pipe. The first spray pipe 110 moves under the drive of the driving device and the second driving mechanism; the telescopic liquid inlet pipe 112 can adaptively adjust its length as the first spray pipe 110 moves and rotates, so as to avoid damage, detachment or obstruction of the movement of the first spray pipe 110.

[0050] Further optimization involves installing a thermal imager on the fixed box 109, which is connected to the control system. The thermal imager is fixedly mounted on the fixed box 109 and rotates synchronously with the first spray pipe 110 to capture fire sources in real time. The thermal imager can be connected via wired means such as cables or wireless means such as Wi-Fi modules. In this embodiment, the thermal imager is connected to the control system via a cable, and the thermal imager transmits the collected thermal imaging data stream, including temperature matrix information, to the control system in real time.

[0051] Each of the first spray pipes 110 is equipped with a switch valve, which is connected to the control system. The control system can drive the switch valve installed on the corresponding first spray pipe 110 to open or close.

[0052] Further optimization involves installing a mounting frame 113 on the fire extinguishing chamber. The mounting frame 113 is located on the top surface of the chamber, allowing the control system to be removed from the rear vehicle and placed inside the mounting frame 113. This enables the fire extinguishing chamber 101 to be used independently detached from the rear vehicle when necessary. When the control system is used independently, it is powered by a lithium battery built into the control system and connected to the spraying mechanism via wireless communication (such as Wi-Fi or 4G).

[0053] The chamber is equipped with an inspection port, a liquid filling valve, and a drain valve. The inspection port is hinged with a top cover that can be opened or closed. The liquid filling valve and the drain valve can be used to add or discharge extinguishing media into the chamber. The inspection port allows for maintenance of the interior of the chamber. The top cover is used to seal the inspection port to prevent the extinguishing media inside the chamber from flowing out.

[0054] Further optimization involves providing a handle 114 on the support leg 105. In this embodiment, a limiting part is provided on the liquid storage tank 101, and the support leg 105 is slidably connected to the limiting part; the support leg 105 is provided with a first limiting hole, and there are several first limiting holes arranged vertically along the support leg 105; the limiting part is provided with a second limiting hole, and a limiting rod is slidably installed in the second limiting hole. After the first limiting hole moves to a position corresponding to the second limiting hole, the limiting rod can be moved into the first limiting hole to limit and fix the support leg 105; by having the first limiting holes at different heights cooperate with the limiting rod, the distance between the liquid storage tank 101 and the ground can be adjusted according to actual needs.

[0055] In some embodiments, a stop is connected to the limiting rod. The stop prevents the limiting rod from disengaging from the second limiting hole.

[0056] Example 2

[0057] See Figures 1-5 This embodiment is a further optimization based on Embodiment 1. The anti-slip pattern 111 includes an inclined portion 116 and a horizontal portion 115 integrally formed with the inclined portion 116. The inclined portion 116 and the horizontal portion 115 are arranged from the outside to the inside along the axis of the moving wheel, and the inclined portion 116 is inclined towards the front of the vehicle body. The integral structure of the inclined portion 116 and the horizontal portion 115 forms a continuous debris removal channel. The inclination angle of the inclined portion 116 helps to generate centrifugal force when the tire rolls, throwing out mud, weeds and gravel attached between the patterns. The staggered arrangement of the anti-slip pattern 111 further enhances the cleaning effect, avoids debris accumulation, keeps the tire surface clean, and thus maintains continuous grip performance. The inclined portion 116 is inclined towards the front of the vehicle body, so that the moving wheel can generate greater longitudinal shear force when the vehicle moves forward, preventing slippage. The horizontal portion 115 is located inside the inclined portion 116 and provides a contact surface parallel to the ground. When the vehicle turns, tilts, or travels on uneven surfaces, the horizontal section 115 increases the tire's lateral grip, reducing the risk of skidding; it also improves safety when working on narrow mountain roads or slopes. Furthermore, the inclined section 116 is integrally formed with the horizontal section 115, reducing stress concentration points at the root of the anti-slip treads 111 and improving tear and wear resistance. In this embodiment, the mobile wheel equipped with the anti-slip treads 111 is larger and wider than conventional wheels in the prior art, resulting in a larger anti-slip area and stronger grip. The mobile wheel also adopts a solid, run-flat tire structure, adapting to the special environment of disaster areas, including construction debris, sharp metal edges such as nails and knives, broken glass, and tiles. The mobile wheel meets the requirements of corrosion resistance, puncture and cut resistance, no tire blowouts, no need for emergency repairs, and no maintenance, ensuring the progress of rescue work with minimal maintenance costs.

