Split type fireproof rescue flying robot combination

Abstract

The application discloses a split type fireproof rescue flying robot combination, and belongs to the cross field of public safety and emergency rescue, high-end equipment manufacturing and new generation information technology. The combination aims to solve the industry pain points of traditional fire rescue response lag, space limitation and inability to close-loop operation. The combination is composed of a fireproof rescue carrier aircraft (100), an aircraft access warehouse receiving and sending mechanism (200), a fireproof rescue robot (300) and an intelligent control system (400). The carrier aircraft is the first to use a foldable duct double-rotor and Mecanum wheel to form an air-land amphibious structure. The receiving and sending mechanism realizes the high-altitude accurate and safe transfer of the robot and personnel. The rescue robot adopts four sets of intelligent wheel-foot and four sets of mechanical hand composite structure, integrates autonomous fire extinguishing and breaking function. The intelligent control system is based on AI deep learning, realizes early warning, fast arrival, precise disposal and high rescue of fire. The application can seamlessly connect the existing fire monitoring platform, is suitable for all scenes of high-rise buildings, factories, communities, warehouses and the like, effectively solves the rescue problem that manpower is difficult to reach, has outstanding creativity, significant progress and strong practicability, and meets the national key development industry direction.

Description

Technical Field

[0001] This invention relates to the interdisciplinary field of intelligent fire rescue equipment, unmanned low-altitude aircraft, and embodied intelligent robots. Specifically, it relates to a modular, air-to-ground collaborative fire rescue flying robot combination with AI autonomous decision-making capabilities. The technical solution of this invention belongs to the public safety and emergency rescue industry, which is explicitly supported by the state. It also deeply integrates with high-end equipment manufacturing, next-generation information technology, and the low-altitude economy, which are key strategic emerging industries for national development, possessing extremely high industrial application value and social benefits. Background Technology

[0002] With the acceleration of urbanization, fire prevention and control in high-rise buildings, large factories and mines, underground spaces, and enclosed warehouses is becoming increasingly challenging. Traditional fire rescue models have exposed a series of fundamental and systemic technical bottlenecks when facing such complex disasters: 1. Delayed response and limited space: Existing fire ladders, aerial platform vehicles, and other equipment have height limitations and are restricted by terrain, making it impossible to quickly reach high-rise buildings or deep areas of complex terrain. Even if firefighters arrive at the scene, they cannot withstand the threats of extreme environments such as high temperatures, toxic fumes, and explosions, resulting in the long-standing unresolved core problem of "difficulty in reaching by manpower." 2. Limited Equipment Functions and Lack of Coordination: Most firefighting drones on the market are limited to reconnaissance, broadcasting, or dropping supplies, lacking the "closed-loop" capability for autonomous entry into buildings, demolition, and firefighting. Meanwhile, ground-based firefighting robots lack high-altitude delivery and support capabilities, making them unable to handle high-rise or multi-level fires. This functional disconnect prevents them from forming a comprehensive air-ground integrated combat capability. 3. Low level of intelligence and reliance on manual decision-making: Most existing equipment relies on manual remote control operation and lacks autonomous environmental perception, path planning, and AI decision-making capabilities. In complex fire scenes with obstructed visibility and interrupted signals, operation is extremely difficult, and the success rate of rescue cannot be guaranteed. Therefore, the market urgently needs an integrated, all-scenario-covering intelligent rescue equipment that can achieve rapid air delivery, autonomous ground operation, precise demolition and firefighting, and intelligent personnel transfer, in order to solve this major problem in the field of public safety from the source. Summary of the Invention

