Integrated fire control system for fire emergency dredging control of long and large highway tunnel

Abstract

The invention discloses an integrated fire control system for fire emergency dredging control of a long and large highway tunnel, and relates to the technical field of tunnel fire extinguishing equipment.The structure of an automatic tunnel fire extinguishing robot in the prior art is optimized and improved, and a camera shooting fire extinguishing robot is additionally arranged on a track; a guide rail for the camera to stably move up and down is timely arranged below the track by utilizing a plurality of rope bodies to be matched with a winding structure and a counter weight; a tubular carrier sleeving the guide rail is used for bearing the camera, and the tubular carrier is controlled to move up and down on the guide rail; the blowing cleaning assembly is arranged near the camera, and smoke is blown away by blowing filtered gas to the position near the camera, so that it is guaranteed that air near the camera is relatively clean; the technical effects that on-site real-time images obtained by tunnel fire extinguishing equipment are stable and clear, and the influence of smoke on the visual field of a machine in the throwing preparation process of the fire extinguishing bomb is small are achieved.

Description

Technical Field

[0001] This invention relates to the field of tunnel fire extinguishing equipment technology, and in particular to an integrated fire control system for emergency evacuation and control of fires in long highway tunnels. Background Technology

[0002] When a fire breaks out in a tunnel, it is crucial to extinguish it in its initial stages. Early-stage fires are often small and relatively easy to extinguish, typically with the help of fire hydrants and extinguishers provided within the tunnel. However, drivers and passengers are usually the first to discover and face a fire in the tunnel. Lacking specialized fire safety knowledge and skills, they are often unaware of the need to use the tunnel's fire-fighting facilities. Most drivers and passengers panic and flee, and by the time tunnel management or firefighters arrive, the golden window for rescue and firefighting has passed, and the fire has grown significantly, making rescue and firefighting in the tunnel extremely difficult, potentially leading to serious accidents. (Timely fire detection, rapid arrival at the fire point, and timely and effective fire suppression are paramount.) This is especially true for long highway tunnels, where emergency fire control and evacuation are particularly challenging, easily causing congestion and posing a severe problem.

[0003] To address the aforementioned issues, numerous automatic fire-fighting robots have been disclosed in the prior art (e.g., Chinese invention patents with authorization announcement numbers CN115192943B and CN116271611B). In order to ensure their own passage during a fire without affecting normal traffic, these robots typically have guide rails installed at the top of tunnels. The robot body moves along the guide rails, relies on cameras to obtain images of the scene, and after reaching the fire point, it throws fire extinguishing bombs at the fire point to extinguish the fire.

[0004] Existing firefighting robots, limited by their own structure, require cameras (ordinary cameras, pan-tilt cameras, and / or thermal cameras) to observe fire points and travel routes. These cameras are typically located at the bottom of the robot and near the tunnel ceiling, a location most severely affected by smoke. Once the fire point (smoke point) produces dense smoke, the cameras are severely affected or even rendered unusable (even if the automatic firefighting robot merely moves through smoke, the lens is still prone to becoming dirty and affecting the image). Even with thermal cameras, the captured images are poorly performed due to lens contamination, high-temperature smoke dispersion, and vehicle frame obstruction (lens contamination, high-temperature smoke dispersion, and vehicle frame obstruction make it difficult to determine the optimal bomb-dropping path), severely impacting bomb-dropping accuracy and firefighting efficiency. Simply using a winch mechanism to lower the camera after the robot reaches the target area can reduce smoke interference to some extent, but the image stability is poor, the camera shakes significantly, and the problem of camera lens contamination remains unresolved.

[0005] Therefore, there is a need for an integrated fire control system that can obtain stable and clear images of the scene and has minimal impact from smoke during the bombing process, for emergency evacuation and control of fires in long highway tunnels. Summary of the Invention

[0006] This application provides an integrated fire control system for emergency fire control in long highway tunnels, which solves the technical problems of poor image stability and clarity in existing automatic fire extinguishing robots due to their structural limitations, and the significant impact of smoke on the captured images. It achieves stable and clear real-time images of the tunnel fire extinguishing equipment and minimizes the impact of smoke on the machine's field of vision during the preparation of fire extinguishing bombs.

