Fire rescue robot anti-collision structure based on visual feedback
By equipping fire rescue robots with high-pressure water jet protection mechanisms and sensing devices, active collision avoidance and fire extinguishing functions are achieved, solving the problem of fire robots colliding with obstacles in flammable and explosive environments and improving the robot's mobility and fire extinguishing efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHONGCHENG HLDG GRP CO LTD
- Filing Date
- 2026-03-23
- Publication Date
- 2026-05-15
AI Technical Summary
The existing anti-collision structure of fire rescue robots mainly relies on passive buffering, which cannot actively prevent collisions. When moving in flammable, explosive, high-temperature and dense smoke environments, they are prone to collisions with obstacles, resulting in equipment damage or mission interruption.
It adopts a high-pressure water jet protection mechanism and sensing equipment, monitors obstacles in real time through visual feedback, controls the high-pressure nozzles to spray water in advance for buffering, and combines with the anti-collision barrier structure to achieve active anti-collision and integrate fire extinguishing function.
It enables active collision avoidance for firefighting robots, improves their mobility in obstacle-filled environments and firefighting efficiency, reduces collision risks, and protects robot safety.
Smart Images
Figure CN122032003A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of firefighting robot technology, and in particular to a collision avoidance structure for a fire rescue robot based on visual feedback. Background Technology
[0002] Firefighting and rescue robots can replace firefighters in high-risk environments such as flammable and explosive materials, high temperatures, and dense smoke to perform tasks such as firefighting and reconnaissance, which is of great significance for ensuring the safety of rescue personnel. However, when firefighting robots move through piled-up ruins and fire scenes with extremely low visibility, they are very prone to collisions with obstacles, leading to equipment damage or mission interruption. Therefore, improving their collision avoidance capabilities is key to ensuring stable operation.
[0003] Current anti-collision structures for fire rescue robots mainly employ mechanical buffering methods, such as spring buffer sleeves, metal anti-collision mesh frames, and elastic buffer materials, relying on material deformation or spring compression to absorb impact energy. While these structures can provide some buffering effect, they are essentially passive responses, lacking active prevention: mechanical anti-collision only passively absorbs energy after an impact occurs, unable to take measures in advance to reduce collision speed or change the direction of travel, and the buffering effect is limited by structural size and material properties.
[0004] Therefore, there is an urgent need for a collision avoidance structure for fire rescue robots that can proactively prevent collisions and provide efficient buffering. Summary of the Invention
[0005] To address the aforementioned technical problems, this invention provides a collision avoidance structure for fire rescue robots based on visual feedback.
[0006] This invention is achieved using the following technical solution: a fire-fighting robot, on both sides of which are equipped with high-pressure water jet protection mechanisms; the high-pressure water jet protection mechanism includes a U-shaped pipe and a control device connecting the U-shaped pipe to the main water supply pipe of the fire-fighting robot; the U-shaped pipe is also equipped with multiple high-pressure nozzles; the fire-fighting robot is also equipped with a sensing device, which is used to monitor the surrounding environment in real time. When an obstacle is detected in the direction of travel, the high-pressure nozzles can spray high-pressure water in advance to buffer the obstacle and assist in extinguishing any remaining fires in the vicinity.
[0007] Preferably, the high-pressure water jet protection mechanism is rotatably mounted on the fire-fighting robot; this allows the two high-pressure water jet protection mechanisms to be stored away, avoiding obstruction of the fire-fighting robot's passage through narrow areas.
[0008] Preferably, the U-shaped tube consists of two curved tubes and a straight tube rotatably disposed between the two curved tubes. The straight tube is provided with multiple diffusion nozzles, which are offset from the high-pressure nozzles and are perpendicular to each other. The curved tube is also provided with a driving device for driving the straight tube to rotate. By driving the straight tube to rotate circumferentially, the switching between the high-pressure nozzles and the diffusion nozzles is realized to form a water curtain and improve the fire extinguishing capability.
