Mine intelligent fire prevention and extinguishing robot

Abstract

This invention discloses an intelligent fire prevention and extinguishing robot for mines, comprising a positive-pressure explosion-proof box, an environmental detection system, an information fusion system, a tracking and extinguishing system, a legged and tracked composite mechanism, and a fire extinguishing agent preparation system. The robot employs a positive-pressure explosion-proof and multi-layered heat-insulating structure. It uses multi-source sensors to detect fire sources in real time, and after fusing the information, controls omnidirectional nozzles for precise fire extinguishing. The legged and tracked composite mechanism has multiple movement modes, including legs and tracks, adapting to complex underground terrain. The fire extinguishing agent preparation system can autonomously prepare fire extinguishing agents according to the type of fire source. This invention achieves autonomous detection and efficient fire suppression in mines, improving emergency rescue capabilities and operational safety. It provides effective technical equipment support for emergency rescue in mine fires, helping to reduce disaster losses and ensure rescue safety.

Description

Technical Field

[0001] This invention relates to the field of mine disaster detection and rescue, and in particular to an intelligent mine fire prevention and extinguishing robot. Background Technology

[0002] Mine fires are characterized by their suddenness, complex fighting environment, and high risk. Currently, underground firefighting mainly relies on manual labor or fixed firefighting systems. However, manual rescue is extremely risky, while fixed systems have limited flexibility and coverage.

[0003] Existing firefighting robots mostly use wheeled or tracked mobile platforms, which lack mobility and obstacle-crossing capabilities in unstructured terrain such as obstacles and slopes formed after a disaster, making it difficult to quickly approach the fire source. At the same time, most robots lack explosion-proof design for mines, have a single firefighting method, cannot intelligently adjust the extinguishing agent according to the type of fire source, and have limited accuracy in fire source identification and tracking.

[0004] Therefore, there is an urgent need for a mine firefighting robot with strong obstacle-crossing capabilities, explosion-proof safety, and the ability to achieve intelligent identification and precise fire extinguishing, in order to improve firefighting efficiency and rescue safety. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides an intelligent fire prevention and extinguishing robot for mines, comprising:

[0007] Positive pressure explosion-proof box, positive pressure air source, environmental detection system, information fusion system, power control system, tracking fire extinguishing system, leg-tracked composite mechanism, power supply system, and fire extinguishing agent preparation system;

[0008] The positive pressure explosion-proof box is fixedly connected to the front and rear of the leg-tracked composite mechanism on both sides to form the main structure of the robot, providing a positive pressure explosion-proof environment for the information fusion system and maintaining the normal operation of each system;

[0009] A positive pressure air source is installed at the rear of the positive pressure explosion-proof box to provide positive pressure inert gas, ensuring that the positive pressure explosion-proof box meets the requirements of the underground explosion-proof environment and maintains the normal operation of the robot; the positive pressure air source provides positive pressure output for the tracking fire extinguishing system to ensure that the fire extinguishing agent is effectively sprayed at the root of the fire source to achieve efficient fire extinguishing; the positive pressure air source provides a positive pressure explosion-proof environment for the motor of the leg-tracked composite mechanism and provides power to the pneumatic joints;

[0010] The environmental detection system is installed at the front of the positive pressure explosion-proof box to detect the underground environment in real time and provide information on the location of fire sources;

[0011] The information fusion system is installed inside the positive pressure explosion-proof box. It receives downhole environmental information data transmitted by the environmental detection system and matches it with the position data aimed at by the tracking and extinguishing system. If the data does not match, the environmental detection system outputs a signal to adjust the tracking and extinguishing system, and then issues an extinguishing command to the extinguishing agent preparation system to extinguish the fire.

[0012] The power control system is installed inside the positive pressure explosion-proof box. It controls the power output of each pneumatic joint and motor of the legged composite mechanism, coordinates the robot's movement, and ensures the robot's stability.

[0013] The tracking fire extinguishing system is installed on the top of the positive pressure explosion-proof box and includes a set of all-angle control platform, water gun, fire extinguishing agent pipeline, and electromagnetic switch;

[0014] The tracked and legged composite mechanism consists of tracks and legs. The legs are composed of rocker arms and wheels, which provide the robot with the power to move.

[0015] The power supply system provides the necessary power for the environmental detection system, information fusion system, tracking and fire extinguishing system, legged composite mechanism, and fire extinguishing agent preparation system, meeting the robot's operating conditions;

[0016] The fire extinguishing agent preparation system is installed at the rear of the positive pressure explosion-proof box and includes a water tank, a foam tank, a pressure pump, and a mixing pump. Different foam fire extinguishing agents are formed by mixing water and foam in different proportions according to different fire situations, saving resources and maximizing utilization.