[0058] To further optimize the system and ensure longitudinal driving force and debris removal efficiency, the tilt angle θ of the inclined section 116 needs to be set in consideration of the grip required by the moving wheels. The formula for the tilt angle θ is as follows:

[0059]

[0060] Wherein, σ is the surface shear strength; according to existing test data on the surface characteristics of mountain forests, the surface shear strength of soft soil is 20-50 kPa, and the surface shear strength of hard soil is 50-100 kPa; A is the contact area between a single inclined part 116 and the ground, the contact area A = w·l, where w is the width of the inclined part 116, and l is the length of the inclined part 116; μ is the coefficient of friction between the moving wheel and the ground, and according to existing material friction characteristic tests, the coefficient of friction μ of the moving wheel on dry soil is 0.7-0.9, and the coefficient of friction μ on wet soil is 0.4-0.6; N is the load borne by the inclined part 116:

[0061]

[0062] Where W is the vehicle weight, n is the number of anti-slip treads 111, and η is the load distribution coefficient; η is used to represent the load distribution efficiency among all tread patterns, and its value depends on factors such as the wheel structure, tread pattern design, and ground conditions. For the anti-slip treads 111 of the staggered inclined portion 116 and horizontal portion 115 used in this embodiment, based on the special requirements of engineering practice and forest fire fighting scenarios, the preferred value of η is 0.8-0.9, and the value of η in this embodiment is 0.85.

[0063] Further optimization is needed, as the tilt angle θ1 of the inclined portion 116 also needs to consider safe driving and self-cleaning effects in actual use. Therefore, the tilt angle θ of the inclined portion 116 can be obtained as follows:

[0064]

[0065] Wherein, k1 is a safety factor set considering the dynamic impact on the traveling wheels, and the value of k1 is between 1.2 and 1.5; k2 is the self-cleaning optimization angle to ensure that debris can be effectively discharged, and the value of k2 is between 5 and 8°; k3 is the influence coefficient of the traveling wheel speed on the self-cleaning effect, and the value of k3 is between 0.1 and 0.3; v is the average traveling speed of the traveling wheels, and the value of v is between 5 and 15 km / h.

[0066] Example 3

[0067] See Figures 1-5This embodiment is a further optimization based on Embodiment 1 and Embodiment 2, and discloses a fire extinguishing method for comprehensively extinguishing wildfires using a multi-functional wildfire rescue loader based on Embodiment 1. The method includes the following steps:

[0068] S1. Acquire thermal imaging data of the target area;

[0069] S2. High-temperature area detection and preliminary identification;

[0070] S3, Multi-target flame segmentation and precise positioning;

[0071] S4. Adjust the first spray pipe to 110 degrees to aim at the fire point, and adjust the vehicle distance as needed according to the actual situation.

[0072] In S1, the thermal imager can acquire thermal images of the target area and its previous frames and multiple frames in real time. After acquiring the thermal images, the thermal imager can directly output temperature matrix data to the control system, with each pixel value representing the apparent temperature of that point.

[0073] In S2, the method for detecting and initially identifying high-temperature areas includes the following steps:

[0074] S2.1 Data Validity Verification: The control system first verifies the validity of the data stream input by the thermal imager to ensure that the data is complete and usable. If a pixel with a temperature value lower than -40℃ or higher than the sensor's maximum range (e.g., +1500℃) is detected in the image, the frame data is determined to be invalid, and the system will discard the frame and attempt to re-acquire it.

[0075] The verification includes temperature range validity and image integrity verification. Temperature range validity verification checks whether the highest and lowest temperatures in the temperature check image are within the sensor's range, eliminating extreme anomalies caused by sensor malfunction. Image integrity verification confirms that no data frames are lost, the image is clear, and there are no large areas of noise or dead pixels.

[0076] S2.2 Dynamic Temperature Threshold Segmentation:

[0077] The system calculates the ambient background temperature Tambient in real time and, referring to the highest temperature record in historical data, calculates the dynamic temperature threshold Tthreshold.

