Elevating fire extinguishing robot and navigation method

Abstract

The invention discloses an elevating fire extinguishing robot and a navigation method, and belongs to the technical field of intelligent fire extinguishing robots. The elevating fire extinguishing robot comprises a bearing base body, a fire extinguishing module, an autonomous navigation module and a supporting protection assembly; the fire extinguishing module is assembled at the upper end of the bearing base body; the autonomous navigation module is assembled in the mounting space of the bearing base body; the supporting and protecting assembly is assembled in the mounting space and arranged corresponding to the autonomous navigation module, and the supporting and protecting assembly has a telescopic supporting function and a function of releasing a protecting medium to the periphery of the machine body. The accurately-controlled high-performance elevating fire extinguishing robot can meet the fire extinguishing requirement, the bottom of the robot is provided with the supporting device with the buffering function, the counter impact force of a gun machine is effectively reduced, the overall stability is improved, meanwhile, carbon dioxide gas is continuously released in the fire extinguishing process to surround the position nearby a machine body, and the fire extinguishing effect is improved. The problem that a traditional elevating fire extinguishing robot is prone to spontaneous combustion in the fire extinguishing process is solved, and the rescue and fire extinguishing efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent fire extinguishing robot technology, specifically a raised fire extinguishing robot and its navigation method. Background Technology

[0002] Ultra-high voltage (UHV) converter stations are key facilities in high-voltage direct current (HVDC) transmission systems. While meeting the needs of power transmission and distribution, they also face fire safety risks. UHV converter stations contain numerous and complex pieces of equipment, including large devices such as converter transformers, converter valves, and smoothing reactors, as well as a large number of cables and connecting lines. These devices can quickly become ignition sources or accelerants in a fire, causing the fire to spread rapidly. The transformers and other equipment in UHV converter stations are filled with high-temperature insulating oil. Once a fire occurs, this insulating oil will ignite rapidly and generate high temperatures. High-temperature hot oil fires are not only intense but also difficult to control, posing a significant challenge to firefighters. Furthermore, hot oil fires can trigger explosions, further intensifying the fire and increasing the danger, while also increasing the difficulty of firefighting. Based on this, aerial firefighting robots have emerged.

[0003] Currently, existing aerial firefighting robots are prone to shaking during firefighting due to the excessive recoil force when the extinguishing agent is sprayed. This not only causes positional deviations, requiring the correction system to constantly adjust the direction of the extinguishing agent, but also significantly affects the stability of the aerial firefighting robot, thus impacting its firefighting efficiency. Furthermore, aerial firefighting robots that penetrate deep into the fire are susceptible to internal spontaneous combustion due to excessively high ambient temperatures, which can prevent them from meeting rescue needs and consequently affect the timeliness of firefighting. Summary of the Invention

[0004] This invention aims to solve the aforementioned technical problems by providing a high-performance, aerial firefighting robot and its navigation method. By designing a high-performance, precisely controlled aerial firefighting robot, it not only meets the needs of firefighting but also features a support with a buffer function at its bottom, effectively reducing the impact force of the fire extinguisher and improving overall stability. Simultaneously, it continuously releases carbon dioxide gas during the firefighting process to surround the vicinity of the robot, solving the problem of spontaneous combustion that is common in traditional aerial firefighting robots during firefighting and improving the efficiency of rescue and firefighting.

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

[0006] A fire-fighting robot with a raised platform includes a support base, a fire-fighting module, an autonomous navigation module, and a support and protection component; the support base is a support structure with an installation space at the lower end, and the fire-fighting module is assembled on the upper end of the support base;

[0007] The autonomous navigation module is assembled within the installation space of the supporting substrate;

[0008] The support and protection component is assembled in the installation space and is set in accordance with the autonomous navigation module. The support and protection component has the function of retractable support and the function of releasing protective medium to the surrounding area of ​​the machine body.

[0009] Preferably, the supporting base includes a chassis and wheels, the installation space is an installation groove opened at the lower end of the chassis, the wheels are set at the corner of the chassis, a protective cover is provided on the outside of the installation groove, a connecting post is snapped into the upper end of the protective cover near the outer edge, and the upper end of the connecting post is screwed to the lower end of the chassis.