[0017] The legged composite mechanism includes a single-sided track and two legs. Each leg includes a rocker arm and a wheel. The wheel is mounted at the end of the rocker arm and connected to a pneumatic joint and a motor via gears. The beginning of the rocker arm is mounted at the pivot points on the front and rear sides of the track and connected to a pneumatic joint and a motor via gears. One rocker arm is mounted at the front and rear of the track, and two rocker arms are mounted on each side of the track, for a total of four rocker arms on both sides of the robot. When the robot moves in flat terrain underground, it can adopt a wheeled movement mode. The four rocker arms rise up to raise the robot's center of gravity and fix the angle of the motor at the beginning of the rocker arm to prevent bumps and collisions from damaging the robot. The positive pressure air source or power supply system outputs power to the pneumatic joint or motor at the end of the rocker arm to drive the robot and improve its movement efficiency.

[0018] The pneumatic joint and motor at the end of the rocker arm are locked, and the wheel serves as the fulcrum of the rocker arm. The pneumatic joint and motor at the beginning of the rocker arm are unlocked. By rotating the four rocker arms and cooperating with each other, the robot's leg-like movement mode is realized, which improves its obstacle-crossing ability.

[0019] In unstructured environments, the robot uses tracks as its primary power source and a rocker arm as its auxiliary power source. The rocker arm's initial and end-effector pneumatic joints and motors are unlocked. During movement, if the environmental detection system detects a high obstacle that the tracked mode cannot overcome, the power control mode promptly outputs a rocker arm obstacle-crossing assist signal. The rocker arm first locks its end-effector pneumatic joints and motors, then uses a wheel as a fulcrum to rotate the initial section of the rocker arm's pneumatic joints and motors, raising the robot's center of gravity. After that, it locks the initial section of the rocker arm's pneumatic joints and motors, unlocks the end-effector pneumatic joints and motors, and drives the wheel to rotate, thus overcoming the obstacle.

[0020] After the environmental detection system detects the fire source, it fixes the tracks, locks the pneumatic joint and motor at the end of the rocker arm, and rotates the pneumatic joint and motor at the beginning of the rocker arm. When the wheel is in close contact with the ground and flush with the bottom surface of the track, it stops rotating. The rocker arm forms a support leg during the operation, ensuring the stability of the robot during the fire extinguishing process and preventing the robot from tipping over due to excessive force from the water gun.

[0021] The positive pressure explosion-proof box adopts a positive pressure explosion-proof method. The positive pressure gas source automatically inputs inert gas according to the inert gas concentration sensor inside the positive pressure explosion-proof box. When the inert gas concentration inside the positive pressure explosion-proof box reaches the explosion-proof requirements, it automatically stops inputting gas.

[0022] When inert gas is introduced into the positive pressure gas source, it has a heat conduction effect on the positive pressure explosion-proof box, which reduces the temperature of the positive pressure explosion-proof box, maintains the normal working temperature inside the positive pressure explosion-proof box, and prevents the temperature inside the positive pressure explosion-proof box from becoming too high when it is close to a fire source, which could lead to robot system failure.

[0023] The positive pressure explosion-proof enclosure is coated with a heat-insulating and high-temperature resistant coating. The positive pressure explosion-proof enclosure adopts a multi-layer honeycomb nanoporous structure. The multi-layer honeycomb nanoporous structure is a multi-layer sandwich heat insulation structure composed of three layers of honeycomb nanoporous heat insulation board and two layers of vacuum layer. A vacuum layer is made between every two layers of honeycomb nanoporous heat insulation board, which effectively blocks heat transmission and isolates external high temperature, thereby ensuring that the temperature inside the enclosure is within the normal operating range when the robot is working near a fire source.

[0024] The environmental detection system includes a binocular vision camera, an integrated gas analyzer, a lidar, an infrared thermal imaging sensor, and a bionic tactile sensor;

[0025] The integrated gas and temperature analyzer is installed on the left side of the positive pressure explosion-proof box, which can detect the concentration of methane, oxygen, carbon dioxide, sulfur dioxide, nitrogen dioxide, nitric oxide, hydrogen sulfide and ambient temperature in the downhole environment in real time.