[0003] Technical issues This invention aims to address the technological gap in existing fire and rescue equipment that cannot achieve "air-ground integration and intelligent closed-loop" technology. Specifically, it addresses the following technical problems: difficulty for human personnel to reach high altitudes or enclosed spaces, inability to extinguish initial fires in a timely manner, limited functionality of individual equipment, low efficiency of human-machine collaboration, and insufficient level of intelligence. Technical solution To achieve the above objectives, the present invention provides a split-type fire rescue flying robot assembly, characterized in that it is composed of a fire rescue transport aircraft (100), an aircraft entry and exit cargo handling mechanism (200), a fire rescue robot (300), and an intelligent control system (400) working together to form a complete air-ground integrated intelligent rescue closed-loop system. Firefighting and rescue transport aircraft (100): As an air transport carrier, the main body (101) adopts a lightweight carbon fiber structure. It has amphibious mobility capabilities: The ground travel uses four sets of Mecanum wheels (105) to achieve zero-radius omnidirectional movement and precise attitude adjustment in confined spaces. The aircraft employs four sets of retractable ducted double-layer rotor devices (106) for flight. These devices integrate a rotating folding wing module (106-1), which can be deployed in flight to provide powerful lift and electrically folded when entering narrow passages or during transport, greatly reducing the overall size and wind resistance. Aircraft entry / exit handling mechanism (200): Located inside the main cabin, it is the core link connecting the aircraft and the robot. Through multi-level linkage of the lifting chassis (202) and the telescopic mobile platform (204), and in conjunction with the safety belt device (205), this mechanism can accurately deliver the robot from inside the aircraft to a high-altitude window, or safely transfer distressed personnel back to the aircraft from the window. The handling positioning accuracy is ≤5cm, completely solving the industry problem of high-altitude human-machine transfer. Firefighting and rescue robot (300): It adopts a composite structure of four sets of intelligent wheel legs and four sets of intelligent robotic arms, which has strong terrain adaptability and operation capabilities. Mobility: Through the coordination of hip, knee and ankle joint modules (303-306) and drive wheel device (307), it can autonomously achieve high-speed driving on flat ground, climbing stairs and crossing obstacles. Operational capabilities: Equipped with four sets of integrated intelligent robotic arms on the upper body, the arms can perform delicate actions such as operating fire extinguishers, using demolition tools, opening doors and windows, and assisting in the transfer of personnel through the flexible movement of shoulder, elbow, and wrist joint modules (313-317). Core functions: It integrates a backpack dry powder fire extinguishing device (319) and a door and window breaking toolbox (320), and can independently select the disposal method according to the fire situation. Intelligent Control System (400): The "brain" of this invention. The system is equipped with AI deep learning algorithms and multi-source sensor fusion navigation technology. Through wireless linkage with existing fire monitoring and alarm systems in the site, it achieves fully autonomous intelligent operation: automatic fire identification and location, optimal path planning, autonomous flight and ground navigation, precise robot deployment and retrieval, on-site autonomous decision-making for fire fighting and rescue, and real-time transmission and learning optimization of disaster data. Beneficial effects 1. Emphasize creativity It pioneered the "split-type air-ground collaborative" rescue architecture: it organically combines the "airborne transport platform" and the "ground operation robot" through the "precision delivery mechanism", creating a brand-new model for fire rescue. The combination itself constitutes a disruptive creation of existing single-function equipment. Foldable ducted double-layer rotor design: In the field of low-altitude UAVs, the high-thrust ducted rotor is combined with a Mecanum wheel, and the rotor is electrically folded. This solves the contradiction between "flight performance" and "passing size" of amphibious equipment. The structural design is ingenious and has not been publicly reported. Intelligent wheeled and multi-arm composite structure: In the field of fire rescue robots, the scheme of four sets of wheeled chassis and four sets of robotic arms working together achieves a perfect unity of high mobility and high operability. Its configuration and control strategy have significant originality. 