Fire extinguishing robot

Abstract

The fire extinguishing robot comprises a machine body, a moving device, a fire extinguishing device and an operation device, the machine body comprises a storage box, the storage box is used for containing a fire extinguishing medium, the moving device is connected with the bottom of the machine body and used for walking, the fire extinguishing device is arranged on the side face of the machine body, and a nozzle of the fire extinguishing device communicates with the storage box; the nozzle can rotate around the first axis and the second axis, the operation device is arranged at the top of the machine body and comprises a grabbing and clamping assembly and a mechanical arm, the grabbing and clamping assembly is arranged at the end of the mechanical arm, the mechanical arm can rotate around the third axis, and the mechanical arm is used for controlling the height of the grabbing and clamping assembly. Wherein the first axis and the third axis extend in the vertical direction, and the second axis extends in the horizontal direction. The moving device, the operating device and the fire extinguishing device are matched with one another, so that the fire extinguishing robot can walk, remove environmental obstacles and assist operation actions, fire behavior processing actions are enriched, and the fire extinguishing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of fire extinguishing device technology, and in particular to a fire extinguishing robot. Background Technology

[0002] Firefighting robots, as an important branch of special robots, are typically used in high-risk fire environments such as petrochemical plants, tunnel fires, and hazardous chemical explosions. However, current firefighting robots have limited firefighting methods, low efficiency, and poor performance in complex disaster scenarios, making them unable to complete firefighting tasks in challenging situations. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0004] This application proposes a fire-fighting robot, comprising: a body, a moving device, a fire-fighting device, and an operating device. The body includes a storage tank for containing fire-fighting media. The moving device is connected to the bottom of the body and is used for walking. The fire-fighting device is located on the side of the body, and its nozzles are connected to the storage tank. The nozzles are rotatable around a first axis and a second axis. The operating device is located on the top of the body and includes a gripping assembly and a robotic arm. The gripping assembly is located at the end of the robotic arm, and the robotic arm is rotatable around a third axis, used to control the height of the gripping assembly. The first and third axes extend vertically, and the second axis extends horizontally.

[0005] In some technical solutions provided in this application, the mobile device includes: a frame, a drive wheel, a guide wheel, and a track. The frame is connected to the bottom of the machine body. The drive wheel and the guide wheel are rotatably connected to the frame. The track is sleeved on the outside of the drive wheel and the guide wheel. The drive wheel and the guide wheel are located at both ends of the track. The drive wheel is used to drive the track to rotate.

[0006] In some of the technical solutions provided in this application, the mobile device further includes: a tensioning component, one end of which is connected to the guide wheel and the other end of which is connected to the frame. The tensioning component is used to control the distance between the guide wheel and the drive wheel.

[0007] In some of the technical solutions provided in this application, the mobile device further includes: a track roller and a support roller, which are located between the drive wheel and the idler wheel and are respectively connected to the track. The track roller is located on the side of the track away from the ground, and the support roller is located on the side of the track close to the ground.

[0008] In some of the technical solutions provided in this application, the track includes a mating part, which is connected to the drive wheel and the guide wheel respectively. The frame includes a track beam, and the drive wheel and the guide wheel are rotatably connected to the track beam. Limiting members are provided on both sides of the track beam, and the mating part is located between the two limiting members.

[0009] In some technical solutions provided in this application, the fire extinguishing device further includes: a first pipe body and a second pipe body, the water inlet end of the first pipe body is connected to the storage tank, the first pipe body is rotatably connected to the machine body, the first pipe body can rotate around a first axis, the water inlet end of the second pipe body is rotatably connected to the water outlet end of the first pipe body, the second pipe body can rotate around a second axis, and the nozzle is located at the water outlet end of the second pipe body.

[0010] In some technical solutions provided in this application, the fire extinguishing device further includes: a rotating assembly, wherein the inlet and outlet ends of the first pipe are respectively provided with rotating assemblies. The rotating assembly includes: a first driving member, a first bevel gear, and a second bevel gear. The driving end of the first driving member is provided with the first bevel gear, and the second bevel gear is located at the inlet end of the first pipe or the inlet end of the second pipe. The first bevel gear and the second bevel gear are meshed and connected.

[0011] In some technical solutions provided in this application, the fire extinguishing device further includes: a rotating assembly, wherein the inlet and outlet ends of the first pipe are respectively provided with rotating assemblies. The rotating assembly includes: a first driving member, a first bevel gear, and a second bevel gear. The driving end of the first driving member is provided with the first bevel gear, and the second bevel gear is located at the inlet end of the first pipe or the inlet end of the second pipe. The first bevel gear and the second bevel gear are meshed and connected.