[0078] Tthreshold=α×Tambient+β×Tmh+γ

[0079] The fire extinguishing chamber 101 is equipped with a temperature sensor. This temperature sensor can be connected to the control system via wired (cables and other related equipment) or wireless (Wi-Fi module, etc.). The temperature sensor can detect the ambient background temperature (Tambient) in real time and send the detected temperature signal to the image processing module in the control system. α and β are weighting coefficients, typically set to 0.25-0.3 and 0.45-0.5 respectively. These weighting coefficients are used to balance the influence of the current environment and historical extreme conditions. Tmh is the historical highest temperature; γ is the base temperature compensation value, set to 50℃ in this embodiment to ensure the threshold is significantly higher than the ambient temperature.

[0080] Each temperature value in the temperature matrix output by the thermal imager is compared with the dynamic threshold Tthreshold. Pixels with a temperature value greater than or equal to Tthreshold are marked as foreground high-temperature candidate points and assigned a value of 1; pixels with a temperature value less than Tthreshold are marked as background and assigned a value of 0. Then, the image processing module generates a binary image. The connected white areas in the binary image are the initially identified high-temperature suspected fire areas.

[0081] S3.3 Verification of flame features based on thermal feature library:

[0082] In step S3.3, the control system first compares each high-temperature suspected fire zone obtained in step S3.2 with a pre-stored or integrated standard flame thermal feature library provided by the engine in real time. This standard flame thermal feature library is an existing data feature library that can compare whether the high-temperature suspected fire zones obtained in S3.2 conform to the temperature distribution characteristics of a real flame—a significant temperature gradient and extremely high center temperature—and whether they conform to the spatiotemporal dynamic characteristics of a real flame—which exhibit rapid, irregular flickering and morphological changes in consecutive frames. By analyzing these characteristics, the control system calculates the flame confidence score for each high-temperature suspected fire zone. Only areas with a confidence score exceeding a preset threshold (set to 80% in this embodiment) are ultimately determined as candidate areas for real flames. If the confidence score does not exceed the preset threshold, objects or phenomena that are mistakenly identified as fire sources or suspected fire sources but are not flames are removed. This reduces the system's false alarm rate and ensures that fire extinguishing resources are accurately directed to real fire sources.

[0083] In S4, the method of aiming the first spray pipe at an angle of 110° at the ignition point and adjusting the vehicle distance as needed includes the following steps:

[0084] S4.1 Target Allocation: The control system receives a list of ignition points from the flame recognition module. Each ignition point in the list contains the two-dimensional pixel coordinates (u, v) of the ignition point and the flame threat level. The image pixel coordinate system takes the upper left corner of the image acquired by the thermal imager as the origin (0, 0), with the u axis to the right and the v axis downward.

[0085] In this embodiment, thermal imaging is analyzed. Figure 2 By quantizing the connected components and combining them with camera calibration parameters, we can estimate the approximate actual projected area of ​​the flame (flame area S). norm The highest temperature value (core temperature T) within the flame area can be extracted from thermal imaging data. norm The image processing module characterizes the degree of drastic temperature change (temperature gradient G) by calculating the difference between the average temperature of the edge pixels of the flame candidate region and the average temperature of the core region pixels. norm The core region refers to the area comprised of the top 20% of pixels with the highest temperature within the flame connected domain, and the edge region refers to the pixels on the outermost contour of the flame connected domain; this difference is the quantized value of the temperature gradient. The image processing module calculates the relative change rate V of the flame area per unit time by comparing the area changes of the same flame candidate region in consecutive multi-frame thermal imaging sequences. norm (Unit: % / s); The control system uses a weighted calculation model to evaluate the above parameters. The weighting coefficients can be preset or adjusted by the operator through the human-machine interface according to different fire types and command strategies.

[0086] To ensure that parameters of different dimensions (such as area and temperature) can be comprehensively weighted, the system first normalizes the collected original parameter values.

[0087] The parameter normalization method is as follows:

[0088] For any parameter x, its normalized value x norm The calculation formula is:

[0089]

[0090] Where, x min and x max This is a preset reasonable range for the parameter; in this embodiment, preferably, S min =0m 2 S max =50m 2 ;T min =Tthreshol (dynamic temperature threshold), T max =800℃; G min =50℃, G max =400℃; V min =0% / s, V max =20% / s.