2. Significant progress A leap forward in closed-loop response capabilities: From "discovering a fire" to "extinguishing it on-site," and from "arriving at the scene" to "transferring personnel," this invention achieves a fully automated, unmanned closed-loop operation, improving rescue efficiency from "hours" to "minutes" and minimizing the risk of casualties. AI-enabled adaptive capabilities: The introduction of deep learning algorithms enables the system to continuously learn and optimize rescue strategies, adapting to different building structures, fire development stages, and the state of people trapped. Its level of intelligence far exceeds that of current conventional remote control equipment. 3. Extremely practical Full-scene coverage: It can be seamlessly adapted to various complex environments such as high-rise buildings, factory workshops, underground pipe corridors, residential communities, and warehousing and logistics, and has universal promotion value. Excellent industry compatibility: This invention can achieve data connection and wireless linkage with existing building fire monitoring systems and urban fire command platforms without large-scale modification of existing facilities, which facilitates rapid deployment and industrialization. Attached Figure Description Figure 1 Schematic diagram of a fire rescue transport aircraft (100) Figure 2 Schematic diagram of the aircraft's loading and unloading mechanism (200) Figure 3 Schematic diagram of a fire rescue robot (300) Figure 4 Schematic diagram of intelligent control system (400) Figure 5 Assembly diagram (500) Explanation of reference numerals in the attached figures: Figure 1 Schematic diagram of a fire rescue transport aircraft (100) 101. Main body of fire rescue transport aircraft 101-1. External sealing plate of the main body compartment of the fire rescue transport aircraft 101-2. Electric doors (left and right opening doors) of the main body of the fire rescue and rescue transport aircraft. 102. Identification sensor device for fire prevention and rescue transport aircraft 103. Power storage and supply device for fire prevention and rescue transport aircraft 104. Central control unit for fire prevention and rescue transport aircraft 105. Ground-based self-steering drive wheels for fire-fighting and rescue transport aircraft (four sets) 106. Rotor units for fire rescue and rescue transport aircraft (four sets) 106-1. Rotor unit with built-in motor for rotating and folding fins 106-2. Rotor assembly folding module connecting rod 106-3. Rotor unit with built-in motor-driven ducted propeller for forward and reverse steering. 106-4. Rotor assembly duct connection clamp 106-5. Rotor unit with built-in motor, ducted propeller, and side steering module. 106-6. Tubular duct for rotor assembly 106-7. Connector between the tubular duct of the rotor assembly and the built-in motor shaft module 106-8. Rotor assembly with built-in motor shaft module 106-9. Rotor assembly with double-layer propeller Figure 2 Schematic diagram of the aircraft's loading and unloading mechanism (200) 201. The aircraft's receiving and delivering mechanism lifts the chassis pivot. 202. The aircraft receiving and delivering mechanism lifts the chassis. 203. Fixed slide rails on both sides of the aircraft receiving and delivering mechanism (two sets) 204. Telescopic mobile platform for aircraft receiving and delivering mechanisms 205. Seat belt device for aircraft retrieving and delivering mechanisms 206. Electric device for lifting chassis of aircraft receiving and delivering mechanism 207. Electric slideway for the telescopic mobile platform of the aircraft receiving and dispatching mechanism (two sets) Figure 3 Schematic diagram of a fire rescue robot (300) 301. Mounting base for fire prevention and rescue robots 302. Power storage and supply device for fire prevention and rescue robots 303. Firefighting and rescue robot robotic foot hip joint module (four sets) 304. Firefighting and rescue robot leg and thigh modules (four sets) 305. Firefighting and rescue robot robotic foot and knee joint module (four sets) 306. Firefighting and rescue robot lower leg module (four sets) 307. Firefighting and rescue robot foot drive wheel device (four sets) 308. Braking device for the drive wheels of the fire rescue robot's legs (four sets) 309. Upper body lifting device for fire prevention and rescue robot 310. Upper body waist joint