[0012] In some technical solutions provided in this application, the fire extinguishing device further includes: a rotating assembly, wherein the inlet and outlet ends of the first pipe are respectively provided with rotating assemblies. The rotating assembly includes: a first driving member, a first bevel gear, and a second bevel gear. The driving end of the first driving member is provided with the first bevel gear, and the second bevel gear is located at the inlet end of the first pipe or the inlet end of the second pipe. The first bevel gear and the second bevel gear are meshed and connected.

[0013] In some of the technical solutions provided in this application, the body includes: a shell, a camera, a smoke detector, an infrared thermal imager, and a main control board. The mobile device, the fire extinguishing device, and the operating device are connected to the shell. The camera is used to collect images of the fire source, the smoke detector is used to collect smoke concentration, the infrared thermal imager is used to collect infrared thermal images of the fire source, and the main control board is located inside the shell. The main control board is used to determine the location of the fire source based on the fire source image, the infrared thermal image, and the smoke concentration.

[0014] Compared with related technologies, the present invention has at least the following beneficial effects: The operating device and the fire extinguishing device can move in multiple dimensions, thus flexibly performing complex actions. Furthermore, the mobile device, operating device, and fire extinguishing device work together to enable the fire extinguishing robot to perform walking, clearing environmental obstacles, and assisting in other tasks. This enriches the fire handling capabilities, allowing the fire extinguishing robot to handle fire extinguishing tasks in complex scenarios, significantly improving its task execution capabilities and environmental adaptability, and ultimately enhancing fire extinguishing efficiency. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of some embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This application provides a schematic diagram of the structure of a fire-fighting robot according to one embodiment. Figure 2 A schematic diagram of the structure of a mobile device according to an embodiment of this application; Figure 3 An exploded view of a mobile device according to an embodiment of this application; Figure 4 This application provides a schematic diagram of the structure of a fire extinguishing device according to one embodiment. Figure 5 A schematic diagram of the structure of an operating device according to an embodiment of this application; Figure 6 A front view of a gripper assembly according to one embodiment of this application; Figure 7 An axial view of a gripper assembly according to one embodiment of this application; Figure 8 A schematic diagram of the structure of an organism according to one embodiment of this application; Figure 9 An exploded view of the body of an embodiment provided in this application; Figure 10 A flowchart illustrating the fire source attribute extraction process of one embodiment provided in this application.

[0016] in, Figures 1 to 9 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10. Firefighting Robot; 100. Body; 110. Storage Box; 120. Shell; 121. Mounting Plate; 122. Positioning Bracket; 123. Rotating Plate; 124. Connecting Plate; 125. Star Connector; 126. Servo Motor; 130. Camera; 140. Smoke Detector; 150. Main Control Board; 160. Power Module; 170. Display; 180. GPS Positioning Module; 191. Infrared Thermal Imager; 192. Temperature Sensor; 200. Mobility Device; 210. Frame; 211. Track Beam; 212. Limiting Component; 213. Pallet; 214. Connecting Beam; 215. Protective Cover; 220. Drive Wheel; 230. Guide Wheel; 240. Track; 241. Mating Part; 242. Track Plate; 250. Tensioning Assembly; 251. Front Erection Plate; 252. Support component; 253, tensioning component; 260, track roller; 270, support roller; 280, drive motor; 290, reducer; 300, fire extinguishing device; 310, nozzle; 320, first pipe body; 330, second pipe body; 340, rotating assembly; 341, first drive component; 342, first bevel gear; 343, second bevel gear; 400, operating device; 410, gripping assembly; 411, support plate; 412, first connecting rod; 413, second connecting rod; 4131, clamping part; 414, third connecting rod; 415, second drive component; 420, robotic arm; 421, mounting bracket; 4211, mounting plate; 4212, mounting ring; 4213, transmission plate; 4214, connecting component; 4215, gasket; 422, first connecting arm; 423, second connecting arm. Detailed Implementation

[0017] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0018] Embodiments of this application provide a fire-fighting robot 10, such as Figure 1As shown, the fire-fighting robot 10 includes: a body 100, a moving device 200, a fire-fighting device 300, and an operating device 400. The body 100 includes a storage tank 110 for containing fire-fighting media. The moving device 200 is connected to the bottom of the body 100 and is used for walking. The fire-fighting device 300 is located on the side of the body 100, and its nozzle 310 is connected to the storage tank 110. The nozzle 310 can rotate around a first axis and a second axis respectively. The operating device 400 is located on the top of the body 100 and includes a gripping assembly 410 and a robotic arm 420. The gripping assembly 410 is located at the end of the robotic arm 420, which can rotate around a third axis and is used to control the height of the gripping assembly 410. The first and third axes extend vertically, and the second axis extends horizontally.