[0009] Preferably, a C-shaped baffle with an arc of 300° is slidably connected inside the straight pipe, and the two ends of the C-shaped baffle extend into the two curved pipes and are fixedly connected to them; when the straight pipe rotates counterclockwise by 90 degrees, the high-pressure nozzle at the three o'clock position moves to the blocking area of the C-shaped baffle and closes, while the diffuser nozzle at the six o'clock position moves to the notch area of the C-shaped baffle, so that the opening and closing of the high-pressure nozzle and the diffuser nozzle on the straight pipe can be switched through a mechanical structure without affecting the nozzles on the curved pipes.
[0010] Preferably, the high-pressure water jet protection mechanism is further provided with a crash barrier structure around it; used to protect the high-pressure water jet protection mechanism.
[0011] Preferably, the crash barrier structure includes two sleeves rotatably fitted onto a U-shaped tube and a barrier hinged to the two sleeves; the crash barrier structure is also provided with multiple nozzles aligned with high-pressure nozzles and diffuser nozzles, so that the barrier will not obstruct the water flow from the nozzles; when an obstacle breaks through the impact of the high-pressure water flow and collides with the barrier, the barrier moves backward under force. At this time, the multiple high-pressure nozzles and nozzles are misaligned, so that the high-pressure water flow directly impacts the barrier, thereby integrating the impact force of the multiple high-pressure nozzles onto the barrier to form a buffer medium.
[0012] Preferably, a reverse push mechanism is also provided between the barrier and the two sleeves to push and limit the barrier when the nozzle is closed, so as to prevent it from swinging randomly.
[0013] Preferably, the nozzle is formed by combining two openings of different sizes, wherein the smaller opening is aligned with the high-pressure nozzle and the larger opening is aligned with the diffuser nozzle, so that the nozzle does not affect the coordination between the high-pressure nozzle and the barrier, and at the same time does not limit the spraying range of the diffuser nozzle.
[0014] Preferably, the straight pipe on the U-shaped tube and the barrier are connected by a tie rod through a universal joint; this allows the straight pipe to actively close the distance between the barrier and the diffusion nozzle when rotating to switch the diffusion nozzle, so that the diffusion nozzle can extend through the nozzle and further reduce the obstruction of the barrier to the diffusion nozzle.
[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting up a high-pressure water jet protection mechanism (including a U-tube, control equipment, and high-pressure nozzles) and sensing equipment, active preventative collision avoidance is achieved. The sensing equipment monitors the surrounding environment in real time. When an obstacle is detected in the direction of travel, the control equipment activates the high-pressure nozzles to spray high-pressure water in advance, buffering the impact of the obstacle and reducing the risk of collision. At the same time, the water flow can extinguish any remaining fires in the vicinity, integrating collision avoidance and fire extinguishing functions into one, overcoming the limitation of existing passive collision avoidance structures that can only absorb energy after an impact. The high-pressure water jet protective mechanism is rotatably mounted on the firefighting robot and can be retracted via a dual-axis motor. When traversing narrow areas, the protective mechanisms on both sides can be retracted, reducing the overall width of the robot and significantly improving its maneuverability and environmental adaptability, preventing it from getting stuck due to the protruding protective mechanisms. The U-shaped tube consists of two curved tubes and a rotatable straight tube. The straight tube is equipped with a diffuser nozzle that is perpendicular to the high-pressure nozzle and has a drive mechanism. By rotating the straight tube, the robot can flexibly switch between the high-pressure nozzle (for impact buffering) and the diffuser nozzle (for large-area spray fire suppression), enabling it to cope with obstacle impacts and efficiently extinguish fires, thus enhancing its versatility. The crash barrier structure features nozzles aligned with the spray heads, and a hinge and reverse thrust mechanism is installed between the barrier and the sleeve. During normal operation, the spray heads pass through the nozzles without obstruction. When an obstacle breaks through the water flow and collides with the barrier, the barrier is forced backward, causing the high-pressure spray heads to misalign with the nozzles. The high-pressure water flow directly impacts the