module of fire prevention and rescue robot 311. Upper body structure of fire prevention and rescue robot 312. Head recognition control device for fire prevention and rescue robots 313. Shoulder joint module of fire rescue robot arm (four sets) 314. Firefighting and rescue robot arm rear arm module (four sets) 315. Firefighting and rescue robot elbow joint module (four sets) 316. Firefighting and rescue robot forearm module (four sets) 317. Firefighting and rescue robot wrist joint module (four sets) 318. Firefighting and rescue robot robotic arm gripper module (four sets) 319. Firefighting and rescue robot backpack dry powder fire extinguishing device 320. Firefighting and Rescue Robot Door and Window Breaking Toolbox Figure 4 Schematic diagram of intelligent control system (400) 401. Fire Prevention and Rescue Interactive Platform Central Control System 402. Firefighting and Rescue Aircraft Control System 403. Flight Area Navigation System 404. Fire Prevention and Rescue Robot Central Control System 405. Ground Area Navigation System 406. Power Storage and Supply System for Firefighting and Rescue Aircraft 407. Power Storage and Supply System for Fire Prevention and Rescue Robots Figure 5 Assembly diagram (500) 100. Firefighting and Rescue Transport Aircraft 200. Aircraft loading / unloading mechanism 300. Firefighting and Rescue Robot Detailed Implementation The present invention will be described in detail with reference to the accompanying drawings and two complete preferred embodiments: Example 1: Fire rescue in a high-rise building. 1. Warning Trigger: The intelligent control system (400) is linked with the building fire alarm. When a fire first breaks out on the balcony of a 10th-floor resident, the system will issue an immediate warning and automatically locate the fire. 2. Rapid arrival: The fire rescue transport aircraft (100) starts, the rotors unfold and take off vertically, arriving at the 10th floor window in 30 seconds and hovering, the electric door (101-2) opens automatically; 3. Robot deployment: The in-and-out warehouse receiving and delivery mechanism (200) lifts and extends to accurately deliver the fire rescue robot (300) to the balcony window; 4. On-site handling: The robot (300) enters the room through four sets of wheels, the head recognition device locks the fire source, and the backpack dry powder fire extinguishing device (319) is activated to extinguish the initial fire; 5. Personnel Rescue: When a trapped person is found, the robot uses four sets of robotic arms to assist the person to the pick-up and drop-off platform. The safety belt (205) is automatically secured, and the pick-up and drop-off mechanism retrieves the person back into the aircraft. 6. Safe return: The aircraft carrying people and robots lands vertically in a safe area on the ground, and the AI ​​system records data to complete learning and optimization. Example 2: Fire Inspection and Handling in Factories and Mines 1. Autonomous Inspection: The system automatically patrols the warehouse area at irregular intervals, with the aircraft traveling on the ground and the robot monitoring synchronously along with it; 2. Fire Detection: The robot's head-mounted infrared radar detected abnormal temperatures and excessive smoke concentration in a corner of the warehouse, providing an early warning; 3. On-site firefighting: The robot directly uses the dry powder fire extinguishing device to control the fire and prevent it from spreading; 4. Data Upload: The entire process, including video and data, is uploaded to the fire alarm platform in real time, completing the closed-loop response. 5. AI Optimization: The system has updated warehouse inspection routes to increase the monitoring frequency of key areas. General Workflow 1. Infrared radar, visual imaging, and navigation technology automatically analyze the environment, plan routes, and enter the site; 2. Four sets of intelligent wheels enable rapid driving, walking, and climbing; four sets of robotic arms complete firefighting, demolition, and rescue operations. 3. The receiving and delivery mechanism completes the high-altitude receiving and transfer of robots and personnel; 4. Rapid amphibious support from aircraft; 5. AI deep learning continuously adapts to disaster environments and constantly improves rescue skills. This invention features a novel structural design, complete functions, intelligent efficiency, and strong practicality. It represents a major technological innovation in the field of fire rescue and meets the inventiveness, novelty, and practicality requirements stipulated by the Patent Law, thus qualifying for priority examination.