[0019] In this embodiment, the storage tank 110 containing the extinguishing medium is located on the rear side wall of the body 100. The extinguishing medium provides the material basis for fire extinguishing operations and can be water or foam extinguishing agent. A moving device 200 is provided below the body 100. The moving device 200 can walk on the ground, thereby driving the body 100 to move, realizing the autonomous movement of the fire extinguishing robot 10, which is convenient for reaching different fire source locations.

[0020] A fire extinguishing device 300 for performing fire extinguishing actions is provided on the front side wall of the body 100. The fire extinguishing device 300 is arranged opposite to the storage tank 110. The nozzle 310 of the fire extinguishing device 300 is connected to the storage tank 110 through a high-pressure hose. The fire extinguishing device 300 is used to receive the fire extinguishing medium in the storage tank 110 and spray the fire extinguishing medium towards the fire source through the nozzle 310. The fire extinguishing device 300 performs fire extinguishing actions in response to control commands for the spray angle and flow rate. The nozzle 310 can rotate around the vertical first axis Z1 and the horizontal second axis Z2, respectively. Figure 1 In the diagram, the arrow at position Y points vertically, and the arrow at position X points horizontally. The nozzle 310 can rotate flexibly in different directions. The fire extinguishing device 300 can adjust the angle and position of the nozzle 310, expanding the spraying range and flexibility, and meeting the fire extinguishing needs of different positions and angles.

[0021] An operating device 400 is located above the main body 100. The gripping assembly 410 of the operating device 400 is connected to the end of the robotic arm 420. The gripping assembly 410 is used to grasp a target object, which can be an obstacle or an auxiliary object. The robotic arm 420 can rotate around a vertical third axis Z3, thereby adjusting the gripping position and angle of the gripping assembly 410 on the horizontal plane. Furthermore, the robotic arm 420 can also move in the vertical direction, thereby adjusting the height of the gripping assembly 410, making the movement of the gripping assembly 410 more flexible and accurate. This allows for precise manipulation of the target object to clear obstacles or to assist the fire extinguishing device 300 in fire extinguishing operations using auxiliary objects, such as removing debris that obstructs the path or affects the fire extinguishing line of sight, or opening doors and windows.

[0022] The operating device 400 and the fire extinguishing device 300 can move in multiple dimensions, thus flexibly performing complex actions. Furthermore, the moving device 200, the operating device 400, and the fire extinguishing device 300 work together to enable the fire extinguishing robot 10 to perform walking, clearing environmental obstacles, and assisting in other tasks. This enriches the fire handling capabilities, allowing the fire extinguishing robot 10 to handle fire extinguishing tasks in complex scenarios, significantly improving its task execution capabilities and environmental adaptability, and ultimately enhancing fire extinguishing efficiency.

[0023] In some embodiments provided in this application, such as Figure 2 and Figure 3 As shown, the mobile device 200 includes: a frame 210, a drive wheel 220, a guide wheel 230, and a track 240. The frame 210 is connected to the bottom of the machine body 100. The drive wheel 220 and the guide wheel 230 are rotatably connected to the frame 210. The track 240 is sleeved on the outside of the drive wheel 220 and the guide wheel 230. The drive wheel 220 and the guide wheel 230 are located at both ends of the track 240. The drive wheel 220 is used to drive the track 240 to rotate.

[0024] In this embodiment, the specific structure of the mobile device 200 is provided. The frame 210 is connected to the bottom surface of the body 100. The frame 210 is equipped with guide wheels 230 and drive wheels 220 that support the tracks 240. The guide wheels 230 and drive wheels 220 support both ends of the tracks 240. The drive wheels 220 drive the tracks 240 to rotate, providing stable propulsion for the mobile device 200. The bottom surface of the tracks 240 contacts the ground and, through friction, moves the frame 210, thereby propelling the firefighting robot 10 to walk on the ground. Compared to traditional wheeled structures, the tracks 240 have a larger contact area with the ground, stronger grip, and can adapt to rugged and undulating complex terrain, improving the mobility and stability of the firefighting robot 10 and providing reliable mobile support.

[0025] For example, the mobile device 200 also includes a drive motor 280 and a reducer 290. The output shaft of the drive motor 280 is connected to the input end of the reducer 290 via a coupling. The drive motor 280 provides the power source for the movement of the mobile device 200. The output end of the reducer 290 is connected to the drive wheel 220 via a key. The reducer 290 reduces the high-speed rotational power of the drive motor 280 and increases the torque to meet the low-speed, high-torque travel requirements of the track 240.

[0026] In some embodiments provided in this application, such as Figure 3 As shown, the mobile device 200 also includes a tensioning assembly 250, one end of which is connected to the guide wheel 230 and the other end of which is connected to the frame 210. The tensioning assembly 250 is used to control the distance between the guide wheel 230 and the drive wheel 220.