[0007] This application provides an integrated fire control system for emergency evacuation and control of fires in long highway tunnels, including a track, a basic fire-fighting robot, and a camera-based fire-fighting robot; The camera-based firefighting robot includes a traveling component, a top-mounted block positioned at the bottom of the traveling component, a guide rail laying component, a lifting carrier tube that is fitted and always in close contact with all the guide rail ropes and moves up and down under the drive of the tube lifting component, a rotating carrier ring fitted and rotatably connected to the lifting carrier tube, a camera component positioned on the side wall of the rotating carrier ring, and an air blowing cleaning component for blowing clean air onto the camera component. The guide rail installation assembly includes a first drum, a second drum, four guide rail ropes, a bottom carrier fixed to the bottom counterweight, and a bottom counterweight that is in the form of a rigid block. Both the first and second rolls are arranged horizontally and positioned on the top load block, and they are at the same height and parallel. The guide ropes are always taut, with the tops of two ropes positioned on the first drum and the tops of the other two ropes positioned on the second drum; the bottom of the guide ropes is fixed to the base carrier, and the line connecting the four fixed points forms a rectangle.

[0008] Furthermore, the base carrier includes a base block and a displacement block; The base block is a rigid block, and both sides of it are equipped with telescopic rods that are controlled by a control unit to extend and retract. The number of displacement blocks is two, located on both sides of the base block and fixed to the ends of the telescopic rods on both sides of the base block away from the base block; When the telescopic rods on both sides of the base block extend or retract, they cause the displacement block to move closer to or further away from the base block. The bottom ends of the guide rail ropes are all fixed to the top of the displacement block; The two shifting blocks correspond to the guide ropes on the first and second drums, respectively.

[0009] Furthermore, a transparent cover is fitted onto the camera assembly. The transparent cover is made of transparent glass and covers and seals the camera assembly. The air blowing cleaning assembly blows air toward the transparent cover. The longitudinal section of the transparent cover is C-shaped, and the open end is fixed to the side wall of the rotating ring.

[0010] Preferably, the air purification assembly includes, in addition to the air pump, a carrier box, a filter element, and a lifting body; The carrier box is a rigid box with an open top and a side outlet on its side wall near the top; the side outlet is connected to the air pump; multiple filter elements are filled in the carrier box and stacked in a pile; gas passes through the filter element near the top of the carrier box and is output from the side outlet; the lifting body is a telescopic rod structure, which is controlled by the control unit to extend and retract, is vertically set, and is fixed at the bottom to the inner bottom of the carrier box, while supporting the filter element at the top.

[0011] Preferably, it also includes a shielding component; The shielding assembly includes a winding assembly, sealing tape, and a guide rope; the winding assembly is a winch structure with a built-in micro motor, controlled by a control unit to wind up the guide rope, and is positioned on the rotating ring and directly below the transparent cover; The sealing tape is a tape with one side coated with self-adhesive, which is attached to the curved surface of the transparent cover and covers more than 80% of the curved surface of the transparent cover. One end of the force guide rope is fixed to the top of the sealing tape, and the other end is positioned on the winding assembly; when the winding assembly winds up the force guide rope, the sealing tape is peeled off.

[0012] Preferably, the sealing tape is made of a transparent material, so that images can still be captured even after the front camera component is removed.

[0013] Preferably, it also includes a shielding component; The shielding assembly includes a top roller, a bottom roller, and a shielding strip; Both the top and bottom rollers are cylindrical rollers, controlled by the control unit to rotate. They are both horizontally arranged and positioned on the rotating carrier ring, and are located at the top and bottom of the transparent cover, respectively. The shielding strip is a transparent strip, with its two ends wrapped and positioned on the top and bottom rollers respectively, and always in close contact with the arc-shaped surface of the transparent cover; When the camera-guided firefighting robot is in operation, the top and bottom drums rotate periodically to remove pollutants adhering to the shielding strip.

[0014] Preferably, it also includes a shielding component; The shielding assembly includes a top roller, a bottom roller, and a shielding tape, and also includes a tape-lifting frame; Both the top and bottom rollers are cylindrical rollers, arranged horizontally, and located at the top and bottom of the transparent cover, respectively. The shielding tape is a silicone tape with its two ends wound and positioned on the top and bottom rollers respectively, and the side facing the transparent cover is coated with self-adhesive. The shielding strip is provided with a row of rectangular through slots, and the presence of the through slots allows the camera component to capture images through the shielding strip; The tape-unlocking frame is positioned on the side wall of the rotating carrier ring and includes two push rods, two carrier rods, and two contact rollers; The push rods are arranged horizontally, with one end of each push rod positioned on the side wall of the rotating carrier ring, and the two push rods are located on both sides of the transparent cover. The carrier rod is a rigid rod, vertically arranged, with its middle part fixed to the other end of the push rod; The contact roller is a rod-shaped roller body. Both contact rollers are arranged laterally and are rotatably connected to the support rod near the end around their own axis. The two contact rollers are located at the top and bottom of the transparent cover, respectively, and are always in close contact with the shielding strip, forming a U-shape with the carrier rod.