[0026] A binocular vision camera, an infrared thermal imaging sensor, and a lidar are installed at the front end of the positive pressure explosion-proof box to detect downhole structural environment information in real time;

[0027] A bionic tactile sensor is installed at the beginning of the rocker arm, and the wheel at the end of the rocker arm rests naturally on the ground. When the robot is running, the angle between the rocker arm and the track will also change when the underground terrain environment changes. By integrating the angle change information between the two, the underground terrain information data stream is plotted.

[0028] The environmental detection system is equipped with an intelligent AI hub that extracts visual image features through an improved YOLO11 convolutional neural network. Combined with a pre-trained deep learning algorithm, it quickly identifies underground fire points and transmits them to the information fusion system. After information integration, the integrated information and the original data are transmitted to the surface command platform, where a complete real-time three-dimensional underground environmental model is formed.

[0029] The tracking fire suppression system includes a fire source monitoring and tracking device, a multi-functional fire suppression nozzle, and an all-angle rotating device;

[0030] The fire source monitoring and tracking device consists of a binocular vision camera and a carbon dioxide concentration detector. The binocular vision camera and the carbon dioxide concentration detector are installed in an explosion-proof housing that is high-temperature resistant, fireproof, and waterproof. The explosion-proof housing is installed on the upper part of the multi-functional fire extinguishing nozzle.

[0031] The multi-functional fire extinguishing nozzle has a nozzle chamber that integrates a water nozzle, a foam nozzle, and a carbon dioxide nozzle. Fire information detected and identified by the environmental detection system and the fire source monitoring and tracking device is transmitted to the information fusion system to determine the fire type, and then a signal is output to the tracking and extinguishing system to control the corresponding fire extinguishing nozzle.

[0032] The nozzle chamber has a hydraulic slide rail, which can smoothly control the switching of each nozzle. Depending on the type of extinguishing agent carried by the robot, the corresponding matching nozzle type can be changed arbitrarily to achieve efficient fire extinguishing. The omnidirectional rotating device includes a horizontal rotating platform and a vertical rotating platform. The vertical rotating platform is connected to the upper part of the horizontal rotating platform and is directly connected to the multi-functional fire extinguishing nozzle. An elastic telescopic fire extinguishing agent delivery pipe is installed under the horizontal rotating platform, which can rotate with the omnidirectional rotating device.

[0033] The omnidirectional rotating device can rotate to track and extinguish the fire based on the specific location information of the fire source provided by the fire source monitoring and tracking device, thereby improving the real-time performance and accuracy of fire extinguishing, preventing the fire from spreading, and reducing property damage.

[0034] The fire extinguishing agent preparation system includes fire extinguishing agent raw material tanks, fire extinguishing agent mixing and preparation devices, and a self-priming water supply system. The fire extinguishing agent raw material tanks include foam agent tanks and carbon dioxide gas tanks. The fire extinguishing agent mixing and preparation device autonomously adjusts the input of each fire extinguishing agent raw material tank according to different fire source types detected by the environmental detection system, preparing appropriate fire extinguishing agent ratios to conserve fire extinguishing agent raw material resources. The self-priming water supply system includes a negative pressure self-priming pump, a water storage tank, and a hose reel. The self-priming water supply system uses the location information of underground water sources detected by the environmental detection system to control the hose reel to release the hose and simultaneously activate the negative pressure self-priming pump to place the replenished water in the water storage tank. The hose inlet is equipped with a filter screen to filter out impurities from the underground coal mine water source, preventing clogging of the hose and the negative pressure self-priming pump.

[0035] The positive pressure explosion-proof box adopts a human spine bionic topology structure. The bottom of the positive pressure explosion-proof box has a carbon fiber composite main beam running through it and four ribs supporting it to both sides as the core of the robot architecture. At the same time, the main circuit channel and air pipeline channel are integrated inside, saving space inside the positive pressure explosion-proof box and saving materials.

[0036] The rocker arm and track frame are made of aluminum alloy and carbon fiber composite materials, which reduces the overall weight of the robot while ensuring the strength of the mechanism.

[0037] The water tank and the raw material tank of the extinguishing agent preparation system are both made of thin-walled high-strength polyethylene material, and the spatial layout and weight distribution are optimized through irregular structural design.

[0038] The all-angle rotating platform and nozzle housing of the tracking fire suppression system adopt a hollow design to reduce the inertia of moving parts and improve response speed and movement flexibility;

[0039] Lightweight design of robot structure is achieved by topology optimization and finite element analysis. The structure is reinforced in key stress areas and the material is reduced in non-stress areas, thus achieving overall weight reduction of the robot.