[0091] The flame threat level F is calculated using a linear weighted model:

[0092] F = ws ·S norm +w t ·T norm +w g ·G norm +w u ·V norm

[0093] Among them, w s w r w g and w u w represents the weighting coefficients for each parameter. s +w t +w g +w u =1; In this embodiment, w is preferred. s 0.4, w t 0.3, w g 0.2, w u It is 0.1.

[0094] S4.2 Coordinate Transformation and Angle Calculation: Establish a spatial mapping relationship based on camera calibration parameters. The image pixel coordinates (u, v) of the fire point are input into a pre-constructed coordinate transformation function. The parameters of this function include the intrinsic parameter matrix of the thermal imager obtained through calibration and the extrinsic parameter matrix of the thermal imager relative to the coordinate system of the mounting platform 107. The function performs matrix transformation operations from the two-dimensional image pixel coordinate system to the three-dimensional camera coordinate system (Xc, Yc, Zc), and then to the world coordinate system relative to the mounting platform 107, finally outputting the three-dimensional spatial coordinates (X, Y, Z) of the fire point. The center of the upper surface is the origin, the X-axis points directly in front of the vehicle body, the Y-axis points to the left side of the vehicle body, and the Z-axis is vertically upward. The model based on the coordinate transformation function is a well-known geometric model in the art used to realize the mapping from 2D images to 3D space.

[0095] For each assigned target, the control system can calculate the required horizontal rotation angle and pitch angle for the corresponding first spray pipe 110.

[0096] S4.3, Evaluate the feasibility of the horizontal rotation angle and pitch angle;

[0097] In this embodiment, each first spray pipe 110 has a mechanical movement range requirement: the horizontal rotation angle of the first spray pipe 110 is ±45°, and the pitch angle is ±45°. If the control system calculates that the required horizontal rotation angle and pitch angle range meet the mechanical movement range requirement, the control system directly sends a control signal to the drive device and the second drive mechanism. Upon receiving the signal, the drive device and the second drive mechanism can adjust the position of the fixed box 109 and the first spray pipe 110 to align them with the ignition point.

[0098] If the calculated horizontal rotation angle and pitch angle range of some or all of the first spray pipes 110 exceed the requirements of the mechanical movement range, the control system will first correct it by adjusting the distance and direction between the front vehicle body and the ignition point.

[0099] When the ignition point is outside the coverage area of ​​the first spray pipe 110 with a horizontal rotation angle of ±45°, the horizontal orientation of the front vehicle body is actively adjusted so that the ignition point is within the effective range of the first spray pipe 110.

[0100] After completing the target allocation and initial angle calculation, the control system focuses on checking whether the horizontal rotation angle of each first spray pipe 110 exceeds the ±45° limit; the control system marks all fire points that cannot be aimed due to excessive horizontal rotation angle in the global coordinate system and calculates their absolute azimuth angle relative to the front of the vehicle.

[0101] When the absolute azimuth angle is greater than +45°, the ignition point is located outside the sector from the right front to the right side of the vehicle body.

[0102] When the absolute azimuth angle is less than -45°, the ignition point is located outside the sector from the left front to the left side of the vehicle body.

[0103] The control system statistically analyzes the locations of all fire points that need to be covered and calculates their weighted average azimuth angle. The weighting is determined by the threat level of the fire point. After calculating the weighted average azimuth angle, the control system sends a signal to the drive unit, causing the drive unit to rotate the fixed box 109. Simultaneously, the control system integrates a vehicle attitude perception module for acquiring the absolute orientation and position information of the vehicle body, such as conventional sensors in existing technologies like integrated gyroscopes, GPS receivers, and wheel encoders, as well as a human-machine interface such as a touchscreen. The control system displays vehicle movement suggestions to the operator through the human-machine interface and provides feedback to the operator in the rear vehicle body. This allows the operator to drive the front and rear vehicle bodies to rotate simultaneously according to the control system's suggestions, enabling the entire loader to make a stationary turn or a small-radius turn around its central axis, smoothly rotating in the direction indicated by the weighted average azimuth angle. This allows most high-threat targets and targets outside the firing range to enter the horizontal rotation range of the first spray pipe 110. During the rotation of the front vehicle body, the thermal imager rotates synchronously with the fixed box 109, continuously locking onto and tracking the target fire point to avoid losing the target.

[0104] If the pitch angle calculated by the control system is generally too large, close to or exceeding +45°, it indicates that the front of the vehicle is too close to the ignition point and needs to be moved backward.