[0015] Preferably, a bomb-throwing assembly is positioned on the bottom counterweight. The bomb-throwing assembly has an adjustable bomb-throwing direction and firing force, and fire-extinguishing bombs are launched in a controlled manner to throw bombs at the bottom of the burning vehicle as needed.

[0016] Preferably, a bottom traveling component is positioned at the bottom of the bottom counterweight; The guide rail layout assembly also includes a bottom connector; At least one of the cameras inside the transparent housing is a gimbal camera; After landing, the bottom traveling component drives the bottom counterweight to move freely on the ground; The bottom connector is a tension spring, and there are four of them, each corresponding to a guide rail rope. The bottom of the guide rope is fixed to one end of the bottom connector, and the other end of the bottom connector is fixed to the bottom carrier.

[0017] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By optimizing and improving the structure of existing tunnel automatic fire extinguishing robots, a camera-equipped fire extinguishing robot is added to the track. Multiple ropes, a winch structure, and counterweights are used to create a guide rail below the track for stable up-and-down movement of the camera. A tubular carrier mounted on the guide rail supports the camera, and its movement is controlled. An air-blowing cleaning component is installed near the camera to blow away smoke by directing filtered gas towards the lens, ensuring relatively clean air near the lens. This effectively solves the technical problems of poor image stability and clarity in existing automatic fire extinguishing robots due to their structural limitations, and the significant impact of smoke on the captured images. Consequently, the tunnel fire extinguishing equipment achieves stable and clear real-time images with minimal impact from smoke on the machine's field of vision during the preparation of fire extinguishing grenades. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the integrated fire control system for emergency evacuation and control of fires in long highway tunnels, as described in this application. Figure 2 This is a schematic diagram of the external structure of the integrated fire control system for emergency evacuation and control of fires in long highway tunnels, as described in this application. Figure 3 This is a simplified diagram of the internal structure of the top load block; Figure 4 This is a schematic diagram showing the positional relationship between the lifting carrier tube and the rotating carrier ring; Figure 5 This is a schematic diagram of the overall structure of the camera-equipped firefighting robot. Figure 6 This is a schematic diagram of the air purification component. Figure 7 A schematic diagram showing the positional relationship between the winding assembly, sealing tape, and guide rope and the transparent protective cover; Figure 8 This is a schematic diagram showing the positional relationship between the shielding components and the transparent shield; Figure 9 This is a schematic diagram showing the positional relationship between the shielding strip and the transparent shield; Figure 10 This is a schematic diagram of the tape-unlocking frame; Figure 11 A simplified structural diagram of the shielding zone; Figure 12 This is a schematic diagram showing the positional relationship between the bottom connector, the guide rope, and the lifting carrier tube.

[0019] In the picture: Track 001, Traveling Component 002, Bombing Robot 003, Top Load Block 100, Top Drum 111, Pull Rope 112, First Drum 210, Second Drum 220, Guide Rope 230, Bottom Carrier 240, Base Block 241, Displacement Block 242, Bottom Connector 250, Lifting Carrier Pipe 300, Horizontal Plate 310, Contact Wheel 320, Rotating Carrier Ring 400, Transparent Cover 510, Jet Assembly 520, Air Purification Assembly 530, Carrier Box 531, Side Outlet 532, Filter Element 533, Lifting Body 534, Rewind Assembly 541, Sealing Tape 542, Force Guide Rope 543, Top Drum 544, Bottom Drum 545, Shielding Strip 546, Push Rod 547, Carrier Rod 548, Contact Roller 549, Bottom Counterweight 600, Bottom Traveling Component 610. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0021] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] Example 1

[0024] like Figures 1 to 5 As shown, the integrated fire control system for emergency fire control in long highway tunnels of this application includes track 001, a basic fire extinguishing robot, and a camera-based fire extinguishing robot.

[0025] The track 001 is installed above the highway tunnel, serving as a guide for the movement of the basic fire-fighting robot and the camera-based fire-fighting robot. The basic fire-fighting robot is signal-connected to the camera-based fire-fighting robot and includes a walking component and a bomb-throwing robot 003. The walking component is positioned on the track 001 and moves along the length of the track 001. The bomb-throwing robot 003 is positioned at the bottom of the walking component and moves with it to deliver fire-fighting bombs to the target location as needed. The basic fire-fighting robot is signal-connected to the network control center via a communication network. The bomb-throwing robot 003 is equipped with lighting, warning lights, and / or cameras. The track 001 and the basic fire-fighting robot are existing technologies and will not be described in detail here.