[0027] In this embodiment, an adjustment structure for the track 240 is provided. The tensioning assembly 250 has guide wheels 230 and a frame 210 connected to its two ends, respectively, allowing the guide wheels 230 to connect to the frame 210 via the tensioning assembly 250. The tensioning assembly 250 can extend and retract to adjust its length, thereby controlling the distance between the guide wheels 230 and the drive wheels 220, maintaining appropriate tension on the track 240, preventing slippage or detachment due to excessive looseness, or component wear due to excessive tightness, extending the service life of the mobile device 200, and ensuring the reliability of the fire-fighting robot 10 during movement.

[0028] For example, the tensioning assembly 250 includes a front upright plate 251, a support member 252, and a tensioning member 253. The front upright plate 251 is disposed on the track beam 211 of the frame 210, and the guide wheel 230 is disposed at the front end of the support member 252. One end of the tensioning member 253 is connected to the end of the support member 252, and the other end is adjustablely connected to the front upright plate 251. The tensioning member 253 can adjust the distance it extends into the groove of the front upright plate 251, thereby adjusting the length of the tensioning assembly 250 and controlling the distance between the guide wheel 230 and the drive wheel 220.

[0029] In some embodiments provided in this application, such as Figure 2 As shown, the mobile device 200 also includes a track roller 260 and a support roller 270. The track roller 260 and the support roller 270 are located between the drive wheel 220 and the idler wheel 230, and are respectively connected to the track 240. The track roller 260 is located on the side of the track 240 away from the ground, and the support roller 270 is located on the side of the track 240 closer to the ground.

[0030] In this embodiment, a support structure for the track 240 is provided. A track roller 260 and a support roller 270 are provided between the drive wheel 220 and the guide wheel 230. The track roller 260 and support roller 270 are located on the inner side of the track 240, and the track roller 260 is located on the top surface of the track 240. The track roller 260 provides support for the track 240, preventing the track 240 from sagging due to its own weight and rubbing against the frame 210 or affecting transmission efficiency, thus enabling the track 240 to operate smoothly. The support roller 270 is located on the bottom surface of the track 240. Multiple support rollers 270 are spaced apart along the forward direction of the track 240. The support rollers 270 bear the weight of the machine body 100 and evenly transmit the weight to the track 240, making the contact pressure between the track 240 and the ground more uniform, reducing friction loss between the track 240 and the ground, and improving walking stability.

[0031] In some embodiments provided in this application, such as Figure 2 As shown, the track 240 includes a mating part 241, which is connected to the drive wheel 220 and the guide wheel 230 respectively. The frame 210 includes a track beam 211, and the drive wheel 220 and the guide wheel 230 are rotatably connected to the track beam 211. Limiting members 212 are provided on both sides of the track beam 211, and the mating part 241 is located between the two limiting members 212.

[0032] In this embodiment, a limiting structure for the track 240 is provided. The track 240 includes a connecting mating part 241 and a track plate 242. The mating part 241 can be a toothed structure, surrounding the inner side of the track plate 242, and engaging with the drive wheel 220, the idler wheel 230, the support wheel, and the carrier wheel 260. The track beam 211 provides a mounting base for the drive wheel 220 and the idler wheel 230. The track 240 is fitted onto the outer side of the track beam 211. Limiting members 212 on both sides of the track beam 211 restrict the mating part 241 to the middle position. The inner side of the limiting member 212 maintains a small gap with the outer side of the mating part 241, which can prevent the track 240 from shifting laterally or falling off during operation, ensuring smooth engagement between the track 240 and components such as the drive wheel 220 and the idler wheel 230, and improving the operational stability of the mobile device 200.

[0033] Exemplarily, the frame 210 also includes a support plate 213, a connecting beam 214, and a protective cover 215. The support plate 213 is rectangular and connected to the body 100, providing support for the body 100. Two tracks 240 are spaced apart on both sides of the body 100 to support the moving device 200. The two ends of the connecting beam 214 are respectively connected to two track beams 211 to improve the structural strength of the frame 210. The drive motor 280 and the reducer 290 are bolted to the underside of the support plate 213. The reducer 290 is covered by a protective cover 215, which is bolted to the support plate 213 to prevent the reducer 290 from being subjected to external collisions or the intrusion of debris.

[0034] In some embodiments provided in this application, such as Figure 4 As shown, the fire extinguishing device 300 also includes: a first pipe body 320 and a second pipe body 330. The water inlet end of the first pipe body 320 is connected to the storage tank 110. The first pipe body 320 is rotatably connected to the body 100. The first pipe body 320 can rotate around a first axis. The water inlet end of the second pipe body 330 is rotatably connected to the water outlet end of the first pipe body 320. The second pipe body 330 can rotate around a second axis. The nozzle 310 is located at the water outlet end of the second pipe body 330.

