Temperature measurement sensor structure of high-temperature-resistant fire-fighting robot

Abstract

The invention discloses a high-temperature-resistant fire-fighting robot temperature measurement sensor structure, and relates to the technical field of fire-fighting equipment, the high-temperature-resistant fire-fighting robot temperature measurement sensor structure comprises a chassis, a vehicle body is arranged on the upper surface of the chassis, a fire extinguishing assembly and a temperature measurement sensing assembly are arranged on the vehicle body, and the temperature measurement sensing assembly comprises an outside-vehicle temperature measurement sensor and an inside-vehicle temperature measurement sensor; the vehicle exterior temperature measurement sensor is located at the top of a shell of the vehicle body, and the vehicle exterior temperature measurement sensor obtains external temperature information in real time in a non-contact mode through the infrared temperature measurement technology and is used for monitoring the external environment temperature; the in-vehicle temperature measurement sensor is installed near an electronic element in a vehicle body, and the in-vehicle temperature measurement sensor is a thermistor temperature sensor and is used for feeding back the temperature state in the machine in real time to prevent the equipment from being overheated. The system has the function of comprehensively monitoring the temperature inside and outside the fire-fighting robot body.

Description

Technical Field

[0001] This invention relates to the technical field of fire-fighting equipment, and in particular to a high-temperature resistant temperature sensor structure for fire-fighting robots. Background Technology

[0002] As an important piece of equipment in modern fire rescue, the level of intelligence of firefighting robots directly affects rescue efficiency and safety. In recent years, with the development of robotics technology, firefighting robots have gradually acquired functions such as autonomous navigation, obstacle recognition, and fire extinguishing.

[0003] Currently, CN115120914B discloses a patrol and fire-fighting robot with automatic fire extinguishing function, including a base. Drive wheels are movably mounted on both ends of the base. A storage groove is formed in the middle of the bottom of the base. Infrared sensors, infrared cameras, and temperature sensors are equidistantly mounted on the left and right sides of the top of the base. This solution utilizes suction cups in the stored state, making them protrude from the bottom of the drive wheels. This changes the direct support provided by the drive wheels when no fire occurs. The suction cups support the entire device, ensuring its bottom remains fixed during a fire. This avoids the problem of excessive recoil caused by the instantaneous release of high-pressure gas during fire extinguishing, which can lead to device displacement and affect fire extinguishing. By keeping the device fixed during a fire, it prevents displacement due to recoil, enabling more precise fire extinguishing operations and improving fire extinguishing efficiency.

[0004] However, in high-temperature environments, the robot's temperature monitoring capability is a key factor in ensuring its stable operation. Currently, many firefighting robots rely on only a single temperature measuring device, which prevents them from comprehensively monitoring the temperature inside and outside the vehicle. Furthermore, under extreme high-temperature conditions, these devices often face problems such as insufficient temperature measurement accuracy or sensor damage, thus affecting their performance and safety. Summary of the Invention

[0005] This application provides a high-temperature resistant temperature sensor structure for a fire-fighting robot, which has the function of comprehensively monitoring the internal and external temperatures of the fire-fighting robot.

[0006] This application provides a high-temperature resistant temperature sensor structure for a fire-fighting robot, which adopts the following technical solution: A temperature sensor structure for a high-temperature resistant firefighting robot includes a chassis with a vehicle body. The vehicle body is equipped with a temperature sensing component, which includes an external temperature sensor and an internal temperature sensor. The external temperature sensor is mounted on a turntable, which is rotatably connected to an external sleeve and driven to rotate by a drive device. The external temperature sensor is connected to the turntable via a swing mechanism, which adjusts the longitudinal angle of the external temperature sensor. Multiple compressed air nozzles surround the external temperature sensor, and the relative positions of these nozzles to the external temperature sensor are adjustable via a sliding mechanism.

[0007] Preferably, the driving device includes a drive motor, the output end of which is directly connected to the turntable, and the drive motor drives the turntable to rotate along a horizontal axis.