[0026] The camera-based firefighting robot includes a traveling component 002, a top-mounted block 100, a guide rail layout component, a lifting carrier pipe 300, a rotating carrier ring 400, a camera component, an air-blowing cleaning component, a power component, and a control unit.

[0027] The traveling component 002 is positioned on the track 001 and moves along the length of the track 001 to drive the top load block 100 to move. This is existing technology and will not be described in detail here.

[0028] The top load block 100 is a rigid block or plate, and its top is positioned at the bottom of the traveling component 002 to provide load support.

[0029] The guide rail laying assembly is used to lay out the guide rail for the stable lifting and lowering of the lifting carrier tube 300 in a timely manner, including a first drum 210, a second drum 220, a guide rail rope 230, a bottom carrier 240, and a bottom counterweight 600. The first drum 210 and the second drum 220 are both driven by a motor, arranged horizontally, and positioned on the top load block 100. They are at the same height and parallel, and the distance between them is greater than the length of the longitudinal section of the lifting pipe 300. The first drum 210 and the second drum 220 are used to wind up and release the guide rope 230 and rotate under the control of the control unit. The guide ropes 230 are steel wire ropes, four in number, vertically arranged, and always taut. The top ends of two ropes are fixed and wound around the first drum 210, and the top ends of the other two ropes are fixed and wound around the second drum 220. The distance between two guide ropes 230 on the same drum is greater than 0.6 times the axial length of the drum and greater than the width of the longitudinal section of the lifting carrier tube 300. The bottom of the guide ropes 230 is fixed to the bottom carrier 240. The line connecting the bottom ends of the four guide ropes 230 at the fixed points on the bottom carrier 240 forms a rectangle, and the length and width of the rectangle are both greater than 1.4 times the length and width of the longitudinal section of the lifting carrier tube 300. From any side (front, back, left, right) of the camera fire extinguishing robot, the two adjacent guide ropes 230 are in the shape of ")(". The bottom carrier 240 is plate-shaped or block-shaped, serving as a load-bearing and connecting element, and its bottom is fixed to the top of the bottom counterweight 600.

[0030] The bottom counterweight 600 is a hard block that serves as a counterweight.

[0031] Preferred, such as Figure 1 As shown, to further ensure the smoothness of the lifting and lowering of the lifting carrier tube 300 and simultaneously ensure the stability of the shooting, the base carrier 240 includes a base block 241 and a displacement block 242. The base block 241 is a rigid block, with telescopic rods on both sides controlled by a control unit for extension and retraction. There are two displacement blocks 242, located on both sides of the base block 241 and fixed to the ends of the telescopic rods on both sides of the base block 241 furthest from the base block 241. The telescopic rods on both sides of the base block 241 extend and retract... When moving, the shift block 242 moves closer to or further away from the base block 241; the bottom ends of the guide ropes 230 are all fixed to the top of the shift block 242; the two shift blocks 242 correspond to the guide ropes 230 on the first drum 210 and the second drum 220 respectively; when the lifting pipe 300 needs to be moved, the shift block 242 can be controlled to move closer to the base block 241 first, and then the lifting pipe 300 can be pulled to move. After moving or during the movement, the shift block 242 can be controlled to move away from the base block 241 to ensure the stability of the lifting pipe 300.

[0032] The lifting carrier tube 300 is a longitudinally arranged rigid square tube, which is sleeved on the guide rail laying assembly and covers all the guide rail ropes 230, and plays a load-bearing role. Under the drive of the tube lifting assembly, it moves up and down along the guide rail ropes 230.

[0033] Furthermore, such as Figure 4As shown, in order to ensure the smooth movement of the lifting tube 300 and reduce wear during the movement process, multiple abutment wheels 320 are positioned on the inner wall of the lifting tube 300; the abutment wheels 320 are cylindrical wheels, and there are eight or more of them, which are rotatably connected to the inner side wall of the lifting tube 300 around their own axis. During use, the side wall always abuts against the guide rope 230, avoiding direct contact between the guide rope 230 and the guide rope 230, thereby reducing the frictional resistance of the lifting tube 300 during movement.

[0034] Furthermore, such as Figure 3 and Figure 4 As shown, the lifting assembly includes a top-mounted drum 111 and a pull rope 112. The top-mounted drum 111 is a winch structure, positioned on the top load block 100, located between the first drum 210 and the second drum 220, and serves to wind up and release the pull rope 112 under the control of the control unit. A horizontal plate 310 is fixed on the inner wall of the lifting tube 300 to provide a fixing point for the bottom end of the pull rope 112. The horizontal plate 310 is a horizontally arranged rigid plate, rod, or block, fixed on the inner wall of the lifting tube 300. The top end of the pull rope 112 is wound and positioned on the top-mounted drum 111, and the bottom end is fixed on the horizontal plate 310. When the top-mounted drum 111 winds up the pull rope 112, it drives the lifting tube 300 to move upward. When the top-mounted drum 111 releases the pull rope 112, the lifting tube 300 moves downward under its own weight.