[0035] In this embodiment, a specific structure of the fire extinguishing device 300 is provided. The first tube 320 and the second tube 330 of the fire extinguishing device 300 are connected, allowing the extinguishing medium in the storage tank 110 to be sequentially delivered to the nozzle 310 through the first tube 320 and the second tube 330. Exemplarily, the extension paths of the first tube 320 and the second tube 330 have bends; for example, the first tube 320 and the second tube 330 are L-shaped pipes, improving the ease of installation and rotation of the first tube 320 and the second tube 330. The first tube 320 and the second tube 330 can rotate around the first axis Z1 and the second axis Z2 respectively. Through the rotational cooperation of the two tube sections, the nozzle 310 can achieve multi-angle and wide-range spray adjustment, flexibly responding to fire sources in different locations and facilitating control of the spray direction of the nozzle 310.

[0036] In some embodiments provided in this application, such as Figure 4 As shown, the fire extinguishing device 300 further includes a rotating assembly 340, which is provided at the water inlet and water outlet of the first pipe body 320. The rotating assembly 340 includes a first driving member 341, a first bevel gear 342, and a second bevel gear 343. The driving end of the first driving member 341 is provided with the first bevel gear 342, and the second bevel gear 343 is provided at the water inlet of the first pipe body 320 or the water inlet of the second pipe body 330. The first bevel gear 342 and the second bevel gear 343 are meshed together.

[0037] In this embodiment, a rotating structure for the fire extinguishing device 300 is provided. Two rotating components 340 are respectively located at the inlet and outlet ends of the first pipe body 320. The first driving member 341 drives the first bevel gear 342 to rotate synchronously through the rotation of the driving end. The first bevel gear 342 and the second bevel gear 343 constitute a bevel gear transmission pair for power conversion between the vertical and horizontal directions. The number of teeth of the second bevel gear 343 is greater than the number of teeth of the first bevel gear 342, so that the high-speed rotational power of the first driving member 341 is converted into a large torque output, improving the stability and load capacity of the nozzle 310.

[0038] The inlet end of the first pipe 320 is connected to the body 100 via a rotating assembly 340. A second bevel gear 343 is located at the inlet end of the first pipe 320. A first driving member 341 drives the first pipe 320 to rotate relative to the body 100 along the first axis Z1 through the meshing of the first bevel gear 342 and the second bevel gear 343. The outlet end of the first pipe 320 is connected to the inlet end of the second pipe 330 via the rotating assembly 340. A second bevel gear 343 is located at the inlet end of the second pipe 330. The first driving member 341 drives the second pipe 330 to rotate relative to the first pipe 320 along the second axis Z2 through the meshing of the first bevel gear 342 and the second bevel gear 343. The bevel gear transmission has the characteristics of stable transmission ratio and strong load-bearing capacity. By using the rotating assembly 340 with the meshing of the first bevel gear 342 and the second bevel gear 343 to drive the pipe rotation, the accuracy and stability of the pipe rotation can be guaranteed. The first drive unit 341 transmits power through a bevel gear set, which is reasonably laid out, saves installation space, and is compatible with the compact structural design of the fire extinguishing robot 10.

[0039] In some embodiments provided in this application, such as Figure 5 As shown, the robotic arm 420 includes: a mounting frame 421, a first connecting arm 422, and a second connecting arm 423. The mounting frame 421 is connected to the top of the body 100 and can rotate around a third axis. The end of the first connecting arm 422 is provided with a gripping assembly 410. The two ends of the second connecting arm 423 are rotatably connected to the first connecting arm 422 and the mounting frame 421, respectively.

[0040] In this embodiment, a specific structure of the robotic arm 420 is provided. A first connecting arm 422 and a second connecting arm 423, rotatably connected, are connected to the top of the machine body 100 via a mounting bracket 421. The mounting bracket 421 can rotate 360° relative to the housing 120 of the machine body 100. A gripping assembly 410 is located at the end of the first connecting arm 422. The first connecting arm 422 and the second connecting arm 423 can rotate along a horizontal axis, thereby controlling the height of the gripping assembly 410. The robotic arm 420 adopts a rotatably connected multi-segment structure with multiple joint degrees of freedom, enabling flexible adjustment of the spatial position and height of the gripping assembly 410. This facilitates precise control of the gripping assembly 410 and improves the operational efficiency of the operating device 400.