[0105] If the pitch angle is generally too small, close to or below -45°, it means that the vehicle is too far from the ignition point and needs to be moved forward.

[0106] The control system calculates the required movement distance Δd using the following method:

[0107]

[0108] Where H is the vertical distance from the center point of the first spray pipe 110 shaft to the ground, obtained through actual measurement; θcurrent is the current pitch angle that can be read in real time by an angle sensor such as an absolute encoder installed on the pitch drive mechanism of the second drive mechanism and the read signal is transmitted to the control system; tan(θdesired) is the desired pitch angle, which is stored in the control system as a constant. The value of tan(θdesired) is set between 25-35°, and in this embodiment, the value of tan(θdesired) is preferably 35°.

[0109] During the movement, the flame recognition system continuously tracks the fire point to ensure that the target is not lost. After the vehicle stops, the target is reassigned and the angle is recalculated to verify whether the pitch angle exceeding the limit issue has been resolved.

[0110] S4.4 Execute fire extinguishing operations;

[0111] Once the angles of all the first spray pipes 110 are feasible, the control system drives the pitch motor and the horizontal motor to adjust each of the first spray pipes 110 to the calculated angle.

[0112] Then, the water pump and corresponding valves were turned on to start spraying water to extinguish the fire.

[0113] In this embodiment, there are three first spray pipes 110. According to the fire threat level, the control system can allocate several first spray pipes 110. The control system will first adjust the three first spray pipes 110 to aim at the three fire points with the highest threat level through the drive device and the second drive mechanism to extinguish the fire, thereby improving the fire extinguishing efficiency and effect and preventing the fire from spreading. However, if the control system detects that the threat level of a single fire point is much higher than that of other fire points, the control system can adjust the pitch angle of the three first spray pipes 110 through the second drive mechanism, so that the three first spray pipes 110 simultaneously aim at the single fire point to extinguish it in a concentrated manner, so as to quickly suppress the main fire point and prevent the fire from spreading.

[0114] Example 3

[0115] See Figures 1-5This embodiment further optimizes the spray mechanism 108 based on Embodiment 1. In this embodiment, the spray mechanism 108 also includes a second spray pipe and a liquid inlet pipe 112. The driving device is used to drive the fixed box 109 to rotate. The second spray pipe is rotatably connected to the fixed box 109. A second driving mechanism for driving the second spray pipe to rotate is installed inside the fixed box 109. A water pump is installed inside the chamber. The second spray pipe is connected to the water pump through the liquid inlet pipe 112. The second driving mechanism is connected to the control system. Spray heads are installed on the second spray pipe. An adjusting ring is rotatably installed on the spray head. The adjusting ring is provided with water outlets of various shapes. By rotating the adjusting ring, the water jet sprayed from the second spray pipe can be matched with water outlets of different shapes. According to the actual needs, the second spray pipe can spray water jets or water mist to cope with different usage scenarios.

[0116] In this embodiment, there is one second sprinkler pipe, which is supported by an integrated seamless steel pipe. The second sprinkler pipe can extinguish fires by rotating under the control of the control system, making it easy to operate. The single second sprinkler pipe consumes less water, has high fire extinguishing efficiency, minimal water damage, does not pollute the environment, has low operating noise, and is easy to operate. The sprinkler head with the adjusting ring is a conventional multi-functional adjustable sprinkler in the prior art, and its structure and function will not be described in detail here. The water pump is a water pump with a built-in power supply system in the prior art, so there is no need to add a special power supply system for the water pump. Continuous water supply can be achieved by laying water pipes and setting up iron tank water pools. Furthermore, the water pump can extract the stored water in the tank for use as domestic water to support camp construction.

[0117] The second drive mechanism is equipped with an angle sensor; the output end of the drive device is fixedly connected to the fixed box 109, enabling the drive device to drive the fixed box 109 to rotate; the second spray pipes are each equipped with a corresponding second drive mechanism, allowing the control system to operate the second drive mechanism to adjust the corresponding second spray pipes; the second drive mechanism includes a drive gear, a driven gear, and a second drive motor, the fixed end of the second drive motor is fixedly connected to the inner wall of the fixed box 109, the second spray pipes are rotatably mounted on the fixed box 109 via a conventional rotating shaft, the driven gear is fixedly sleeved on the rotating shaft, and the drive gear is fixedly sleeved on the second drive mechanism. The output end of the second drive motor meshes with the driven gear; the second drive motor is connected to the control system via wired or wireless means. In this embodiment, the second drive motor is connected to the control system via a cable. The second drive motor is a conventional integrated drive and control servo motor in the prior art, which can receive the pitch angle command from the control system and drive the second drive motor to rotate forward and backward. Thus, through the cooperation of the drive gear and the driven gear, the pitch angle of the second spray pipe is adjusted; when the second drive motor drives the drive gear to rotate, the driven gear meshing with the drive gear can adjust the pitch angle of the second spray pipe up and down to further expand the spray range of the second spray pipe.