[0010] Preferably, the autonomous navigation module is fitted with a heat insulation and protection structure, which is a heat insulation cylinder, and the support and protection components are assembled inside the heat insulation cylinder.

[0011] Preferably, the fire extinguishing module includes a base, a base is fixedly installed on the upper end of the chassis, a control assembly is provided inside the base, an extended robotic arm assembly is fixedly installed on the upper end of the base, a fire monitor is fixedly installed at the end of the extended robotic arm assembly away from the base, an infrared detector is provided on the side wall of the fire monitor, a fire hose is installed at the lower end of the fire monitor, and the fire hose is supported by the extended robotic arm assembly and extends to its tail.

[0012] A monitoring post is fixedly installed at the upper end of the base near the edge, and a camera is matched at the upper end of the monitoring post. The camera and the autonomous navigation module are electrically connected.

[0013] Preferably, the support and protection assembly includes:

[0014] An air supply unit is fixedly installed on the top of the mounting slot;

[0015] An electric actuator is fixedly installed at the lower middle part of the air supply unit;

[0016] Extension unit; the lower end of the electric push rod is fixedly connected to the extension unit.

[0017] The support unit is connected to the lower end of the extension unit and the outer edge of the extension unit is slidably mounted on the side wall of the support unit.

[0018] A protective nozzle is fixedly connected to the outer edge of the extension unit.

[0019] Preferably, the gas supply unit includes a supply box, which is fixedly installed at the top of the mounting slot and inside the autonomous navigation module, and a supply pipe is evenly installed along its circumference at the lower end of the supply box near its edge.

[0020] Preferably, the extension unit includes an abutment plate, the lower end of the electric push rod is fixedly connected to the abutment plate, the edge of the abutment plate is evenly hinged with a transition rod, the lower end of the transition rod is hinged with a T-shaped rod, a return spring is sleeved on the T-shaped rod and its end penetrates through the outer side wall of the support, and a telescopic slide rod is fixedly connected to the middle of the lower end of the abutment plate, the lower end of the telescopic slide rod is fixedly connected to the bottom of the support.

[0021] A horizontal plate is fixedly installed on the lower end of the support corresponding to the position of the container. A reset protrusion is fixedly installed on the upper end of the horizontal plate. A female pad is provided on the side of the reset protrusion, and a female pad is provided on the side of the female pad.

[0022] The height of the sub-pad is less than the height of the mother pad, and both are made of refractory material.

[0023] The support has a hollow frustum-shaped structure that is smaller at the top and larger at the bottom, and its lower end face is evenly provided with support protrusions.

[0024] Preferably, the heat insulation cylinder has heat dissipation grooves evenly distributed on the side wall near the lower end. A sealing plate is hinged to the top of the heat dissipation groove, and a pull tab is fixedly connected to the lower end of the sealing plate. The lower end of the pull tab passes through the bottom of the heat dissipation groove and is fixedly connected to the upper end of the locking plate. The locking plate is fixedly installed on the upper end of the abutment plate. The pull tab is an elastic steel sheet.

[0025] Preferably, the protective nozzle includes a container, with the container fixedly connected to the end of a T-shaped rod. The upper end of the container is connected to the supply pipe. A ball-head piston rod is slidably mounted on the top of the container via a contact spring. The ball-head piston rod extends to the bottom of the container. Air outlet channels are evenly provided on the side wall of the container near the upper end.

[0026] The present invention also provides a navigation method for a raised firefighting robot, the navigation method comprising the following steps:

[0027] S1. Environmental perception: The robot uses cameras installed on its aerial firefighting robot to acquire and process information about the surrounding environment in real time, including the location, shape and size of obstacles.

[0028] S2. Map building and updating: Based on the environmental information obtained in S1, an environmental map is built using positioning and mapping technology and updated in real time to ensure that the aerial firefighting robot can accurately understand its own and the changes in the surrounding environment.

[0029] S3. Self-positioning: By combining the Global Positioning System (GPS), inertial measurement, or wheel speed meter, the aerial firefighting robot can achieve precise positioning.