[0041] For example, the mounting bracket 421 includes a mounting plate 4211, a mounting ring 4212, a transmission plate 4213, a connector 4214, and a gasket 4215. The mounting plate 4211 is connected to the top of the body 100. Two mounting rings 4212 are vertically spaced above the mounting plate 4211. Each mounting ring 4212 is connected to the mounting plate 4211 by a plurality of connectors 4214 distributed circumferentially. For example, the connector 4214 can be a double-ended stud. The gasket 4215 is located between the mounting plate 4211 and the body 100 as a buffer and adjustment component. The gasket 4215 is made of elastic material or metal material. For example, the gasket 4215 can be rubber or steel. Two connected transmission discs 4213 are arranged vertically at intervals. The transmission discs 4213 are coaxially arranged with the mounting ring 4212. The lower transmission disc 4213 is located inside the mounting ring 4212 and is engaged with the mounting ring 4212. The second connecting arm 423 is located on the upper transmission disc 4213. When the mounting disc 4211 rotates, it drives the two transmission discs 4213 to rotate, thereby causing the second connecting arm 423 to rotate.

[0042] For example, the body 100 includes a rotating plate 123, a connecting plate 124, a star connector 125, and a servo motor 126 connected in sequence. A mounting plate 4211 is connected to the rotating plate 123. The servo motor 126 drives the rotating plate 123 and the support plate 411 to rotate synchronously via the star connector 125, thereby causing the mounting plate 4211 to rotate around a third axis. The star connector 125 is a multi-claw connection component, with its claws corresponding to the threaded holes of the rotating plate 123 and the connecting plate 124. A detachable and fixed connection is achieved using screws, enhancing the stability and torsional resistance of the connection. The output shaft of the servo motor 126 is connected to the rotation center axis of the rotating plate 123 via a key connection. When the servo motor 126 receives a PWM control signal from the main control board 150, the output shaft of the servo motor 126 rotates around the third axis, thereby driving the rotating plate 123 and the operating device 400 above it to rotate synchronously.

[0043] In some embodiments provided in this application, such as Figure 6 and Figure 7As shown, the gripping assembly 410 includes: a support plate 411, two first connecting rods 412, two second connecting rods 413, two third connecting rods 414, and a second driving member 415. The support plate 411 is located at the end of the robotic arm 420. The first end of each first connecting rod 412 is rotatably connected to the support plate 411, and the first ends of the two first connecting rods 412 are drive-connected. The second end of each first connecting rod 412 is rotatably connected to one end of each second connecting rod 413. The other end of each second connecting rod 413 is provided with a gripping part 4131, and the two gripping parts 4131 face each other. The first end of each third connecting rod 414 is rotatably connected to the support plate 411, and the second end of each third connecting rod 414 is rotatably connected to each second connecting rod 413. The second end of each third connecting rod 414 is located between the two ends of each second connecting rod 413. The second driving member 415 is used to drive one of the first connecting rods 412 to rotate.

[0044] In this embodiment, a specific structure of the gripping assembly 410 is provided. A support plate 411 is located at the front end of the first connecting arm 422. The first end of the first link 412 and the first end of the third link 414 are rotatably connected to the support plate 411. The second end of the third link 414 is rotatably connected to the middle position of the second link 413. The second end of the first link 412 is rotatably connected to one end of the second link 413. The other end of the second link 413 is provided with a holding portion. The first link 412, the second link 413, and the third link 414 form a linkage mechanism. The two linkage mechanisms are symmetrically arranged on the support plate 411, so that the two gripping portions 4131 are opposite each other. When the first link 412 rotates, the third link 414 collaboratively drives the second links 413 on both sides to swing synchronously, and the two gripping portions 4131 move in a straight line, thereby converting the rotational motion into a gripping or releasing action of the gripping assembly 410. The linkage transmission structure is precise and stable, and the opening and closing stroke of the clamping part 4131 is controllable to adapt to the gripping needs of objects of different sizes, thereby improving the versatility and operational reliability of the gripping assembly 410.

[0045] Two first links 412 are connected by a transmission mechanism. For example, the first links 412 are provided with gears, and the two gears mesh for transmission. The second drive member 415 is connected to one of the two first links 412 to drive one of the first links 412 to rotate, thereby driving the other first link 412 to rotate in the opposite direction. The second drive member 415 simultaneously drives the linkage mechanisms on both sides to move symmetrically, causing the two gripping parts to move closer or further apart, and the two clamping parts 4131 to open and close synchronously, so that the gripping assembly 410 can stably grip or release the target object, improving the utilization efficiency of the second drive member 415 and avoiding the need for two drive members.

[0046] In some embodiments provided in this application, such as Figure 8 and Figure 9As shown, the machine body 100 includes: a housing 120, a camera 130, a smoke alarm 140, an infrared thermal imager 191, and a main control board 150. The mobile device 200, the fire extinguishing device 300, and the operating device 400 are connected to the housing 120. The camera 130 is used to collect images of the fire source, the smoke alarm 140 is used to collect smoke concentration, the infrared thermal imager 191 is used to collect infrared thermal images of the fire source, and the main control board 150 is located inside the housing 120. The main control board 150 is used to determine the location of the fire source based on the fire source image, the infrared thermal image, and the smoke concentration.