barrier's backplate, creating a "water cushion" effect. This integrates the recoil force from multiple spray heads onto the barrier, converting it into a buffering and suction force, significantly improving its impact resistance and protecting the robot's safety. The nozzle adopts a combined design of large and small openings (small opening is aligned with high-pressure nozzles, and large opening is aligned with diffuser nozzles). This ensures that the high-pressure nozzles form a water cushion with the barrier after collision, while also providing sufficient spraying space for the diffuser nozzles without affecting their coverage range, thus optimizing the performance of the two working modes. The straight pipe and the barrier are connected by a universal joint and a tie rod. When the straight pipe rotates to switch to the diffuser nozzle, the tie rod actively pulls closer to the barrier, allowing the diffuser nozzle to partially extend out of the nozzle, further reducing the barrier's obstruction of the spray and improving the spray effect and fire extinguishing efficiency. Attached Figure Description
[0016] Figure 1 This is an overall illustration of the anti-collision structure of the fire rescue robot based on visual feedback according to the present invention. Figure 2 This is a storage demonstration diagram of the anti-collision structure of the fire rescue robot based on visual feedback according to the present invention; Figure 3 This is a partial cross-sectional view of the anti-collision structure of the fire rescue robot based on visual feedback according to the present invention; Figure 4This is a breakdown diagram of the anti-collision structure of the fire rescue robot based on visual feedback according to the present invention; Figure 5 This is a separate illustration of the anti-collision structure; Figure 6 This is a disassembled diagram showing the high-pressure water jet protection mechanism and the crash barrier structure. Figure 7 A cross-sectional view of the high-pressure water jet protection mechanism; Figure 8 The images show the side view, sectional view, and front view of the high-pressure water jet protection mechanism. Figure 9 This is a diagram showing the disassembly of the straight and curved pipes in the high-pressure water jet protection mechanism. Figure 10 This is a separate illustration of the crash barrier structure.
[0017] Explanation of key symbols: 1. Firefighting robot; 2. High-pressure water jet protection mechanism; 21. U-shaped pipe; 211. Curved pipe; 212. Straight pipe; 22. Control equipment; 23. High-pressure nozzle; 24. Drive equipment; 25. Diffuser nozzle; 26. C-shaped baffle; 3. Crash barrier structure; 31. Sleeve; 32. Barrier; 33. Reverse thrust mechanism; 34. Nozzle; 35. Pull rod; 4. Sensing equipment; 5. Dual-axis motor. Detailed Implementation
[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.
[0019] Please combine Figures 1 to 10 A visual feedback-based anti-collision structure for fire rescue robots includes a fire robot 1, which has a tracked walking mechanism, a main water supply pipe, and a control system. High-pressure water jet protection mechanisms 2 are symmetrically arranged on both sides of the fire robot 1. Each high-pressure water jet protection mechanism 2 includes a U-shaped pipe 21 and control equipment 22 (such as a solenoid valve and a booster pump) connecting the U-shaped pipe 21 to the main water supply pipe. The inlet end of the control equipment 22 is connected to the main water supply pipe via a curved pipe, which is rotatably connected to the control equipment 22 to ensure that the high-pressure water jet protection mechanism 2 is not restricted during storage. Multiple high-pressure nozzles 23 are arranged along the length of the U-shaped pipe 21. The fire robot 1 is equipped with a sensing device 4, which includes a visual camera and an infrared sensor. This device can collect real-time images and temperature information of the surrounding environment and identify obstacles and residual fires ahead through a visual feedback algorithm.
[0020] Please combine Figures 3 to 5Both the high-pressure water jet protection mechanism 2 and the control equipment 22 are equipped with support frames that rotate via shafts. Both the front and rear support frames are fixedly connected to the outer shell of the fire-fighting robot 1. The shafts on the two high-pressure water jet protection mechanisms 2 pass through the support frames and extend into the outer shell of the fire-fighting robot 1, where they are connected to the dual-axis motor 5 installed in the outer shell (through a worm gear drive). The dual-axis motor 5 can drive the mechanism to unfold or retract. When it is necessary to pass through narrow passages, the two high-pressure water jet protection mechanisms 2 can be retracted to reduce the overall width of the machine.