[0030] S4. Path Planning and Execution: Based on the current position determined in S3, the environmental map constructed in S2, and the preset position, a path planning algorithm is used to plan the best path from the current position to the target position. The robot is then controlled to navigate along the planned path and execute the fire extinguishing task.

[0031] By adopting the above structure and method, the present invention has the following advantages:

[0032] 1. This statement provides a raised firefighting robot that can adapt to different road environments. It can not only meet the needs of firefighting, but also has a support with a buffer function at the bottom, which effectively reduces the impact force of the fire gun, improves the overall stability, and ensures the smoothness of firefighting and rescue.

[0033] 2. The support and protection components described in this statement can achieve active protection and active cooling of the body of the aerial fire extinguishing robot through the cooperation of the air supply unit, extension unit and protective nozzle. At the same time, it releases a large amount of carbon dioxide gas to surround the body of the aerial fire extinguishing robot, effectively avoiding the problem of spontaneous combustion that traditional aerial fire extinguishing robots are prone to during fire extinguishing, and improving the efficiency of rescue and fire extinguishing.

[0034] 3. This invention assembles the navigation component within the installation space of the supporting base and sets up a corresponding support and protection component. The support and protection component has both a retractable support function and a protective medium release function, which can not only achieve stable support for the robot, but also release a protective medium to the surrounding area of ​​the robot body, reduce the ambient temperature, isolate fire sources, effectively protect the navigation component and other key components from high temperature and fire source damage, and improve the reliability of the robot at the fire scene.

[0035] 4. The design of the heat insulation and protection structure of the present invention, together with the heat dissipation groove and the openable and closable sealing plate, can effectively block high temperature and realize the automatic opening and closing of the heat dissipation groove according to the movement of the extension unit, thus taking into account both heat insulation and heat dissipation effects and further protecting the navigation components. Attached Figure Description

[0036] Figure 1 This is a first three-dimensional structural schematic diagram of the present invention;

[0037] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention;

[0038] Figure 3 This is a bottom view of the present invention;

[0039] Figure 4 This is a schematic diagram of the three-dimensional connection structure between the autonomous navigation module, the heat insulation cylinder, the support and protection components, the protective cover, and the connecting column in this invention.

[0040] Figure 5 In this invention Figure 4 A bottom view;

[0041] Figure 6 This is the present invention. Figure 4 A schematic diagram of the three-dimensional connection structure after removing the protective cover and connecting columns;

[0042] Figure 7 In this invention Figure 4 A magnified structural diagram at point A;

[0043] Figure 8 In this invention Figure 4 A cross-sectional three-dimensional connection structure diagram;

[0044] Figure 9 In this invention Figure 8 A magnified structural diagram at point B;

[0045] Figure 10 In this invention Figure 8 A magnified structural diagram at point C;

[0046] Figure 11 This is a schematic diagram of the workflow of the autonomous navigation module in this invention.

[0047] In the picture:

[0048] 1. Chassis; 2. Wheels; 3. Fire extinguishing module; 31. Base; 32. Extendable robotic arm assembly; 33. Fire monitor; 34. Infrared detector; 35. Fire hose;

[0049] 4. Autonomous navigation module; 41. Monitoring stakes;

[0050] 5. Insulated cylinder; 51. Sealing plate; 52. Pull tab; 53. Locking device;

[0051] 6. Support and protection components; 61. Air supply unit; 611. Supply box; 612. Supply pipe; 62. Electric push rod;

[0052] 63. Extension unit; 631. Abutment plate; 632. Transition rod; 633. T-shaped rod; 634. Return spring; 635. Telescopic slide rod;

[0053] 64. Support; 641. Horizontal plate; 642. Reset protrusion; 643. Female pad; 644. Female pad;

[0054] 65. Protective nozzle; 651. Container; 652. Abutment spring; 653. Ball head piston rod; 654. Air outlet channel;

[0055] 7. Protective cover; 8. Connecting column. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the full text.