[0040] Multi-layered honeycomb nanoporous insulation material replaces traditional independent insulation panels, eliminating the weight of connecting parts.

[0041] The robot integrated self-diagnosis and status feedback system includes:

[0042] 1) Monitor the remaining power in the power supply system in real time. When the power is below 10%, send a report command to the wellhead command platform. When the power is below 5%, send an early warning command and request to return to replace the power supply.

[0043] 2) Monitor the remaining amount of extinguishing agent in the extinguishing agent raw material tank in real time. When the fire extinguishing task is completed and the remaining amount is less than 10%, send an early warning instruction to the well command platform and request to return to replenish the extinguishing agent. If the remaining amount of extinguishing agent is less than 10% during the fire extinguishing process, send a return to replenishment alarm to the well command platform until the extinguishing agent is used up or the fire is extinguished.

[0044] 3) Monitor the robot's operating status in real time and perform status calibration at fixed time intervals. If there is a status deviation, immediately send an early warning command to the wellhead command platform. If the error is small, continue detection and fire extinguishing. If the error is large, force the robot to stop operating to prevent the robot's explosion-proof measures from failing and creating new hazards.

[0045] The robot has two control modes:

[0046] 1) Based on the real-time three-dimensional environment model of the well, the detection path is autonomously optimized to achieve autonomous navigation and synchronous positioning;

[0047] 2) Relying on the underground 5G communication environment, it interacts with the surface command platform in real time, and the surface command personnel issue precise control commands to control the operation, detection and fire extinguishing of the robot.

[0048] The robot is equipped with a three-level environmental early warning system, including:

[0049] 1) Self-warning state: When the methane concentration is about to reach the explosion limit or the ambient temperature is higher than 80°C, the robot uploads the warning information to the well command platform, circulates and purges inert gas in the positive pressure explosion-proof box, and limits the power supply voltage.

[0050] 2) Alarm status: When the methane concentration reaches the explosion limit or the ambient temperature is higher than 160°C, the robot uploads the alarm information to the well command platform, backs up and transmits the original environmental information data detected, and disconnects the power supply system.

[0051] 3) Shutdown: When the methane concentration reaches the explosion limit and the ambient temperature is above 160°C, the robot will shut down immediately.

[0052] The present invention achieves the following technical effects compared to the prior art:

[0053] This invention relates to an intelligent fire-fighting robot for mines, integrating a positive-pressure explosion-proof structure, a legged-tracked composite walking mechanism, and a multi-sensor environmental perception and intelligent tracking fire-fighting system. It can operate stably in complex and dangerous environments such as high temperature, high gas content, and high dust levels. Through coordinated switching between wheeled, tracked, and legged multimodal motion, it achieves efficient obstacle crossing of unstructured terrain such as collapsed objects, steps, and gullies, improving the robot's mobility and operating range in underground fire scenarios. Employing a positive-pressure air source and a multi-layered honeycomb nanoporous insulation structure, it effectively isolates high temperatures and flammable gases, significantly improving explosion-proof safety performance and ensuring system stability and reliability when the robot operates near a fire source. Furthermore, it combines binocular vision, lidar, and infrared thermal imaging... By fusing multi-source information such as imaging and gas analysis, and based on an improved YOLO deep learning algorithm, accurate fire source identification and 3D modeling are achieved, providing a scientific basis for decision-making on the surface command platform. Through an all-angle rotating tracking fire extinguishing device and multi-functional nozzles, precise positioning and dynamic tracking spraying of different types of fires are achieved, improving the real-time performance and success rate of fire extinguishing. Simultaneously, the intelligent extinguishing agent ratio and self-absorbed water replenishment mechanism proposed in this invention effectively save fire extinguishing resources and extend continuous operation time. Combined with a self-diagnostic status feedback and a three-level environmental early warning mechanism, the reliability and emergency response capabilities of the robot are significantly improved, thereby greatly enhancing the efficiency of mine fire emergency response and the comprehensive utilization value of the robot.

[0054] The present invention will now be described in more detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0055] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings;

[0056] Figure 1 Front view of the intelligent fire prevention and extinguishing robot in the mine;

[0057] Figure 2 Front view of an intelligent fire prevention and extinguishing robot in a mine;

[0058] Figure 3 Side view of an intelligent fire prevention and extinguishing robot in a mine;

[0059] Figure 4 A top view of an intelligent fire prevention and extinguishing robot in a mine.