[0008] Preferably, the swing mechanism includes a first swing arm, a second swing arm, and a first driving member. One end of the first swing arm is rotatably connected to the turntable, the output end of the first driving member is rotatably connected to the middle part of the first swing arm, the middle part of the second swing arm is rotatably connected to the output end of the first driving member, and the free end of the second swing arm is fixedly connected to the vehicle exterior temperature sensor.

[0009] Preferably, the sliding mechanism includes an extension rod, a slider, and a fixed seat. The extension rod is fixed to the outside of the turntable, the slider is slidably disposed in the strip groove of the extension rod, the fixed seat is fixedly connected to the bottom of the slider, and the compressed air nozzle is disposed on the side of the fixed seat away from the slider.

[0010] Preferably, the mounting base is provided with multiple heat dissipation holes, which are tapered Venturi tube structures with hexagonal cross-sections.

[0011] Preferably, a camera is provided at the front end of the vehicle body, and the external temperature sensor is symmetrically arranged about the central axis of the camera. Both the external temperature sensor and the camera are provided with high-temperature resistant glass covers.

[0012] Preferably, the main body of the vehicle exterior temperature sensor is made of ceramic white corundum material, and the light transmission wavelength range of the high-temperature resistant glass cover is 3-5μm or 8-14μm.

[0013] Preferably, the angle between adjacent sides of the hexagon of the heat dissipation hole is 120°, and the cross-sectional area of ​​the inlet end of the heat dissipation hole is larger than the cross-sectional area of ​​the outlet end.

[0014] Preferably, an annular bearing is provided between the turntable and the external sleeve, the inner ring of the annular bearing is fixedly connected to the turntable, and the outer ring of the annular bearing is fixedly connected to the external sleeve.

[0015] Preferably, at least three extension rods are provided at equal angles along the circumference of the turntable, and the included angles between the extension rods and the axis of the turntable are equal.

[0016] In summary, this application has the following beneficial effects: 1. By installing both internal and external temperature sensors on the vehicle body, the external temperature sensor, located on the top of the vehicle shell, utilizes infrared thermography to acquire real-time external temperature information in a non-contact manner. This function enables the robot to effectively monitor changes in the surrounding environment's temperature, thereby assessing fire risks and responding promptly. Conversely, the internal temperature sensor, installed near the electronic components inside the vehicle body, employs thermistor technology to provide real-time feedback on the internal temperature status. This design helps prevent equipment malfunctions due to overheating, ensuring the robot's safe operation in high-temperature environments. Overall, the principle of this temperature sensor structure lies in achieving comprehensive monitoring of both the internal and external temperatures of the fire-fighting robot, improving its adaptability to high-temperature environments. This enhances the fire-fighting robot's response capability and safety in fire situations, significantly increasing the efficiency and reliability of firefighting efforts and providing strong protection for fire safety.

[0017] 2. The main function of the drive motor is to provide power to achieve horizontal rotation of the turntable; to adjust the direction of the external temperature sensor in the horizontal direction; and to make the first swing arm rotate between the frame through the first cylinder, and to make the second swing arm rotate around the first swing arm through the second cylinder, so as to adjust the angle and position of the external temperature sensor in the longitudinal direction. The drive motor makes the rotating shaft rotate. The structural design allows the external temperature sensor to be adjusted in multiple directions, expanding the temperature measurement range to meet different measurement needs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the fire-fighting robot in Embodiment 1. Figure 2 This is a schematic diagram of the internal structure of the fire-fighting robot in Embodiment 1. Figure 3 This is a schematic diagram of the internal structure of the temperature sensing component in Embodiment 1. Figure 4 This is a schematic diagram of the connection structure between the external sleeve and the turntable in Embodiment 1. Figure 5 This is a schematic diagram of the connection structure between the fixed base and the compressed air nozzle in Embodiment 1. Figure 6 This is a schematic diagram of the overall structure of the vehicle body in Embodiment 2; Figure 7This is a schematic diagram of the overall connection structure between the camera and the high-temperature resistant glass cover in Embodiment 2. Explanation of reference numerals in the attached drawings: 1. Chassis; 2. Vehicle body; 3. Fire extinguishing assembly; 4. Temperature sensing assembly; 41. External temperature sensor; 42. Internal temperature sensor; 43. External sleeve; 44. Turntable; 45. Frame; 46. First swing arm; 47. Second swing arm; 48. Rotating shaft; 49. Turntable; 410. Extending rod; 411. Strip groove; 412. Slider; 413. Fixing base; 414. Compressed air nozzle; 415. Heat dissipation hole; 5. Track wheel; 6. Camera; 7. High-temperature resistant glass cover. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content. Example