[0021] With the above technical solution, when it is necessary to pass through narrow areas, the protective mechanisms on both sides can be retracted to reduce the overall width of the robot, which significantly improves the robot's passability and environmental adaptability, and avoids jamming due to the protrusion of the protective mechanisms.
[0022] Please combine Figures 5 to 7 The U-shaped tube 21 consists of two curved tubes 211 and a straight tube 212 rotatably connected between the two curved tubes 211. The two ends of the straight tube 212 are connected to the curved tubes 211 via rotary sealing joints. Multiple diffusion nozzles 25 are mounted on the straight tube 212, and these diffusion nozzles 25 and the high-pressure nozzles 23 are arranged at a 90° offset (i.e., facing each other at a right angle) circumferentially. A drive device (single-axis motor) is mounted on the curved tubes 211 to drive the straight tube 212 to rotate. By rotating the straight tube 212, the high-pressure nozzles 23 or the diffusion nozzles 25 can be directed towards the side of the robot.
[0023] Through the above technical solution, the robot can be flexibly switched between the high-pressure nozzle 23 (for impact buffering) and the diffusion nozzle 25 (for large-area spray fire extinguishing), enabling it to cope with obstacle impacts and efficiently extinguish fire sources, thus improving its multi-functionality.
[0024] Please combine Figures 7 to 9 A C-shaped baffle 26 is slidably fitted inside the straight pipe 212. The cross-section of the C-shaped baffle 26 is a 300° arc, with its two ends extending out of the straight pipe 212 and fixedly connected to the curved pipes 211 on both sides. Therefore, the C-shaped baffle 26 does not rotate with the straight pipe 212. When the straight pipe 212 rotates 90° counterclockwise, the high-pressure nozzle 23, which was originally at the three o'clock position, moves into the blocking area of the C-shaped baffle 26 (i.e., inside the 300° arc), and its inlet is sealed by the C-shaped baffle 26, thus stopping the water spray. At the same time, the diffuser nozzle 25, which was originally at the six o'clock position, moves into the notch area of the C-shaped baffle 26, and the diffuser nozzle 25 connects with the inside of the straight pipe 212 and begins to spray water. In this way, the nozzle type can be switched simply by rotating the straight pipe 212 without the need for complex valve control, and the nozzles on the curved pipe 211 will not be affected at this time; at the same time, when rotated 180°, the high-pressure nozzle 23 and the diffuser nozzle can be shut off together without affecting the nozzles on the curved pipe 211.
[0025] The above technical solution enables the switching between the high-pressure nozzle 23 and the diffuser nozzle 25 without the need for complex solenoid valve control. The structure is simple and reliable, and the switching process does not affect the normal operation of the nozzle on the curved pipe 211, thus reducing the control difficulty and failure rate.
[0026] Please combine Figure 5 and Figure 6 The high-pressure water jet protection mechanism 2 is further surrounded by a crash barrier structure 3 to prevent the U-shaped pipe 21 from directly impacting obstacles. The crash barrier structure 3 includes two sleeves 31, which are hinged to the same barrier 32 via two pairs of hinge rods (the two ends of the hinge rods are respectively hinged to both). The barrier 32 has multiple nozzles 34, which are aligned one-to-one with the high-pressure nozzle 23 and the diffuser nozzle 25. Each nozzle 34 consists of a small opening and a large opening. The small opening is aligned with the high-pressure nozzle 23, and the large opening is aligned with the diffuser nozzle 25. This ensures that the high-pressure nozzle 23 will impact the barrier 32 with water after the barrier 32 shifts, thus providing a buffer, and also provides sufficient spray range for the diffuser nozzle 25.