[0057] Example 1:

[0058] See Figures 1 to 4 as well as Figure 11 A fire-fighting robot with a raised platform includes a chassis 1 with a mounting groove at the lower end and wheels 2 set at the corners of the chassis 1. A fire-fighting module 3 is installed on the upper end of the chassis 1, and an autonomous navigation module 4 is installed on the top of the mounting groove.

[0059] The fire extinguishing module 3 includes a base 31. The base 31 is fixedly installed on the upper end of the chassis 1. A control assembly is installed inside the base 31. An extended robotic arm assembly 32 is fixedly installed on the upper end of the base 31. A fire monitor 33 is fixedly installed at the end of the extended robotic arm assembly 32 away from the base 31. An infrared detector 34 is installed on the side wall of the fire monitor 33. The infrared detector 34 and the control assembly are connected by an electrical signal. A fire hose 35 is installed at the lower end of the fire monitor 33. The fire hose 35 is supported by the extended robotic arm assembly 32 and extends to its tail.

[0060] Specifically, the extended robotic arm assembly 32, the fire monitor 33, and the infrared detector 34 are existing technologies and will not be described in detail here.

[0061] A monitoring post 41 is fixedly installed on the upper end of the base 31 near the edge. A camera is matched on the upper end of the monitoring post 41, and the camera is electrically connected to the autonomous navigation module 4.

[0062] In this embodiment, the control assembly consists of multiple modules, including a data processing module, a map building module, a control module, a communication module, and a power supply module.

[0063] In practical operation, the end of the fire hose 35 is manually connected to the foam extinguishing agent supply equipment. The camera installed on the upper end of the monitoring pile 41 can acquire and process surrounding environmental information in real time, including the location, shape, and size of obstacles. The control assembly inside the base 31 can construct an environmental map using positioning and mapping technology based on the acquired environmental information, and update it in real time to ensure that the aerial firefighting robot can accurately understand its own and surrounding environmental changes. Combined with GPS, inertial measurement or wheel speed measurement, the aerial firefighting robot can achieve precise positioning. The autonomous navigation module 4 will then determine the current... The system uses a path planning algorithm to plan the optimal path from the current location to the target location, based on the current position, the constructed environmental map, and the preset location. Then, it controls the aerial firefighting robot to navigate along the planned path to the vicinity of the fire location. The infrared detector 34 can promptly acquire heat source and fire source data and feed it back to the control assembly, thereby controlling the extension length of the extended robotic arm assembly 32. The base 31 can control the overall extension direction of the extended robotic arm assembly 32, ultimately ensuring that the fire monitor 33 is directly facing the fire point. The fire monitor 33 continuously sprays the foam extinguishing agent inside the fire hose 35 towards the fire source, thereby achieving the fire extinguishing function.

[0064] Furthermore, in this invention, the chassis adopts a wheel-driven platform, and the wheels are lightweight composite pin-connected wheels that are easy to maintain and replace. The power system uses a mechanical dual-flow coupling transmission mechanism, combined with a mechanical shifting mechanism to achieve high and low speed selection, adapting to different speed requirements. The wheel system adopts an independent bridge suspension to adapt to different complex road conditions and provide better shock absorption protection for the load attachments. The following is a table of specific performance parameters for this aerial firefighting robot:

[0065] Example 2:

[0066] The technical solution is basically the same as that in Embodiment 1, see below. Figures 4 to 10 The difference is that: the autonomous navigation module 4 is provided with a heat insulation cylinder 5 on the outside, a support and protection component 6 is installed on the inside of the heat insulation cylinder 5, a protective cover 7 is provided on the outside of the mounting groove, and a connecting post 8 is rotatably snapped to the upper end of the protective cover 7 near the outer edge, and the upper end of the connecting post 8 is screwed to the lower end of the chassis 1.

[0067] The support and protection assembly 6 includes an air supply unit 61. The air supply unit 61 is fixedly installed at the top of the mounting groove. An electric push rod 62 is fixedly installed at the middle of the lower end of the air supply unit 61. An extension unit 63 is fixedly connected to the lower end of the electric push rod 62. A support 64 is fixedly connected to the lower end of the extension unit 63, and the outer edge of the extension unit 63 is slidably installed on the side wall of the support 64. A protective nozzle 65 is fixedly connected to the outer edge of the extension unit 63. The upper end of the protective nozzle 65 is connected to the air supply unit 61.