[0035] Furthermore, the top load block 100 is a rectangular block with an open bottom, and the first roll 210, the second roll 220 and the top roll 111 are all positioned in the internal space of the top load block 100.

[0036] The camera component is positioned on the side wall of the rotating carrier ring 400; the rotating carrier ring 400 is sleeved and positioned on the lifting carrier tube 300, and the two are axially aligned. Under the coordinated control of the control unit and the power component, the rotating carrier ring 400 rotates around its own axis, thereby driving the camera component on itself to rotate and thus obtaining a more comprehensive field of view.

[0037] The camera assembly includes one or more cameras.

[0038] Preferably, the camera component comprising the camera assembly includes a thermal imaging camera; and the rotating carrier ring 400 can be equipped with an illumination lamp.

[0039] The air-blowing cleaning component is used to blow clean air onto the camera component, which not only isolates the lens from smoke pollution but also provides the camera component with a better field of view to some extent.

[0040] Furthermore, a transparent cover 510 is provided on the camera component. The transparent cover 510 is made of transparent glass and covers and seals the camera component. The air blowing cleaning component blows air toward the transparent cover 510.

[0041] Furthermore, the transparent cover 510 has a C-shaped longitudinal section, with its open end fixed to the side wall of the rotating ring 400.

[0042] Furthermore, such as Figure 1 As shown, the air-blowing cleaning assembly includes an air jet assembly 520 and an air purification assembly 530; the air jet assembly 520 is a hollow rigid rod arranged horizontally and having at least one row of gas outlets or gas nozzles on it, and is connected to the air purification assembly 530; the air purification assembly 530 is used to filter smoke particles and oil stains in the air, which is the prior art, and is positioned on the side wall of the lifting carrier pipe 300 or on the rotating carrier ring 400.

[0043] Preferred, such as Figure 5 As shown, the jet assembly 520 is an axial flow fan, which has a large airflow and can disperse smoke over a wider area.

[0044] Preferably, in order to obtain a more stable air purification effect and avoid difficulties in jetting the jet assembly 520 due to filter clogging, such as Figure 6 As shown, the air purification assembly 530 includes a carrier box 531, filter elements 533, and a lifting body 534 in addition to the air pump. The carrier box 531 is a rigid box with an open top, and a side outlet 532 is provided on its side wall near the top. The side outlet 532 is connected to the air pump. The filter elements 533 are filled in the carrier box 531, and there are multiple filter elements stacked in a row. After passing through the filter element 533 near the top of the carrier box 531, the gas is output from the side outlet 532. The lifting body 534 is a telescopic rod structure, which is controlled by the control unit to extend and retract. It is vertically set, with its bottom fixed on the inner bottom of the carrier box 531 and its top supporting the filter element 533. After the air purification assembly 530 has been running for a specific time (the time can be set as needed), the lifting body 534 is controlled to extend and push down the topmost filter element 533, thereby maintaining the air purification efficiency.

[0045] Preferably, the camera of the camera assembly can be a camera with physical shielding function (i.e., the lens is shielded when the camera is not shooting) instead of using the transparent cover 510; however, compared with using the transparent cover 510, this solution is more difficult to clean and maintain.

[0046] The power component is used to provide power for the operation of each component of the integrated fire control system for emergency evacuation and control of fires in long highway tunnels of this application; the control unit plays the role of coordinating the operation of each component of the integrated fire control system for emergency evacuation and control of fires in long highway tunnels, and includes a communication module, all of which are existing technologies and will not be described in detail here.

[0047] When this application is used: after a fire is detected, the basic fire-fighting robot and the camera fire-fighting robot are controlled to move quickly toward the fire point. During this time, the air-blowing cleaning component is continuously controlled to protect the camera component from contamination. After reaching the fire point, the guide rail deployment component is controlled to move so that the bottom counterweight 600 lands. Then, the lifting carrier tube 300 is controlled to move down stably so that the camera component can obtain relatively clear and stable images of the fire. During this time, the position of the guide rail deployment component and the lifting carrier tube 300 relative to the track 001 can be adjusted multiple times as needed. Afterward, the position and angle of the bomb-throwing robot 003 are adjusted according to the acquired image information to perform one or more bomb-throwing operations.