[0020] This invention discloses a temperature sensor structure for a high-temperature resistant firefighting robot, such as... Figure 1 and Figure 2 As shown, the system includes a chassis 1, with a vehicle body 2 mounted on the upper surface of the chassis 1. A fire extinguishing assembly 3 and a temperature sensing assembly 4 are fixedly installed on the vehicle body 2. The temperature sensing assembly 4 includes an external temperature sensor 41 and an internal temperature sensor 42. The external temperature sensor 41 is located on the top of the outer shell of the vehicle body 2 and is made of high-temperature resistant titanium alloy. The external temperature sensor 41 uses infrared temperature measurement technology to obtain external temperature information in real time through a non-contact method. It can monitor the ambient temperature from 0 to 1600°C and accurately read the temperature changes at the fire scene by sensing the temperature of surrounding gases or objects.

[0021] like Figure 1 and Figure 2 As shown, the in-vehicle temperature sensor 42 is installed near the electronic components inside the vehicle body 2. The in-vehicle temperature sensor 42 is a thermistor temperature sensor that can provide real-time feedback on the internal temperature status of the machine to prevent overheating of the equipment; it can monitor the internal temperature from -50 to 350°C; both the external temperature sensor 41 and the in-vehicle temperature sensor 42 are connected to the main control system inside the vehicle body 2 through wires to transmit temperature data in real time.

[0022] like Figure 1 and Figure 2 As shown, this not only enables comprehensive monitoring of the internal and external temperatures of the fire-fighting robot vehicle body 2, but also improves the robot's adaptability to high-temperature environments.

[0023] like Figure 1 and Figure 2 As shown, the external temperature sensor 41 and the internal temperature sensor 42 are connected to the main control system inside the vehicle body 2 via cables, and the temperature data is transmitted in real time. The main control system processes this data and makes corresponding adjustments or alarms as needed. By simultaneously monitoring the temperature inside and outside the vehicle body 2, the fire-fighting robot can obtain comprehensive environmental information, thereby quickly adapting to different working conditions.

[0024] like Figure 1 and Figure 2 As shown, tracked wheels 5 are installed on both the left and right sides of the chassis 1 to facilitate the robot's entry into the fire scene.

[0025] like Figure 2 and Figure 3 As shown, the temperature sensing component 4 also includes an external sleeve 43. A drive motor is fixedly installed inside the external sleeve 43. The output end of the drive motor is connected to a turntable 44 for horizontally adjusting the external temperature sensor 41. The turntable 44 rotates inside the external sleeve 43. The main function of the drive motor is to provide power, enabling the turntable 44 to rotate and adjust horizontally. The rotation of the drive motor directly drives the connected turntable 44, changing its position and orientation. The turntable 44 is the basic component for fixing the external temperature sensor 41. Through the action of the drive motor, the external temperature sensor 41 can measure temperature in different directions. This design allows the temperature sensor to measure in different directions, thereby improving the system's flexibility and adapting to various temperature measurement needs.

[0026] like Figure 3 As shown, a bearing is provided between the outer sleeve 43 and the turntable 44; the use of the bearing reduces the friction between the turntable 44 and the outer sleeve 43, allowing the turntable 44 to rotate more smoothly. The bearing provides support for the turntable 44, ensuring its stability and reliability.