[0068] The heat insulation cylinder 5 has heat dissipation grooves evenly distributed on the side wall near the lower end. A sealing plate 51 is hinged to the top of the heat dissipation groove. A pull tab 52 is fixedly connected to the lower end of the sealing plate 51. The pull tab 52 is an elastic steel sheet. The lower end of the pull tab 52 passes through the bottom of the heat dissipation groove and is fixedly connected to the upper end of the locking device 53. The locking device 53 is fixedly installed on the upper end of the abutment plate 631.

[0069] The gas supply unit 61 includes a supply box 611 and a supply pipe 612. The supply box 611 is fixedly installed at the top of the mounting slot and inside the autonomous navigation module 4. The supply pipe 612 is evenly installed along its circumference at the lower end of the supply box 611 near its edge.

[0070] The extension unit 63 includes an abutment plate 631. The lower end of the electric push rod 62 is fixedly connected to the abutment plate 631. The edge of the abutment plate 631 is evenly hinged with a transition rod 632. The lower end of the transition rod 632 is hinged with a T-shaped rod 633. A return spring 634 is sleeved on the T-shaped rod 633 and its end passes through the outer side wall of the support 64. A telescopic slide rod 635 is fixedly connected to the middle of the lower end of the abutment plate 631. The lower end of the telescopic slide rod 635 is fixedly connected to the bottom of the support 64.

[0071] The retractable slide bar 635 consists of two rods of different thicknesses. The thicker rod has a circular groove inside that corresponds to the thinner rod. The bottom of the circular groove is connected to the end of the thinner rod by a spring. In actual use, the thinner rod can slide and extend within the circular groove.

[0072] The support 64 has a hollow frustum-shaped structure with a smaller top and a larger bottom, and its lower end face is evenly provided with support protrusions. A horizontal plate 641 is fixedly provided on the lower end face of the support 64 corresponding to the position of the receiver 651. A reset protrusion 642 is fixedly installed on the upper end of the horizontal plate 641. When the reset protrusion 642 is in the initial position, it abuts against the lower end of the ball head piston rod 653. A mother pad 643 is provided on the side of the reset protrusion 642, and a daughter pad 644 is provided on the side of the mother pad 643. The height of the daughter pad 644 is less than the height of the mother pad 643, and both are made of refractory material.

[0073] The protective nozzle 65 includes a container 651. The container 651 is fixedly connected to the end of a T-shaped rod 633. The upper end of the container 651 is connected to the supply pipe 612. A ball-head piston rod 653 is slidably installed on the top of the container 651 through a contact spring 652. The ball-head piston rod 653 extends to the bottom of the container 651. Air outlet channels 654 are evenly opened on the side wall of the container 651 near the upper end.

[0074] In this embodiment, the supply box 611 has a low-temperature storage function and contains liquid carbon dioxide, and the supply pipe 612 is a corrugated telescopic pipe.

[0075] In actual operation, when the fire monitor 33 is about to spray foam extinguishing agent directly at the fire point, the electric push rod 62 is activated. The electric push rod 62 drives the extension unit 63, support 64 and protective nozzle 65 to move downward as a whole. During this process, the abutment plate 631 drives the locking plate 53 to move downward. The locking plate 53 drives the pull plate 52 to move downward, thereby sealing the heat dissipation slot with the sealing plate 51. This prevents external heat and smoke from affecting the operation of the autonomous navigation module 4. Combined with the heat insulation effect of the heat insulation cylinder 5, it can reduce the change in ambient temperature around the supply box 611, which is conducive to the subsequent release of carbon dioxide.

[0076] When the lower end of the support 64 contacts the ground, the telescopic slide bar 635 is compressed as the electric push rod 62 continues to run, and the squeezing pressure between the support protrusions evenly arranged at the lower end of the support 64 and the ground continues to increase, thereby ensuring the stability of the raised fire extinguishing robot during the fire extinguishing process.