[0118] Further optimization involves installing a liquid level monitor on the tank. This liquid level monitor is a high-precision, corrosion-resistant monitoring mechanism made of stainless steel, used in existing technologies to accurately display the current liquid level within the tank, providing operators with a reference for monitoring remaining water and timely replenishment.

[0119] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-functional wildfire rescue loader, characterized in that: It includes a front vehicle body, a rear vehicle body and a fire extinguishing compartment (101), the front vehicle body is hinged to the rear vehicle body, a turning mechanism for controlling the steering of the front vehicle body is connected between the front vehicle body and the rear vehicle body, and both the front vehicle body and the rear vehicle body are equipped with casters. A loading bucket (103) is rotatably connected to the front vehicle body, and a first drive mechanism for controlling the movement of the loading bucket (103) is connected between the loading bucket (103) and the front vehicle body; the bottom end of the fire extinguishing chamber (101) is provided with an arc-shaped support surface (104) that matches the radius of curvature of the inner arc surface of the loading bucket (103); the moving wheels are provided with a plurality of anti-slip patterns (111), and adjacent anti-slip patterns (111) are staggered. The fire extinguishing chamber (101) is connected to a support leg (105), and a slot (106) is formed between the support leg (105) and the arc-shaped support surface (104) for cooperating with the loading hopper (103).

2. The multi-functional wildfire rescue loader according to claim 1, characterized in that: The fire extinguishing chamber (101) includes a chamber body and a fire extinguishing assembly (102) installed on the chamber body.

3. The multi-functional wildfire rescue loader according to claim 2, characterized in that: The fire extinguishing assembly (102) includes a drive device, a mounting platform (107), a spray mechanism (108), and a control system for connecting to the drive device. The mounting platform (107) is fixedly installed on the top of the fire extinguishing chamber (101). The spray mechanism (108) is rotatably installed on the mounting platform (107). The drive device is installed on the mounting platform (107) and is used to drive the spray mechanism (108) to rotate.

4. The multi-functional wildfire rescue loader according to claim 3, characterized in that: The spraying mechanism (108) includes a fixed box (109), a first spray pipe (110), and a liquid inlet pipe (112). The driving device is used to drive the fixed box (109) to rotate. The first spray pipe (110) is rotatably connected to the fixed box (109). A second driving mechanism for driving the first spray pipe (110) to rotate is installed inside the fixed box (109). A water pump is installed inside the chamber. The first spray pipe (110) is connected to the water pump through the liquid inlet pipe (112). The second driving mechanism is connected to the control system.

5. The multi-functional wildfire rescue loader according to claim 4, characterized in that: The inlet pipe (112) is a telescopic pipe.

6. The multi-functional wildfire rescue loader according to claim 4, characterized in that: A thermal imager is installed on the fixed box (109), and the thermal imager is connected to the control system.

7. The multi-functional wildfire rescue loader according to claim 4, characterized in that: Each first spray pipe (110) is equipped with a switch valve, which is connected to the control system.

8. The multi-functional wildfire rescue loader according to claim 1, characterized in that: An installation frame (113) is provided on the container body.

9. The multi-functional wildfire rescue loader according to claim 1, characterized in that: The rear of the vehicle is equipped with a reversing radar, which includes an ultrasonic sensor, a radar host, and a display component.

10. The multi-functional wildfire rescue loader according to claim 4, characterized in that: The fixed box 109 is provided with a plurality of slots, which are corresponding to the first spray pipe 110. The end of the first spray pipe 110 away from the rotating shaft extends to the outside of the fixed box 109 through the slots. A flexible dust cover is fixedly installed on the fixed box 109, and the end of the flexible dust cover away from the fixed box 109 is connected to the first spray pipe 110.

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