[0060] The following items are marked in the diagram: 1. Positive pressure explosion-proof box; 2. Positive pressure gas source; 3. Water gun; 4. Track; 5. Rocker arm; 6. Wheel; 7. Binocular vision camera; 8. Integrated gas analyzer; 9. LiDAR; 10. Infrared thermal imaging sensor; 11. Explosion-proof lighting; 12. Explosion-proof housing; 13. Multifunctional fire extinguishing nozzle; 14. Fire extinguishing agent preparation system; 15. All-angle rotation device; 16. Water hose reel.

[0061] Specific implementation details

[0062] The following description, with reference to the accompanying drawings, further details the specific implementation of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use methods, so as to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0063] Example 1

[0064] like Figure 1 As shown, the present invention provides a technical solution: a mine intelligent fire prevention and extinguishing robot, including a positive pressure explosion-proof box, a positive pressure air source, an environmental detection system, an information fusion system, a power control system, a tracking fire extinguishing system, a legged composite mechanism, a power supply system, and a fire extinguishing agent preparation system.

[0065] In this embodiment, the positive pressure explosion-proof box is formed by casting 10mm thick titanium-aluminum alloy, and the openings on the positive pressure explosion-proof box meet the explosion-proof requirements of underground coal mines.

[0066] In this embodiment, the leg-tracked composite mechanism also uses titanium-aluminum alloy material. The rocker arm is hollowed out to remove the material in the non-stress concentration section, thereby reducing the weight of the rocker arm and reducing the output torque required by the joint motor. The round wheel hub uses a flower-shaped aluminum alloy hub to reduce the amount of material used.

[0067] In this embodiment, the positive pressure inert gas source uses carbon dioxide gas, which can purge the gas inside the positive pressure explosion-proof box, reduce the concentration of methane and oxygen, and also reduce the temperature of the box. For underground electrical fires, carbon dioxide, as a highly efficient fire extinguishing agent, can quickly extinguish the fire and protect the underground working environment.

[0068] In this embodiment, the various sensors of the environmental detection system conform to the intrinsically safe design for coal mines.

[0069] In this embodiment, the information fusion system is installed in a small computer consisting of a GPU, CPU, and memory modules.

[0070] In this embodiment, the power input for the pneumatic joint is carbon dioxide gas, and the motor meets the explosion-proof standards for coal mines.

[0071] In this embodiment, the operation steps of the intelligent fire prevention and extinguishing robot in the mine are described as follows:

[0072] 1) Before the robot is put into operation, a system self-check must be performed to confirm that the power supply, sensors, communication and fire extinguishing agent are in normal condition; select autonomous navigation or remote control mode according to the task requirements; purge the gas in the positive pressure explosion-proof box to meet the underground safety explosion-proof standards, then turn on the robot power and start the detection and fire extinguishing operation;

[0073] 2) In the underground environment, the robot automatically selects the walking mode according to the terrain. On flat terrain, it uses wheeled movement to improve work efficiency, and switches to legged or tracked obstacle-crossing mode when encountering obstacles. During the exploration and movement, the environmental detection system collects gas, temperature and image data in real time and uploads them to the surface command platform to build a three-dimensional environmental model of the underground environment, while identifying and marking suspected fire sources.

[0074] 3) After the robot detects and identifies a suspected fire source, it accurately locates the fire source through a fire source monitoring and tracking device. The information fusion system determines the type of fire source and matches the extinguishing agent. The extinguishing agent preparation system then automatically mixes the appropriate extinguishing agents such as water, foam or carbon dioxide in proportion to prepare for the fire fighting operation.

[0075] 4) The robot adjusts its posture and fixes the rocker arm as a support foot to enhance the stability of the robot's fire extinguishing operation; the tracking fire extinguishing system drives the full-angle rotating platform according to the location of the fire source, so that the nozzle is aimed at the root of the fire source, switches the corresponding nozzle, turns on the electromagnetic switch and pressure pump, and accurately sprays the fire extinguishing agent. During the fire extinguishing process, the system continuously monitors the fire and dynamically adjusts the spraying strategy.

[0076] 5) Once the fire source is confirmed to be extinguished or the spraying has stopped, the system automatically assesses the remaining extinguishing agent and power. If resupply is needed, a return request is sent to the command platform. The robot returns along the original path or the designated route. After the mission is completed, basic cleaning and status checks are performed to ensure that the equipment is in a reusable state.