[0077] When the telescopic slide bar 635 is compressed, the abutment plate 631 will move further downward. Under the action of the transition bar 632, the return spring 634 is compressed, and the T-shaped bar 633 will drive the protective nozzle 65 to disengage from the return protrusion 642. At this time, the reaction force of the abutment spring 652 will drive the ball piston rod 653 to move downward and open the venting channel 654. Subsequently, the liquid carbon dioxide inside the supply box 611 can enter the protective nozzle 65 through the supply pipe 612 and flow out through the venting channel 654. During this process, the liquid carbon dioxide will rapidly vaporize into carbon dioxide gas. The vaporized carbon dioxide gas will surround the vicinity of the raised fire extinguishing robot, which can effectively reduce the oxygen concentration around the chassis 1, play a role in suffocation, and protect the autonomous navigation module 4. At the same time, during the vaporization process, the liquid carbon dioxide can absorb a large amount of heat, thereby playing a role in cooling, which can further prevent the raised fire extinguishing robot from spontaneously combusting, and thus improve the environmental adaptability of the raised fire extinguishing robot during the fire extinguishing process.

[0078] Furthermore, the present invention also provides a navigation method for a raised firefighting robot, the navigation method comprising the following steps:

[0079] S1. Environmental perception: The robot uses cameras installed on its aerial firefighting robot to acquire and process information about the surrounding environment in real time, including the location, shape and size of obstacles.

[0080] S2. Map building and updating: Based on the environmental information obtained in S1, an environmental map is built using positioning and mapping technology and updated in real time to ensure that the aerial firefighting robot can accurately understand its own and the changes in the surrounding environment.

[0081] S3. Self-positioning: By combining the Global Positioning System (GPS), inertial measurement, or wheel speed meter, the aerial firefighting robot can achieve precise positioning.

[0082] S4. Path Planning and Execution: Based on the current position determined in S3, the environmental map constructed in S2, and the preset position, a path planning algorithm is used to plan the best path from the current position to the target position. The robot is then controlled to navigate along the planned path and execute the fire extinguishing task.

[0083] The working principle of this invention during use:

[0084] 1. By manually connecting the end of the fire hose 35 to the foam extinguishing agent supply equipment, the camera installed on the upper end of the monitoring pile 41 can acquire and process surrounding environmental information in real time, including the location, shape, and size of obstacles. The control assembly inside the base 31 can construct an environmental map using positioning and mapping technology based on the acquired environmental information, and update it in real time to ensure that the aerial fire-fighting robot can accurately understand its own and surrounding environmental changes. Combined with the Global Positioning System (GPS), inertial measurement, or wheel speed meter, the aerial fire-fighting robot can achieve precise positioning. The autonomous navigation module 4 will determine the current position... Based on the constructed environmental map and preset location, a path planning algorithm is used to plan the optimal path from the current location to the target location. Then, the elevated fire extinguishing robot is controlled to navigate along the planned path to the vicinity of the fire extinguishing location. The infrared detector 34 can timely acquire heat source and fire source data and feed it back to the control assembly, thereby controlling the extension length of the extended robotic arm assembly 32. The base 31 can control the overall extension direction of the extended robotic arm assembly 32, so that the fire monitor 33 is directly facing the fire point. The fire monitor 33 continuously sprays the foam extinguishing agent inside the fire hose 35 towards the fire source, thereby achieving the fire extinguishing function.

[0085] Second: When the fire monitor 33 is about to spray foam extinguishing agent directly at the fire point, the electric push rod 62 is activated. The electric push rod 62 drives the extension unit 63, support 64 and protective nozzle 65 to move downward as a whole. During this process, the abutment plate 631 will drive the locking plate 53 to move downward. The locking plate 53 will drive the pull plate 52 to move downward, so that the sealing plate 51 will seal the heat dissipation groove, thereby preventing external heat and smoke from affecting the operation of the autonomous navigation module 4. Combined with the heat insulation effect of the heat insulation cylinder 5, it can reduce the change of ambient temperature around the supply box 611, which is conducive to the subsequent release of carbon dioxide.