[0047] In this embodiment, the housing 120 of the main body 100 provides an installation foundation and structural support for the mobile device 200, the fire extinguishing device 300, and the operating device 400. Furthermore, the housing 120 is made of high-temperature resistant ABS material, with a temperature resistance of ≥200℃. The housing 120 forms a closed cavity structure to encapsulate and cover the functional modules and internal electrical control system. The housing 120 possesses high-level protective performance, including impact resistance, dustproof, waterproof, high-temperature resistance, and electromagnetic shielding properties. It can effectively isolate harsh external environmental factors such as flames, high temperatures, smoke, water immersion, dust, and mechanical collisions, ensuring the stability and reliability of the system in harsh fire environments.

[0048] The housing 120 is detachably connected to the storage box 110, the main control board 150, and the power module 160 via a snap-fit ​​structure. The main control board 150 is located inside the housing 120 and can be a PLC (Programmable Logic Controller). The mounting plate 121 of the housing 120 serves as the mounting base for the main control board 150 and the power module 160. The surface of the mounting plate 121 has wiring channels and through holes to organize the connecting wires between various electronic components and avoid wiring chaos. The power module 160 is the power supply component, which is connected to the lower surface of the mounting plate 121 by screws, providing stable DC power to the electronic components of the fire extinguishing robot 10. The main control board 150 is the control center of the entire system, which is connected to the upper surface of the mounting plate 121 by screws. The main control board 150 has multiple input / output interfaces.

[0049] The housing 120 also includes a camera 130, a smoke detector 140, and an infrared thermal imager 191, all of which are communicatively connected to the main control board 150. The infrared thermal imager 191 is connected to the housing 120 via an L-shaped bracket. The infrared thermal imager 191 is located on the front outer side of the housing 120, facing the direction of travel. The infrared thermal imager 191 is used to collect infrared thermal image data of the fire source area, assisting the main control board 150 in locating and identifying the fire source type. A temperature sensor 192 is fixedly connected to the housing 120 via a threaded hole. The temperature sensor 192 is used to monitor the ambient temperature of the fire source. The smoke detector 140 is located on the front of the housing 120. The signal output terminal of the smoke detector 140 is communicatively connected to the input interface of the main control board 150 via a wire. The smoke detector 140 is used to detect the smoke concentration in the environment and sends an alarm signal to the main control board 150 when the smoke concentration exceeds a threshold, triggering a system warning. Camera 130 is located on the side of housing 120. The data interface of camera 130 is connected to the input interface of main control board 150 via a wire. Camera 130 is used to acquire image information, including environmental images and fire source images. Camera 130 transmits the image information to main control board 150 for processing, enabling main control board 150 to perform fire source target identification and path planning. Camera 130 acquires fire source images, smoke alarm 140 acquires smoke concentration, and infrared thermal imager 191 acquires infrared thermal images. The collaborative operation of multiple sensors allows for comprehensive acquisition of fire source-related information. Main control board 150 determines the fire source location based on comprehensive analysis of multi-sensor data, achieving high positioning accuracy. This provides accurate target guidance for the movement and firefighting operations of firefighting robot 10, improving the timeliness and effectiveness of firefighting.

[0050] For example, the front of the housing 120 is also provided with a display 170. The signal input terminal of the display 170 is connected to the output interface of the main control board 150 via a wire. The display 170 is used to display the status information transmitted by the main control board 150. The status information includes positioning data, alarm prompts, and real-time images from the camera 130, so as to realize human-computer interaction.

[0051] For example, the upper surface of the mounting plate 121 is also provided with an L-shaped positioning bracket 122. The GPS positioning module 180 is located on the top of the positioning bracket 122. The signal interface of the GPS positioning module 180 is connected to the input interface of the main control board 150 through a wire. The GPS positioning module 180 is used to receive satellite positioning signals and transmit them to the main control board 150 to realize the system's position positioning function.

[0052] like Figure 10As shown, this invention employs multi-sensor fusion technology. The multi-sensor system comprises a camera 130, a smoke detector 140, a GPS positioning module 180, and an infrared thermal imager 191, used to collect visual features, temperature features, combustion stage features, and location features of the fire source. The main control board 150 extracts the visual features of the fire source from the fire source image collected by the camera 130. These visual features include shape, color, and texture. The main control board 150 extracts the temperature distribution features of the fire source from the infrared thermal image collected by the infrared thermal imager. The main control board 150 uses the smoke concentration collected by the smoke detector 140 to assist in determining the combustion stage of the fire source; for example, smoldering fires have higher smoke concentrations, while open flames have lower smoke concentrations. The main control board 150 determines the geodetic coordinates of the fire-fighting robot 10 and the fire source based on the location data collected by the GPS positioning module 180. The above multi-source data are synchronously input to the main control board 150, forming a fire source perception dataset. The main control board 150 preprocesses the fire source perception data, including noise reduction, filtering, and normalization. The preprocessed fire source perception data forms the fusion feature input. The main control board 150 uses an improved YOLOv5 convolutional neural network model to perform convolution operations on the fused channel input, extracting local texture features of the fire source, including the jagged edges of the flames and the diffusion texture of the smoke. The main control board 150 performs dimensionality reduction on the convolutional features, retains key features, and performs nonlinear transformation on the pooled features to output the fire source attribute prediction results. The prediction results are then trained using a fire scene-specific dataset to optimize the fire source attribute prediction results.