[0027] like Figure 3 As shown, a frame 45 is fixedly installed on the turntable 44. A first swing arm 46 is hinged to the upper surface of the frame 45, and a first cylinder is hinged to the upper surface of the frame 45. One end of the first swing arm 46 is rotatably connected to the frame 45, and the output end of the first cylinder is rotatably connected to the middle of the first swing arm 46. A second cylinder is rotatably mounted on the first swing arm 46, and the other end of the first swing arm 46 is rotatably connected to a second swing arm 47. The output end of the second cylinder is rotatably connected to the middle of the second swing arm 47. A drive motor is provided on the free end of the second swing arm 47, and the output end of the drive motor is connected to a rotating shaft 48. A turntable 49 is coaxially connected to the end of the rotating shaft 48, and an external temperature sensor 41 is located on the turntable 49.

[0028] like Figure 3As shown, a first cylinder causes the first swing arm 46 to rotate relative to the frame 45, and a second cylinder causes the second swing arm 47 to rotate around the first swing arm 46. This allows for longitudinal adjustment of the angle and position of the external temperature sensor 41. A drive motor then rotates the shaft 48. This structural design allows the external temperature sensor 41 to be adjusted in multiple directions to adapt to different measurement needs. This flexibility is ideal for temperature monitoring in dynamic environments. The automated design reduces human intervention and improves measurement efficiency, especially for multi-point measurement applications, enabling rapid measurements at different locations.

[0029] like Figure 3 and Figure 4 As shown, six outstretched rods 410 are arranged at equal angles around the central axis of the turntable 49 on its outer surface. The outstretched rods 410 have a strip groove 411 inside. The strip groove 411 of the outstretched rods 410 has a sliding slider 412 inside. The bottom of the slider 412 has a fixed seat 413. The bottom of the fixed seat 413 has a compressed air nozzle 414 for rapid cooling.

[0030] like Figure 3 and Figure 4 As shown, the design of the turntable 49 allows the extended rods 410 to be evenly distributed around it, providing stable support and positioning during rotation. Each extended rod 410 has a slot 411 inside, allowing the slider 412 to slide freely inside, thereby adjusting the relative position of the compressed air nozzle 414. The bottom of the slider 412 is connected to a fixed seat 413, so that when the slider 412 moves in the slot 411, it can drive the fixed seat 413 and the compressed air nozzle 414 mounted thereon to make corresponding displacements. By adjusting the position of the slider 412 and the working state of the compressed air nozzle 414, the blowing angle and distance of the compressed air nozzle 414 can be changed, further optimizing the cooling effect.

[0031] like Figure 3 and Figure 4 As shown, the compressed air nozzle 414 provides airflow, which can quickly blow away heat from the environment and combustibles at the fire scene from the external temperature sensor 41, thereby achieving a rapid cooling effect; the working state of the compressed air nozzle 414 can be quickly adjusted according to specific cooling requirements.

[0032] like Figure 3 and Figure 4 As shown, the compressed air nozzle 414 can also clean impurities and dust from the external temperature sensor 41.

[0033] like Figure 4As shown, the mounting base 413 has several hexagonal heat dissipation holes 415 inside. Compared with circular holes, the hexagonal design can better utilize space in the design layout, while reducing the generation of airflow turbulence, further optimizing the smoothness and stability of airflow, and enhancing the heat dissipation effect. Moreover, the heat dissipation holes 415 are tapered Venturi tube structures, which improve heat dissipation efficiency by 30%. The Venturi tube increases the fluid velocity and reduces the pressure by causing the fluid to contract in a certain area. The tapered design can accelerate the flow of air or coolant when passing through the heat dissipation holes 415, thereby increasing the fluid flow rate. This accelerated flow can enhance the heat exchange efficiency. Example