[0048] Preferably, in order to maintain the cleanliness of the camera assembly and prevent it from becoming dirty due to smoke dispersion before reaching the target position, a shielding component is also positioned on the side wall of the rotating carrier ring 400; such as Figure 7 As shown, the transparent shield 510, which normally adheres to and covers the portion of the fire, detaches from the transparent shield 510 when the camera-guided fire-fighting robot reaches the vicinity of the fire. Before reaching the vicinity of the fire, the camera-guided fire-fighting robot relies on the camera on the bomb-throwing robot 003 for guidance. The shielding assembly includes a winding assembly 541, sealing tape 542, and a force-guiding rope 543. The winding assembly 541 is a winch structure with a built-in micro-motor, controlled by a control unit to wind up the force-guiding rope. 543 is positioned on the rotating carrier ring 400 and directly below the transparent cover 510; the sealing tape 542 is a tape with one side coated with self-adhesive, attached to the arc-shaped surface of the transparent cover 510, and covering more than 80% of the arc-shaped surface of the transparent cover 510; one end of the guide rope 543 is fixed to the top of the sealing tape 542, and the other end is positioned on the winding assembly 541; when the winding assembly 541 winds up the guide rope 543, the sealing tape 542 is peeled off.

[0049] Preferably, the sealing tape 542 is made of transparent material, so that images can still be captured even after the front camera component is removed.

[0050] While the use of sealing tape 542 can effectively prevent premature contamination of the transparent shield 510, it requires maintenance (applying new sealing tape 542) after each fire extinguishing. Furthermore, it is difficult to effectively respond to a secondary fire in the same tunnel within a short period. To overcome these problems and reduce maintenance workload, the structure of the shielding component is optimized and improved. Specifically: Figure 8As shown, the shielding assembly includes a top roller 544, a bottom roller 545, and a shielding strip 546. Both the top roller 544 and the bottom roller 545 are cylindrical rollers, controlled by a control unit for rotation. They are both horizontally positioned and located on the rotating ring 400, respectively at the top and bottom of the transparent cover 510. The shielding strip 546 is a transparent strip, with both ends wound and positioned around the top roller 544 and the bottom roller 545, always closely adhering to the arc-shaped surface of the transparent cover 510. During operation of the camera-guided firefighting robot, the top roller 544 and the bottom roller 545 periodically rotate to remove contaminants adhering to the shielding strip 546.

[0051] Considering that transparent material shielding strips are easily damaged by heat deformation (high risk of breakage and damage during use, poor stability), thus affecting shooting results and the cleanliness of the transparent cover 510, while non-transparent material shielding strips 546 would seriously affect the shooting of the camera component; therefore, the structure of the shielding component is further improved, specifically as follows: Figures 9 to 11As shown, the shielding assembly includes a top roller 544, a bottom roller 545, and a shielding tape 546, as well as a tape-lifting frame. The top roller 544 and bottom roller 545 are both cylindrical rollers, controlled by a control unit for rotation. They are both horizontally positioned and located on the rotating ring 400, respectively at the top and bottom of the transparent cover 510. The shielding tape 546 is a silicone tape, with both ends wound and positioned around the top roller 544 and bottom roller 545, facing towards the transparent cover 510. One side is coated with self-adhesive; the width of the masking strip 546 is greater than the width of the transparent cover 510, and the masking strip 546 is provided with a row of rectangular through slots. The area of ​​the rectangular through slots is similar to the arc surface area of ​​the transparent cover 510. The presence of the through slots allows the camera assembly to capture images through the masking strip 546; the spacing between the through slots is greater than the length of the through slots themselves; the tape-unlocking frame is positioned on the side wall of the rotating carrier ring 400, and includes two push rods 547, two carrier rods 548, and two contact rollers 54. 9; The push rod 547 is a telescopic rod controlled by the control unit to extend and retract, and is arranged laterally. One end of each push rod 547 is positioned on the side wall of the rotating carrier ring 400, and the two are located on opposite sides of the transparent cover 510; The carrier rod 548 is a rigid rod, arranged vertically, with its length direction perpendicular to the axis of the push rod 547; The middle part of the carrier rod 548 is fixed to the other end of the push rod 547; The contact roller 549 is a rod-shaped roller, and both contact rollers 549 are arranged laterally. Both are rotatably connected to the carrier rod 548 near the end, and the two contact rollers 549 are located at the top and bottom of the transparent cover 510, respectively, and are always in close contact with the shielding strip 546. The combination of the two contact rollers 549 and the carrier rod 548 is in the shape of a square. During use, the strip-removing frame works in conjunction with the top roller 544 and the bottom roller 545 (that is, the push rod 547 extends and retracts in conjunction with the rotation of the top roller 544 and the bottom roller 545) to frequently remove and clean the contaminants on the transparent cover 510.