[0027] With the above technical solution, during normal operation, the nozzle sprays water through the nozzle 34 without obstruction; when an obstacle breaks through the water flow and collides with the barrier 32, the barrier 32 is forced to move backward, causing the high-pressure nozzle 23 to be misaligned with the nozzle 34, and the high-pressure water flow directly impacts the back plate of the barrier 32, forming a "water cushion" effect. This integrates the recoil force of multiple nozzles onto the barrier, converting it into buffering and suction power, which greatly improves the impact resistance and protects the safety of the robot body.
[0028] Please combine Figure 10 A reverse thrust mechanism 33 is also provided between the barrier 32 and the sleeve 31 (the reverse thrust mechanism consists of a sleeve, a telescopic rod set inside the sleeve, and a spring). The telescopic rod on the reverse thrust mechanism 33 is hinged to the barrier 32, and its sleeve is hinged to the sleeve 31. When the nozzle is not working, the barrier 32 is maintained in the initial position to prevent it from swinging randomly due to vibration.
[0029] Please combine Figure 10 A pull rod 35 connects the straight pipe 212 and the barrier 32 via a universal joint. When the straight pipe 212 rotates to switch the diffuser nozzle 25, it simultaneously pulls the barrier 32 via the pull rod 35, thereby bringing the diffuser nozzle 25 closer to the nozzle 34 or even partially extending it out of the nozzle 34 (the large opening on the nozzle 34 is elliptical to accommodate the offset of the barrier 32 during the closing process), further reducing the obstruction of the diffuser spray by the barrier 32.
[0030] Through the above technical solution, when the straight pipe 212 rotates to switch to the diffuser nozzle 25, the pull rod 35 actively pulls closer to the barrier 32, so that the diffuser nozzle 25 can partially extend out of the nozzle 34, further reducing the barrier's obstruction of the spray and improving the spray effect and fire extinguishing efficiency.
[0031] The implementation principle of a visual feedback-based anti-collision structure for fire rescue robots in this application embodiment is as follows: During normal travel, the sensing device 4 continuously monitors the environment ahead. When an obstacle or residual fire is detected ahead, the control device 22 activates the high-pressure water flow, and the high-pressure nozzle 23 sprays a high-speed water jet to impact the obstacle. This can push away lightweight obstacles or reduce the collision speed, and can also extinguish the fire. If the obstacle is large or the impact cannot be avoided, the obstacle will first contact the barrier 32. After the barrier 32 is subjected to force, it will overcome the resistance of the push mechanism 33 and move backward. At this time, the high-pressure nozzle 23 and the small opening of the nozzle 34 will be misaligned, and the high-pressure water jet will be sprayed directly onto the back plate of the barrier 32, forming a strong water cushion effect. This will convert the impact force of multiple nozzles into a buffer force acting on the barrier 32, effectively absorbing the impact energy and protecting the body of the fire-fighting robot 1. When large-area fire extinguishing or water curtain isolation is required, the straight pipe 212 is rotated by the drive equipment to turn the diffuser nozzle 25 to the front. At the same time, the C-shaped baffle 26 automatically closes the high-pressure nozzle 23, and the diffuser nozzle 25 sprays diffused water mist to increase the water flow coverage. Due to the action of the lever 35, the baffle 32 swings backward to reduce the obstruction of the spray, thereby extinguishing the remaining fire on the way.
[0032] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.
Claims
1. A collision avoidance structure for a fire rescue robot based on visual feedback, comprising a fire robot (1), characterized in that: The fire-fighting robot (1) is equipped with high-pressure water jet protection mechanisms (2) on both sides. The high-pressure water jet protection mechanism (2) includes a U-shaped pipe (21) and a control device (22) connecting the U-shaped pipe (21) and the main water supply pipe of the fire robot (1). The U-shaped pipe (21) is also provided with multiple high-pressure nozzles (23). The fire-fighting robot (1) is also equipped with a sensing device (4). The sensing device (4) is used to monitor the surrounding environment in real time. When it detects an obstacle in the direction of travel, it can spray high-pressure water in advance through the high-pressure nozzle (23) to buffer the obstacle and help extinguish the remaining fire in the surrounding area.
2. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 1, characterized in that, The high-pressure water jet protection mechanism (2) is rotatably mounted on the fire-fighting robot (1); thereby allowing the two high-pressure water jet protection mechanisms (2) to be stored away, so as to avoid affecting the fire-fighting robot (1) as it passes through narrow areas.
3. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 1, characterized in that, The U-shaped tube (21) consists of two curved tubes (211) and a straight tube (212) rotatably disposed between the two curved tubes (211). The straight tube (212) is provided with a plurality of diffusion nozzles (25). The diffusion nozzles (25) are offset from the high-pressure nozzles (23) and are perpendicular to each other. The curved tube (211) is also provided with a drive device (24) for driving the straight tube (212) to rotate. By driving the straight pipe (212) to rotate circumferentially, the high-pressure nozzle (23) and the diffuser nozzle (25) can be switched to form a water curtain and improve the fire extinguishing capability.
4. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 3, characterized in that, A C-shaped baffle (26) with an arc of 300° is slidably connected inside the straight tube (212). The two ends of the C-shaped baffle (26) extend into the two curved tubes (211) respectively and are fixedly connected to them. When the straight pipe (212) rotates 90 degrees counterclockwise, the high-pressure nozzle (23) at the three o'clock position moves to the shielding area of the C-shaped baffle (26) and closes, while the diffuser nozzle (25) at the six o'clock position moves to the notch area of the C-shaped baffle (26). This allows the opening and closing of the high-pressure nozzle (23) and the diffuser nozzle (25) on the straight pipe (212) to be switched through a mechanical structure without affecting the nozzles on the curved pipe (211).
5. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 1, characterized in that, The high-pressure water jet protection mechanism (2) is also surrounded by a crash barrier structure (3) for protecting the high-pressure water jet protection mechanism (2).
6. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 5, characterized in that, The crash barrier structure (3) includes two sleeves (31) rotatably sleeved on the U-shaped tube (21) and a barrier (32) hinged to the two sleeves (31). The anti-collision barrier structure (3) is also provided with multiple nozzles (34) that are aligned with the high-pressure nozzle (23) and the diffuser nozzle (25), so that the barrier (32) will not obstruct the water flow from the nozzle. When the obstacle breaks through the impact of the high-pressure water flow and collides with the barrier (32), the barrier (32) moves backward under force. At this time, multiple high-pressure nozzles (23) and nozzles (34) are misaligned, so that the high-pressure water flow directly impacts the barrier (32), thereby integrating the impact force of multiple high-pressure nozzles (23) onto the barrier (32) to form a buffer medium.
7. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 6, characterized in that, A reverse push mechanism (33) is also provided between the barrier (32) and the two sleeves (31) to push and limit the barrier (32) when the nozzle is closed, so as to prevent it from swinging randomly.
8. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 6, characterized in that, The nozzle (34) is formed by merging two openings of different sizes. The smaller opening is aligned with the high-pressure nozzle (23), and the larger opening is aligned with the diffuser nozzle (25). This ensures that the nozzle (34) does not affect the coordination between the high-pressure nozzle (23) and the barrier (32), while also not limiting the spraying range of the diffuser nozzle (25).
9. The anti-collision structure for a fire rescue robot based on visual feedback as described in claim 8, characterized in that, The straight pipe (212) on the U-shaped pipe (21) and the guardrail (32) are connected by a tie rod (35) through a universal joint; This allows the straight pipe (212) to actively close the distance between the baffle (32) and the diffuser (25) when rotating to switch the diffuser nozzle (25), so that the diffuser nozzle (25) can extend through the nozzle (34) and further reduce the obstruction of the baffle (32) to the diffuser nozzle (25).