[0034] A camera 6 is mounted on the vehicle body 2. The external temperature sensor 41 is made of ceramic white fused alumina and is symmetrically arranged about the central axis of the camera 6. Both the camera 6 and the external temperature sensor 41 are equipped with a high-temperature resistant glass cover 7 at their front ends. The symmetrical arrangement of the camera 6 and the external temperature sensor 41 is based on the principle of multimodal collaborative sensing. The ceramic white fused alumina material has high temperature resistance (>1800℃), thermal shock resistance, and chemical stability, which can ensure that the sensor can work stably for a long time in extreme fire environments. The high-temperature resistant glass cover 7, through its low coefficient of thermal expansion and infrared transmission characteristics, protects the internal components from direct flame corrosion and ensures high transmittance of infrared temperature measurement signals (wavelength 3-5μm or 8-14μm). The symmetrical design utilizes the geometric matching between the field of view of the camera 6 and the detection range of the temperature sensor to achieve spatial synchronization of temperature data and visual images, which facilitates the location of fire heat sources and the reconstruction of the temperature field.

[0035] The ceramic white fused alumina and the high-temperature resistant glass cover form a double layer of protection, maintaining the sensor's functional integrity even at 1000℃, and avoiding measurement deviations caused by thermal deformation of traditional metal housings. The symmetrical layout ensures pixel-level alignment between temperature data and video footage, and image recognition assists in marking abnormal temperature areas, improving fire analysis efficiency.

[0036] Working principle: First, when the fire-fighting robot enters the fire operation scene, the entire temperature sensor structure is activated synchronously with the robot. The first thing to be activated is the dual temperature monitoring mechanism: the external temperature sensor 41 relies on infrared temperature measurement technology to capture the temperature information of the external fire environment in real time in a non-contact manner, which can cover a wide temperature measurement range of 0-1600℃; the internal temperature sensor 42 is closely attached to the electronic components inside the vehicle body 2, and uses the temperature sensing characteristics of thermistors to accurately collect the internal temperature data of the equipment in the range of -50~350℃. The two types of sensors synchronously transmit the collected temperature signals to the main control system of the vehicle body 2, providing comprehensive environmental and equipment status information for the robot's operation decision.

[0037] Then, to achieve accurate temperature measurement over a wide area and from multiple angles outside the vehicle, the main control system will activate the attitude adjustment mechanism of the external temperature sensor 41 according to the on-site operation requirements: First, the drive motor drives the turntable 44 to rotate horizontally within the outer sleeve 43 under the support of the ring bearing, so as to achieve 360° horizontal rotation coverage of the external temperature sensor 41; then, the swing mechanism is activated, the first drive component drives the first swing rod 46 to rotate around the frame 45, and at the same time, the second swing rod 47 is linked to adjust the longitudinal angle, and the drive motor drives the rotating shaft 48 to rotate, so as to achieve precise fine adjustment of the longitudinal pitch angle and orientation of the external temperature sensor 41, ensuring that the sensor can be aligned with heat source areas at different heights and in different directions, and fully cover the temperature monitoring needs of the fire scene.

[0038] Subsequently, in response to the harsh environment of high temperature and abundant smoke at the fire scene, the protection and heat dissipation mechanism of the external temperature sensor 41 was immediately activated: First, the compressed air nozzles 414 distributed around the sensor were simultaneously activated, spraying compressed air to form an air curtain, effectively blocking smoke and dust from adhering to the sensor's detection end and preventing smoke and dust from obstructing the temperature measurement accuracy; at the same time, the operator can adjust the position of the slider 412 in the slot 411 of the extension rod 410 according to the smoke and dust concentration and the distance to the heat source through the sliding mechanism, changing the relative distance between the compressed air nozzles 414 and the sensor, and optimizing the protection range and strength of the air curtain. Meanwhile, the tapered hexagonal heat dissipation holes 415 on the mounting base 413 accelerate airflow with the help of the venturi effect, and the airflow of compressed air further removes heat from the sensor surface. Combined with the high temperature resistance of the sensor body's ceramic white corundum material and the high temperature resistant glass cover 7 at the front end that allows 3-5μm or 8-14μm infrared wavelengths to pass through, multiple layers of protection are formed to maintain the stable operation of the sensor in extreme high temperature environments.