[0053] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit 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 this invention.

[0055] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] The above are merely some embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fire-fighting robot, characterized in that, include: The body includes a storage box for containing fire extinguishing media; A mobile device, connected to the bottom of the machine body, is used for walking; A fire extinguishing device is located on the side of the machine body. The nozzle of the fire extinguishing device is connected to the storage box. The nozzle can rotate around a first axis and a second axis respectively. An operating device is located on the top of the machine body. The operating device includes a gripping assembly and a robotic arm. The gripping assembly is located at the end of the robotic arm. The robotic arm is capable of rotating around a third axis. The robotic arm is used to control the height of the gripping assembly. The first axis and the third axis extend vertically, while the second axis extends horizontally.

2. The fire-fighting robot according to claim 1, characterized in that, The mobile device includes: The frame is connected to the bottom of the machine body; The drive wheel and the guide wheel are rotatably connected to the frame. The track is fitted over the outside of the drive wheel and the guide wheel, which are located at both ends of the track. The drive wheel is used to drive the track to rotate.

3. The fire-fighting robot according to claim 2, characterized in that, The mobile device also includes: The tensioning assembly has one end connected to the guide wheel and the other end connected to the frame. The tensioning assembly is used to control the distance between the guide wheel and the drive wheel.

4. The fire-fighting robot according to claim 2, characterized in that, The mobile device also includes: The track roller and the support roller are located between the drive wheel and the idler wheel, and are respectively connected to the track. The track roller is located on the side of the track away from the ground, and the support roller is located on the side of the track closer to the ground.

5. The fire-fighting robot according to claim 2, characterized in that, The track includes a mating part, which is respectively connected to the drive wheel and the guide wheel. The frame includes a track beam, and the drive wheel and the guide wheel are rotatably connected to the track beam. Limiting members are provided on both sides of the track beam, and the mating part is located between the two limiting members.

6. The fire-fighting robot according to any one of claims 1 to 5, characterized in that, The fire extinguishing device also includes: The first pipe body has its inlet end connected to the storage tank and is rotatably connected to the machine body. The first pipe body is capable of rotating around the first axis. The second pipe body has its inlet end rotatably connected to the outlet end of the first pipe body. The second pipe body can rotate around the second axis, and the nozzle is located at the outlet end of the second pipe body.

7. The fire-fighting robot according to claim 6, characterized in that, The fire extinguishing device further includes: a rotating assembly, wherein the rotating assembly is respectively provided at the water inlet and water outlet of the first pipe; the rotating assembly includes: A first driving member, wherein the driving end of the first driving member is provided with a first bevel gear; The second bevel gear is located at the water inlet end of the first pipe or the water inlet end of the second pipe, and the first bevel gear and the second bevel gear are meshed together.

8. The fire-fighting robot according to any one of claims 1 to 5, characterized in that, The robotic arm includes: The mounting bracket is connected to the top of the body and is capable of rotating about the third axis; A first connecting arm, the end of which is provided with the gripping assembly; The second connecting arm has two ends that are rotatably connected to the first connecting arm and the mounting bracket, respectively.

9. The fire-fighting robot according to any one of claims 1 to 5, characterized in that, The gripper assembly includes: A support plate is provided at the end of the robotic arm; Two first links, the first end of the first link being rotatably connected to the support plate, and the first ends of the two first links being drive-connected; Two second links are provided, with the second end of the first link rotatably connected to one end of the second link, and the other end of the second link having a clamping part, with the two clamping parts facing each other; Two third links, the first end of the third link is rotatably connected to the support plate, the second end of the third link is rotatably connected to the second link, and the second end of the third link is located between the two ends of the second link; A second driving member is used to drive one of the first connecting rods to rotate.

10. The fire-fighting robot according to any one of claims 1 to 5, characterized in that, The body also includes: The housing, the mobile device, the fire extinguishing device and the operating device are connected to the housing; A camera used to capture images of a fire source; Smoke detectors are used to collect smoke concentration data. An infrared thermal imager is used to acquire infrared thermal images of the fire source; The main control board is located inside the housing. The main control board is used to determine the location of the fire source based on the fire source image, the infrared thermal image, and the smoke concentration.

Images