Claims

1. A modular fire-fighting and rescue flying robot assembly, characterized in that, include: Fire rescue transport aircraft (100), aircraft loading and unloading mechanism (200), fire rescue robot (300) and intelligent control system (400); The fire rescue transport aircraft (100) includes a main body (101), an identification sensor (102), a power storage and energy supply device (103), a central control device (104), four sets of ground-driving self-steering drive wheels (105), and four sets of retractable ducted rotor devices (106). The main body (101) is equipped with an outer sealing plate (101-1) and left and right electric doors (101-2). The retractable ducted rotor device (106) includes a built-in motor rotating wing-folding module (106-1), a connecting rod (106-2), a forward and reverse steering module (106-3), a duct connecting clamp (106-4), a side steering module (106-5), a tubular duct (106-6), a shaft module connector (106-7), a propeller shaft module (106-8), and a double-layer propeller (106-9). The aircraft entry and exit cargo handling mechanism (200) is located inside the main body (101) and includes a lifting chassis pivot (201), a lifting chassis (202), two fixed slide rails (203), a telescopic mobile platform (204), a seat belt device (205), a lifting chassis electric device (206), and two sets of telescopic mobile platform electric slide rails (207). The fire rescue robot (300) includes a mounting base (301), a power storage device (302), four sets of robotic foot hip joint modules (303), thigh module (304), knee joint module (305), calf module (306), drive wheel device (307), brake device (308), upper body lifting device (309), waist joint module (310), upper body structure (311), head recognition and control device (312), four sets of robotic hand shoulder joint modules (313), hind arm module (314), elbow joint module (315), forearm module (316), wrist joint module (317), hand claw module (318), backpack dry powder fire extinguishing device (319), and door and window breaking toolbox (320). The intelligent control system (400) includes a fire rescue interactive platform control system (401), a fire rescue aircraft control system (402), a flight area navigation system (403), a fire rescue robot control system (404), a ground area navigation system (405), an aircraft power storage and supply system (406), and a robot power storage and supply system (407). The combination achieves data linkage with site fire prevention monitoring, fire alarms, and fire alarm platforms through wireless networking, and completes integrated intelligent operations such as automatic inspection, fire early warning, initial fire extinguishing, demolition and entry, and high-altitude personnel transfer.

2. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The ground-based self-steering drive wheel (105) of the fire rescue transport aircraft (100) is an omnidirectional Mecanum wheel, which can achieve zero-radius steering; the foldable ducted rotor device (106) can be folded and stored on the outside of the main body (101), realizing amphibious operation, vertical take-off and landing, and efficient passage in narrow spaces.

3. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The aircraft entry and exit cargo handling mechanism (200) has vertical lifting, horizontal extension and retraction, shaft tilting and rotation, and intelligent restraint and fixation functions. The handling and positioning accuracy is ≤5cm, which can accurately transfer the robot and the distressed personnel through the building window.

4. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The fire rescue robot (300) adopts a composite structure of four sets of intelligent wheel legs and four sets of intelligent robotic arms, which can walk, climb, cross obstacles, break down barriers, extinguish fires, and rescue personnel autonomously, adapting to complex disaster environments.

5. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The head recognition control device (312) of the fire rescue robot (300) integrates infrared radar, visual imaging, smoke detection, and temperature detection modules, and combined with AI autonomous decision-making, to achieve accurate fire identification, automatic path planning, and intelligent on-site handling.

6. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The intelligent control system (400) is equipped with a deep learning algorithm. Through multi-scenario disaster training, it continuously optimizes rescue strategies, improves response speed and operational accuracy, and has significant technological advancements.

7. The split-type fire rescue flying robot assembly according to claim 1, characterized in that, The fire rescue robot (300) can autonomously activate the backpack dry powder fire extinguishing device (319) to extinguish fires, or break doors and windows to enter enclosed fire areas through the door and window breaking toolbox (320).

8. The split-type fire rescue flying robot assembly according to any one of claims 1-7, characterized in that, The combination enables unscheduled autonomous patrols, real-time fire monitoring, and immediate response to initial fires, curbing the spread of fires at the source. It is suitable for all scenarios, including residential communities, factories, mines, buildings, schools, warehouses, military units, and government agencies.

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