[0052] Considering that the bomb-dropping robot 003 can only drop bombs in the air due to its limited position; preferably, a bomb-dropping component is positioned on the bottom counterweight 600, and the bomb-dropping component can adjust the bomb-dropping direction and launching force and launch fire-extinguishing bombs in a controlled manner (the bomb-dropping component is existing technology), and drop bombs on the bottom of the burning vehicle as needed.

[0053] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This invention solves the technical problems of poor image stability and clarity in existing automatic fire extinguishing robots due to their structural limitations, and the significant impact of smoke on the captured images. It achieves stable and clear real-time images of the tunnel fire extinguishing equipment, and minimizes the impact of smoke on the machine's field of vision during the preparation of fire extinguishing bombs.

[0054] Example 2

[0055] To further improve the practicality of this application and avoid the limitation of the shooting angle of the camera component and the bombing angle of the bombing component by the existence of the track 001, this embodiment adds a bottom traveling component 610 to the bottom of the bottom counterweight 600 and a bottom connecting body 250 to the guide rail laying component, based on the above embodiment; specifically: At least one of the cameras inside the transparent cover 510 is a gimbal camera, and the shooting angle of the camera can be adjusted as needed; The bottom traveling component 610 at the bottom of the bottom counterweight 600 can drive the bottom counterweight 600 to move freely on the ground after landing. This is existing technology and will not be described in detail here. like Figure 12 As shown, the bottom connecting body 250 is a tension spring, and there are 4 of them, which correspond one-to-one with the guide rail rope 230; The bottom of the guide rope 230 is fixed to one end of the bottom connector 250, and the other end of the bottom connector 250 is fixed to the bottom carrier 240.

[0056] After the base counterweight 600 lands, if it is necessary to meet the requirements of accurate and efficient bomb throwing of the bomb throwing component or to obtain a more comprehensive shooting angle and thus understand more comprehensive fire information, the base counterweight 600 can be moved as needed. Under the premise of ensuring that the guide rail rope 230 is always taut, the rotation of the first drum 210 and the second drum 220 and the operation of the base traveling component 610 are controlled in coordination, so that the guide rail laying component is tilted as a whole.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the 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 scope of protection of the present invention.

Claims

1. An integrated fire control system for emergency evacuation and control of fires in long highway tunnels, characterized in that: Includes a track (001) and a basic fire-fighting robot, characterized in that it also includes a camera-equipped fire-fighting robot; The camera-based firefighting robot includes a traveling component (002), a top-mounted block (100) positioned at the bottom of the traveling component (002), a guide rail laying component, a lifting carrier tube (300) that is fitted and always in close contact with all the guide rail ropes (230) and moves up and down under the drive of the tube lifting component, a rotating carrier ring (400) fitted and rotatably connected to the lifting carrier tube (300), a camera component positioned on the side wall of the rotating carrier ring (400), and an air blowing cleaning component for blowing clean air to the camera component; The guide rail layout assembly includes a first drum (210), a second drum (220), four guide rail ropes (230), a bottom carrier (240) fixed at the bottom on a bottom counterweight (600), and a bottom counterweight (600) in the form of a hard block. The first roll (210) and the second roll (220) are both arranged horizontally and positioned on the top load block (100). They are at the same height and parallel. The guide rope (230) is always taut, with the top ends of two ropes positioned on the first drum (210) and the top ends of the other two ropes positioned on the second drum (220); the bottom of the guide rope (230) is fixed on the base carrier (240), and the line connecting the four fixed points forms a rectangle.

2. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 1, characterized in that: The base carrier (240) includes a base block (241) and a displacement block (242); The base block (241) is a rigid block, and both sides of it are equipped with telescopic rods that are controlled by the control unit to extend and retract. The number of the displacement blocks (242) is two, located on both sides of the base block (241) and fixed to the ends of the telescopic rods on both sides of the base block (241) away from the base block (241); When the telescopic rods on both sides of the base block (241) extend or retract, they cause the displacement block (242) to move closer to or further away from the base block (241); The bottom ends of the guide ropes (230) are all fixed to the top of the displacement block (242); The two shifting blocks (242) correspond to the guide ropes (230) on the first drum (210) and the second drum (220), respectively.

3. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 1, characterized in that: The camera assembly is fitted with a transparent cover (510), which is made of transparent glass and covers and seals the camera assembly; the air blowing cleaning assembly blows air toward the transparent cover (510); the longitudinal section of the transparent cover (510) is C-shaped, and the open end is fixed to the side wall of the rotating carrier ring (400).

4. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 3, characterized in that: The air purification assembly (530) includes, in addition to the air pump, a carrier box (531), a filter element (533), and a lifting body (534); The carrier box (531) is a rigid box with an open top, and a side outlet (532) is provided on the side wall near the top. The side outlet (532) is connected to the air pump. The filter element (533) is filled in the carrier box (531) in multiples and stacked in a pile. Gas is output from the side outlet (532) after passing through the filter element (533) near the top of the carrier box (531). The lifting body (534) is a telescopic rod structure, which is controlled by the control unit to extend and retract. It is set vertically, with its bottom fixed on the inner bottom of the carrier box (531) and its top supporting the filter element (533).

5. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 3, characterized in that: It also includes masking components; The shielding assembly includes a winding assembly (541), a sealing tape (542), and a force guide rope (543); the winding assembly (541) is a winch structure with a built-in micro motor, which is controlled by the control unit to wind up the force guide rope (543), and is positioned on the rotating carrier ring (400) and directly below the transparent cover (510); The sealing tape (542) is a tape with one side coated with self-adhesive, which is attached to the arc-shaped surface of the transparent cover (510) and covers more than 80% of the arc-shaped surface of the transparent cover (510). One end of the guide rope (543) is fixed to the top of the sealing tape (542), and the other end is positioned on the winding assembly (541); when the winding assembly (541) winds up the guide rope (543), the sealing tape (542) is peeled off.

6. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 5, characterized in that: The sealing tape (542) is made of transparent material, and the front camera component can still capture images even after being peeled off.

7. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 3, characterized in that: It also includes masking components; The shielding assembly includes a top roller (544), a bottom roller (545), and a shielding strip (546); The top roll (544) and bottom roll (545) are both cylindrical rolls, which are controlled by the control unit to rotate. They are both arranged horizontally and positioned on the rotating carrier ring (400), and are located at the top and bottom of the transparent cover (510), respectively. The shielding strip (546) is a transparent strip, with its two ends wrapped and positioned on the top roller (544) and bottom roller (545) respectively, and always in close contact with the arc-shaped surface of the transparent cover (510); When the camera-guided firefighting robot is in operation, the top drum (544) and bottom drum (545) rotate periodically to remove pollutants adhering to the shielding strip (546).

8. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 3, characterized in that: It also includes masking components; The shielding assembly includes a top roll (544), a bottom roll (545), and a shielding tape (546), and also includes a tape-lifting frame; The top roll (544) and bottom roll (545) are both cylindrical rolls, both arranged horizontally, and located at the top and bottom of the transparent cover (510) respectively; The shielding tape (546) is a silicone tape with its two ends wound and positioned on the top roller (544) and bottom roller (545) respectively, and the side facing the transparent cover (510) is coated with self-adhesive. The shielding strip (546) has a row of rectangular through slots, which allow the camera assembly to capture images through the shielding strip (546). The tape-unlocking frame is positioned on the side wall of the rotating carrier ring (400) and includes two push rods (547), two carrier rods (548) and two contact rollers (549); The push rod (547) is arranged laterally, and one end of each push rod (547) is positioned on the side wall of the rotating carrier ring (400), and the two are located on both sides of the transparent cover (510); The carrier rod (548) is a rigid rod, vertically arranged, and fixed in the middle to the other end of the push rod (547); The contact roller (549) is a rod-shaped roller body. Both contact rollers (549) are arranged laterally and are rotatably connected to the support rod (548) near the end around their own axis. The two contact rollers (549) are located at the top and bottom of the transparent cover (510) respectively, always in close contact with the shielding strip (546), and are combined with the carrier rod (548) in a U-shape.

9. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in any one of claims 1 to 8, characterized in that: The bottom counterweight (600) is equipped with a bomb-throwing assembly. The bomb-throwing assembly can adjust the bomb-throwing direction and firing force and can launch fire-extinguishing bombs in a controlled manner, throwing bombs at the bottom of the burning vehicle as needed.

10. The integrated fire control system for emergency evacuation and control of fires in long highway tunnels as described in claim 9, characterized in that: The bottom counterweight (600) has a bottom traveling component (610) positioned at its bottom; The guide rail layout assembly also includes a bottom connector (250); At least one of the cameras inside the transparent housing (510) is a gimbal camera; After landing, the bottom traveling component (610) drives the bottom counterweight (600) to move freely on the ground; The bottom connector (250) is a tension spring, and there are 4 of them, which correspond one-to-one with the guide rail rope (230); The bottom of the guide rope (230) is fixed to one end of the bottom connector (250), and the other end of the bottom connector (250) is fixed to the bottom carrier (240).

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