[0039] Finally, the in-vehicle temperature sensor 42 continuously monitors the temperature of the electronic components inside the vehicle body 2. Once the collected temperature data exceeds the preset threshold, the main control system will immediately trigger an early warning mechanism and simultaneously link the robot's cooling system to enhance heat dissipation power to prevent equipment failure due to overheating. Meanwhile, the ambient temperature data collected by the external temperature sensor 41 will be spatially matched with the visual image of the front-end camera 6 of the vehicle body 2 to achieve accurate positioning of the heat source and visual reconstruction of the temperature field. The main control system combines the internal and external temperature data to intelligently adjust the working posture and output power of the fire extinguishing component 3 to ensure that the robot can stably and efficiently complete the fire extinguishing operation in a high-temperature environment.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A temperature sensor structure for a high-temperature resistant firefighting robot, characterized in that, The system includes a chassis (1), which has a vehicle body (2). The vehicle body (2) has a temperature sensing component (4). The temperature sensing component (4) includes an external temperature sensor (41) and an internal temperature sensor (42). The external temperature sensor (41) is mounted on a turntable (44). The turntable (44) is rotatably connected to the inside of an external sleeve (43) and driven to rotate by a drive device. The external temperature sensor (41) is connected to the turntable (44) by a swing mechanism. The swing mechanism is used to adjust the longitudinal angle of the external temperature sensor (41). Multiple compressed air nozzles (414) are provided around the external temperature sensor (41). The compressed air nozzles (414) can be adjusted relative to the external temperature sensor (41) by a sliding mechanism.

2. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 1, characterized in that, The driving device includes a drive motor, the output end of which is directly connected to the turntable (44), and the drive motor drives the turntable (44) to rotate along the horizontal axis.

3. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 2, characterized in that, The swing mechanism includes a first swing rod (46), a second swing rod (47) and a first driving member. One end of the first swing rod (46) is rotatably connected to the turntable (44). The output end of the first driving member is rotatably connected to the middle part of the first swing rod (46). The middle part of the second swing rod (47) is rotatably connected to the output end of the first driving member. The free end of the second swing rod (47) is fixedly connected to the vehicle exterior temperature sensor (41).

4. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 3, characterized in that, The sliding mechanism includes an extension rod (410), a slider (412), and a fixed seat (413). The extension rod (410) is fixed to the outside of the turntable (44). The slider (412) is slidably disposed in the strip groove (411) of the extension rod (410). The fixed seat (413) is fixedly connected to the bottom of the slider (412). The compressed air nozzle (414) is disposed on the side of the fixed seat (413) away from the slider (412).

5. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 4, characterized in that, The mounting base (413) is provided with multiple heat dissipation holes (415), which are tapered Venturi tube structures with hexagonal cross-sections.

6. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 1, characterized in that, The vehicle body (2) is equipped with a camera (6) at the front end. The external temperature sensor (41) is arranged symmetrically about the central axis of the camera (6). Both the external temperature sensor (41) and the camera (6) are equipped with high-temperature resistant glass covers (7).

7. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 6, characterized in that, The main body of the external temperature sensor (41) is made of ceramic white corundum material, and the light transmission wavelength range of the high temperature resistant glass cover (7) is 3-5μm or 8-14μm.

8. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 5, characterized in that, The adjacent sides of the hexagon of the heat dissipation hole (415) form an included angle of 120°, and the cross-sectional area of ​​the inlet end of the heat dissipation hole (415) is larger than the cross-sectional area of ​​the outlet end.

9. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 2, characterized in that, A ring bearing is provided between the turntable (44) and the external sleeve (43). The inner ring of the ring bearing is fixedly connected to the turntable (44), and the outer ring of the ring bearing is fixedly connected to the external sleeve (43).

10. The temperature sensor structure for the high-temperature resistant firefighting robot according to claim 4, characterized in that, At least three extension rods (410) are provided at equal angles along the circumference of the turntable (44), and the included angle between the extension rods (410) and the axis of the turntable (44) is equal.

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