[0086] Third: When the lower end of the support 64 contacts the ground, as the electric push rod 62 continues to run, the telescopic slide rod 635 will be compressed, and the squeezing pressure between the support protrusions evenly arranged at the lower end of the support 64 and the ground will continue to increase, thereby ensuring the stability of the raised fire extinguishing robot during the fire extinguishing process.

[0087] Fourth: When the retractable slide bar 635 is compressed, the abutment plate 631 will move further downward. Under the action of the transition bar 632, the return spring 634 is compressed, and the T-shaped bar 633 will drive the protective nozzle 65 to disengage from the return protrusion 642. At this time, the reaction force of the abutment spring 652 will drive the ball piston rod 653 to move downward and open the venting channel 654. Subsequently, the liquid carbon dioxide inside the supply box 611 can enter the protective nozzle 65 through the supply pipe 612 and flow out through the venting channel 654. During this process, the liquid carbon dioxide will quickly vaporize into carbon dioxide gas. The vaporized carbon dioxide gas will surround the vicinity of the raised fire extinguishing robot, which can effectively reduce the oxygen concentration around the chassis 1, play a suffocating role, and protect the autonomous navigation module 4. At the same time, during the vaporization process, the liquid carbon dioxide can absorb a lot of heat, thereby playing a cooling role, which can further prevent the raised fire extinguishing robot from spontaneous combustion, and thus improve the environmental adaptability of the raised fire extinguishing robot during the fire extinguishing process.

[0088] Finally, it should be noted that during the fire extinguishing process, the degree of opening of the air outlet channel 654 can be controlled by the downward movement distance of the abutment plate 631. When the fire near the elevated fire extinguishing robot is large, the ball head piston rod 653 will abut against the upper end of the sub-pad plate 644 after the disengagement and reset protrusion 642, at which time the air outlet channel 654 is fully open; when the fire near the elevated fire extinguishing robot is small, the ball head piston rod 653 will abut against the upper end of the mother pad plate 643 after the disengagement and reset protrusion 642, at which time the air outlet channel 654 is in a semi-open state.

[0089] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

[0090] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A fire-fighting robot with a lifting mechanism, characterized in that, It includes a load-bearing base, a fire extinguishing module (3), an autonomous navigation module (4), and a support and protection component (6); The supporting base is a supporting structure with an installation space at the lower end, and the fire extinguishing module (3) is assembled on the upper end of the supporting base; The autonomous navigation module (4) is assembled in the installation space of the support base; The support and protection component (6) is installed in the installation space and is set in relation to the autonomous navigation module (4). The support and protection component (6) has the functions of telescopic support and releasing protective medium to the surrounding area of ​​the machine body.

2. The aerial firefighting robot according to claim 1, characterized in that: The supporting base includes a chassis (1) and wheels. The installation space is an installation groove opened at the lower end of the chassis (1). The wheels are set at the corner of the chassis (1). A protective cover (7) is provided on the outside of the installation groove. A connecting post (8) is snapped into the upper end of the protective cover (7) near the outer edge. The upper end of the connecting post (8) is screwed to the lower end of the chassis (1).

3. The aerial firefighting robot according to claim 1, characterized in that: The autonomous navigation module (4) is fitted with a heat insulation protection structure on the outside, which is a heat insulation cylinder (5), and the support protection component (6) is assembled inside the heat insulation cylinder (5).

4. The aerial firefighting robot according to claim 1, characterized in that: The fire extinguishing module (3) includes a base (31), the base (31) is fixedly installed on the upper end of the chassis (1), the base (31) is equipped with a control assembly, the base (31) is fixedly installed with an extension robotic arm assembly (32), the extension robotic arm assembly (32) is fixedly installed with a fire monitor (33) at the end away from the base (31), the fire monitor (33) is equipped with an infrared detector (34) on the side wall of the fire monitor (33), the fire hose (35) is installed at the lower end of the fire monitor (33), the fire hose (35) is supported by the extension robotic arm assembly (32) and extends to its tail. A monitoring post (41) is fixedly installed on the upper end of the base (31) near the edge. A camera is matched on the upper end of the monitoring post (41), and the camera is electrically connected to the autonomous navigation module (4).