[0077] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mine intelligent fire prevention and extinguishing robot, characterized in that, Includes a positive pressure explosion-proof box (1), a positive pressure gas source (2), an environmental detection system, an information fusion system, a power control system, a tracking fire extinguishing system, a legged composite mechanism, a power supply system, and a fire extinguishing agent preparation system. The positive pressure explosion-proof box is fixedly connected to the front and rear legs of the robot's main structure, which provides a positive pressure explosion-proof environment for the information fusion system and maintains the normal operation of each system. The positive pressure air source is installed at the rear end of the positive pressure explosion-proof box, providing a positive pressure inert gas source to ensure that the positive pressure explosion-proof box meets the underground explosion-proof environment and maintains the normal operation of the robot; the positive pressure air source provides positive pressure output for the tracking fire extinguishing system, ensuring that the fire extinguishing agent is effectively sprayed at the root of the fire source to achieve efficient fire extinguishing; the positive pressure air source provides a positive pressure explosion-proof environment for the motor of the leg-tracked composite mechanism and outputs power to the pneumatic joints; The environmental detection system is installed at the front end of the positive pressure explosion-proof box to detect the underground environment in real time and provide information on the location of fire sources; The information fusion system is installed inside the positive pressure explosion-proof box. It receives downhole environmental information data transmitted by the environmental detection system and matches it with the position data aimed at by the tracking and extinguishing system. If the data does not match, the environmental detection system outputs a signal to adjust the tracking and extinguishing system, and then issues an extinguishing command to the extinguishing agent preparation system to extinguish the fire. The power control system is installed inside the positive pressure explosion-proof box, which controls the power output of each pneumatic joint and motor of the legged composite mechanism, coordinates the robot's movement, and ensures the robot's stability. The tracking fire extinguishing system is installed on the top of the positive pressure explosion-proof box and includes a set of full-angle control platform, water gun (3), fire extinguishing agent pipeline, and electromagnetic switch; The tracked and legged composite mechanism is divided into tracks (4) and legs. The legs are composed of rocker arms (5) and wheels (6) to provide the robot with the power to move. The power supply system provides the necessary power for the environmental detection system, information fusion system, tracking and fire extinguishing system, legged composite mechanism, and fire extinguishing agent preparation system, thus meeting the robot's operating conditions. The fire extinguishing agent preparation system is installed at the rear end of the positive pressure explosion-proof box and includes a water tank, a foam tank, a pressure pump, and a mixing pump. Different foam fire extinguishing agents are formed by mixing water and foam in different proportions according to different fire situations, saving resources and maximizing utilization.

2. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The leg-tracked composite mechanism includes a single-sided track and two legs. Each leg includes a rocker arm (5) and a wheel (6). The wheel is installed at the end of the rocker arm and is connected to a pneumatic joint and a motor via gears. The beginning of the rocker arm is installed at the pivots on the front and rear sides of the track and is connected to a pneumatic joint and a motor via gears. One rocker arm is installed at the front and rear of the track, and two rocker arms are installed on each side of the track. A total of four rocker arms are installed on both sides of the robot. When the robot moves in flat terrain underground, it can adopt a wheeled movement mode. The four rocker arms rise up to raise the robot's center of gravity and fix the angle of the motor at the beginning of the rocker arm to prevent bumps and collisions from damaging the robot. The positive pressure air source or power supply system outputs power to the pneumatic joint or motor at the end of the rocker arm to drive the robot and improve the robot's movement efficiency. The pneumatic joint and motor at the end of the rocker arm are locked, and the wheel serves as the fulcrum of the rocker arm. The pneumatic joint and motor at the beginning of the rocker arm are unlocked. By rotating the four rocker arms and cooperating with each other, the robot's leg-like movement mode is realized, which improves its obstacle-crossing ability. In unstructured environments, the robot uses tracks as its primary power source and a rocker arm as its auxiliary power source. The rocker arm's initial and end-effector pneumatic joints and motors are unlocked. During movement, if the environmental detection system detects a high obstacle that the tracked mode cannot overcome, the power control mode promptly outputs a rocker arm-assisted obstacle-crossing signal. The rocker arm first locks its end-effector pneumatic joints and motors, then uses a wheel as a fulcrum to rotate the initial section of the rocker arm's pneumatic joints and motors, raising the robot's center of gravity. After that, it locks the initial section of the rocker arm's pneumatic joints and motors, unlocks the end-effector pneumatic joints and motors, and drives the wheel to rotate, thus overcoming the obstacle. After the environmental detection system detects the fire source, it fixes the tracks, locks the pneumatic joint and motor at the end of the rocker arm, and rotates the pneumatic joint and motor at the beginning of the rocker arm. When the wheel is in close contact with the ground and flush with the bottom surface of the track, it stops rotating. The rocker arm forms a support leg during the operation, ensuring the stability of the robot during the fire extinguishing process and preventing the robot from tipping over due to excessive force from the water gun.

3. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The positive pressure explosion-proof box adopts a positive pressure explosion-proof method. The positive pressure gas source automatically inputs inert gas according to the inert gas concentration sensor in the positive pressure explosion-proof box. When the inert gas concentration in the positive pressure explosion-proof box reaches the explosion-proof requirements, it automatically stops inputting gas. When inert gas is introduced into the positive pressure gas source, it has a heat conduction effect on the positive pressure explosion-proof box, which reduces the temperature of the positive pressure explosion-proof box, maintains the normal working temperature inside the positive pressure explosion-proof box, and prevents the temperature inside the positive pressure explosion-proof box from becoming too high when it is close to a fire source, which could lead to robot system failure. The positive pressure explosion-proof enclosure is coated with a heat-insulating and high-temperature resistant coating. The positive pressure explosion-proof enclosure adopts a multi-layer honeycomb nanoporous structure. The multi-layer honeycomb nanoporous structure is a multi-layer sandwich heat insulation structure composed of three layers of honeycomb nanoporous heat insulation board and two layers of vacuum layer. A vacuum layer is made between every two layers of honeycomb nanoporous heat insulation board to effectively block heat transmission and isolate external high temperature, thereby ensuring that the temperature inside the enclosure is within the normal operating range when the robot is working near a fire source.

4. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The environmental detection system includes a binocular vision camera (7), an integrated gas analyzer (8), a lidar (9), an infrared thermal imaging sensor (10), an explosion-proof lighting lamp (11), and a bionic tactile sensor. The integrated gas and temperature analyzer is installed on the left side of the positive pressure explosion-proof box and can detect the concentrations of methane, oxygen, carbon dioxide, sulfur dioxide, nitrogen dioxide, nitric oxide, and hydrogen sulfide gases, as well as the ambient temperature in the underground environment in real time. The binocular vision camera, infrared thermal imaging sensor, and lidar are installed at the front end of the positive pressure explosion-proof box to detect the underground structural environment information in real time. The bionic tactile sensor is installed at the beginning of the rocker arm. The end wheel of the rocker arm rests naturally on the ground. When the robot is running, the angle between the rocker arm and the track changes as the underground terrain changes. By integrating the angle change information, the underground terrain information data stream is drawn. The environmental detection system is equipped with an intelligent AI hub, which extracts visual image features through an improved YOLO11 convolutional neural network and combines it with a pre-trained deep learning algorithm to quickly identify underground fire points and transmit them to the information fusion system. After information integration, the integrated information and the original data information are transmitted to the surface command platform, where a complete real-time three-dimensional underground environment model is formed.

5. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The tracking and extinguishing system includes a fire source monitoring and tracking device, a multi-functional fire extinguishing nozzle, and an all-angle rotating device (15). The fire source monitoring and tracking device consists of a binocular vision camera and a carbon dioxide concentration detector. The binocular vision camera and the carbon dioxide concentration detector are installed in an explosion-proof housing (12) that is high-temperature resistant, fireproof, and waterproof. The explosion-proof housing is installed at the rear of the multi-functional fire extinguishing nozzle. The multi-functional fire extinguishing nozzle (13) has a nozzle chamber that integrates a water nozzle, a foam nozzle, and a carbon dioxide nozzle. The fire information detected and identified by the environmental detection system and the fire source monitoring and tracking device is transmitted to the information fusion system to determine the fire type, and then outputs a signal to the tracking and extinguishing system to control the corresponding fire extinguishing. The nozzles are equipped with hydraulic slide rails inside the nozzle chambers, allowing for smooth control of the switching between nozzles. Depending on the type of extinguishing agent carried by the robot, the corresponding nozzle type can be arbitrarily changed to achieve efficient fire extinguishing. The omnidirectional rotating device includes a horizontal rotating platform and a vertical rotating platform. The vertical rotating platform is connected to the upper part of the horizontal rotating platform and directly connected to the multi-functional fire extinguishing nozzles. An elastic telescopic fire extinguishing agent delivery pipeline is installed below the horizontal rotating platform, allowing it to rotate with the omnidirectional rotating device. The omnidirectional rotating device can rotate to track and extinguish fires based on the specific location information of the fire source provided by the fire source monitoring and tracking device, improving the real-time performance and accuracy of fire extinguishing, preventing the fire from spreading, and reducing property damage.

6. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The fire extinguishing agent preparation system (14) includes a fire extinguishing agent raw material tank, a fire extinguishing agent mixing and preparation device, and a water self-priming supply system; the fire extinguishing agent raw material tank includes a foam agent tank and a carbon dioxide gas tank; the fire extinguishing agent mixing and preparation device autonomously adjusts the input of each fire extinguishing agent raw material tank according to the different fire source types detected by the environmental detection system, and prepares a suitable fire extinguishing agent ratio to save fire extinguishing agent raw material resources; the water self-priming supply system includes a negative pressure self-priming pump, a water source storage tank, and a water hose reel (16); the water self-priming supply system controls the water hose reel to release the water hose through the location information of the underground water source detected by the environmental detection system, and at the same time starts the negative pressure self-priming pump to place the replenished water source in the water source storage tank; the water hose outlet is equipped with a filter screen, which can filter out impurities from the underground water source in the coal mine to prevent clogging of the water hose and the negative pressure self-priming pump.

7. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The positive pressure explosion-proof box adopts a human spine-inspired bionic topology. A main carbon fiber composite beam runs through the bottom of the box, and four ribs support it to both sides, serving as the core of the robot's architecture. It also integrates the main circuit channel and air pipeline channel, saving space and materials within the box. The rocker arm and track frame are made of aluminum alloy and carbon fiber composite materials, ensuring structural strength while reducing the overall weight of the robot. The water tank and extinguishing agent raw material tank of the fire extinguishing agent preparation system are made of thin-walled high-strength polyethylene, and their spatial layout and weight distribution are optimized through irregular structural design. The all-angle rotating platform and nozzle housing of the tracking fire extinguishing system adopt a hollow design, reducing the inertia of moving parts and improving response speed and movement flexibility. Lightweight design of the robot structure is achieved through topology optimization and finite element analysis, reinforcing the structure in key stress areas and reducing material usage in non-stress areas, resulting in overall robot weight reduction. Multi-layered honeycomb nanoporous thermal insulation material replaces traditional independent thermal insulation panels, eliminating the weight of connecting parts.

8. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The robot's integrated self-diagnosis and status feedback system includes: 1) Real-time monitoring of the remaining power in the power supply system. When the power is below 10%, a report command is sent to the surface command platform. When the power is below 5%, an early warning command is sent, requesting a return to replace the power source; 2) Real-time monitoring of the remaining extinguishing agent in the extinguishing agent raw material tank. When the fire extinguishing task is completed and the remaining amount is less than 10%, an early warning command is sent to the surface command platform, requesting a return to replenish the extinguishing agent. If the remaining extinguishing agent is found to be less than 10% during the fire extinguishing process, a return to replenishment alarm is sent to the surface command platform only after the extinguishing agent is exhausted or the fire is extinguished; 3) Real-time monitoring of the robot's operating status. Status calibration is performed at fixed time intervals. If there is a status deviation, an early warning command is immediately sent to the surface command platform. If the error is small, the robot can continue to detect and extinguish the fire. If the error is large, the robot's operation is forcibly stopped to prevent the robot's explosion-proof measures from failing and creating new hazards.

9. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The robot has two control modes: 1) Based on the real-time three-dimensional environment model of the well, the detection path is autonomously optimized to achieve autonomous navigation and synchronous positioning; 2) Relying on the underground 5G communication environment, it interacts with the surface command platform in real time, and the surface command personnel issue precise control commands to control the operation, detection and fire extinguishing of the robot.

10. The intelligent fire prevention and extinguishing robot for mines according to claim 1, characterized in that, The robot is equipped with a three-level environmental early warning system, including: 1) Self-warning state: When the methane concentration is about to reach the explosion limit or the ambient temperature is higher than 80°C, the robot uploads the warning information to the well command platform, circulates and purges inert gas in the positive pressure explosion-proof box, and limits the power supply voltage. 2) Alarm status: When the methane concentration reaches the explosion limit or the ambient temperature is higher than 160°C, the robot uploads the alarm information to the well command platform, backs up and transmits the original environmental information data detected, and disconnects the power supply system. 3) Shutdown: When the methane concentration reaches the explosion limit and the ambient temperature is higher than 160°C, the robot will shut down immediately.

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