5. The aerial firefighting robot according to claim 3, characterized in that: The supporting and protective component (6) includes: An air supply unit (61) is fixedly installed on the top of the mounting slot. An electric push rod (62) is fixedly installed at the middle of the lower end of the air supply unit (61). Extension unit (63), the lower end of electric push rod (62) is fixedly connected to extension unit (63); The support (64) and the extension unit (63) are connected at the lower end of the support (64) and the outer edge of the extension unit (63) is slidably mounted on the side wall of the support (64); Protective nozzle (65) is fixedly connected to the outer edge of extension unit (63).

6. The aerial firefighting robot according to claim 5, characterized in that: The gas supply unit (61) includes a supply box (611). The supply box (611) is fixedly installed at the top of the mounting slot and inside the autonomous navigation module (4). A supply pipe (612) is evenly installed around the lower end of the supply box (611) near its edge.

7. The aerial firefighting robot according to claim 5, characterized in that: The extension unit (63) includes an abutment plate (631), the lower end of an electric push rod (62) is fixedly connected to the abutment plate (631), the edge of the abutment plate (631) is evenly hinged with a transition rod (632), the lower end of the transition rod (632) is hinged with a T-shaped rod (633), a return spring (634) is sleeved on the T-shaped rod (633) and its end penetrates the outer side of the side wall of the support (64), a telescopic slide rod (635) is fixedly connected to the middle of the lower end of the abutment plate (631), and the lower end of the telescopic slide rod (635) is fixedly connected to the bottom of the support (64); A horizontal plate (641) is fixedly provided on the lower end of the support (64) at the position corresponding to the container (651). A reset protrusion (642) is fixedly installed on the upper end of the horizontal plate (641). A female pad (643) is provided on the side of the reset protrusion (642), and a female pad (644) is provided on the side of the female pad (643). The height of the sub-pad (644) is less than the height of the mother pad (643), and both are made of refractory material; The support (64) has a hollow frustum-shaped structure with a smaller top and a larger bottom, and its lower end face is uniformly provided with support protrusions.

8. The aerial firefighting robot according to claim 7, characterized in that: The heat insulation cylinder (5) has heat dissipation grooves evenly distributed on the side wall near the lower end. A sealing plate (51) is hinged to the top of the heat dissipation groove. A pull tab (52) is fixedly connected to the lower end of the sealing plate (51). The lower end of the pull tab (52) passes through the bottom of the heat dissipation groove and is fixedly connected to the upper end of the locking plate (53). The locking plate (53) is fixedly installed on the upper end of the abutment plate (631). The pull tab (52) is an elastic steel sheet.

9. The aerial firefighting robot according to claim 7, characterized in that: The protective nozzle (65) includes a container (651), and the container (651) is fixedly connected to the end of the T-shaped rod (633). The upper end of the container (651) is connected to the supply pipe (612). A ball-head piston rod (653) is slidably installed on the top of the container (651) through a retaining spring (652). The ball-head piston rod (653) extends to the bottom of the container (651). Air outlet channels (654) are evenly opened on the side wall of the container (651) near the upper end.

10. A navigation method for a fire-fighting robot with raised platform, characterized in that: The navigation method includes the following steps: S1. Environmental perception: The robot uses cameras installed on its aerial firefighting robot to acquire and process information about the surrounding environment in real time, including the location, shape and size of obstacles. S2. Map building and updating: Based on the environmental information obtained in S1, an environmental map is built using positioning and mapping technology and updated in real time to ensure that the aerial firefighting robot can accurately understand its own and the changes in the surrounding environment. S3. Self-positioning: By combining the Global Positioning System (GPS), inertial measurement, or wheel speed meter, the aerial firefighting robot can achieve precise positioning. S4. Path Planning and Execution: Based on the current position determined in S3, the environmental map constructed in S2, and the preset position, a path planning algorithm is used to plan the best path from the current position to the target position. The robot is then controlled to navigate along the planned path and execute the fire extinguishing task.

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