Fire patrol intelligent robot

Abstract

The application discloses a fire-fighting inspection intelligent robot, which comprises a robot main body, a water supply system, two groups of spray heads and a swing assembly. The swing assembly is arranged on the robot main body and is arranged to control the spray heads to swing with a first axis and a second axis as the rotation center lines, and the first axis and the second axis are perpendicular. The water supply system comprises a proportional adjusting valve, the proportional adjusting valve has three ports, including one water inlet and two water outlets, the flow distribution proportion of the two water outlets is adjustable, and the two water outlets are connected with the two groups of spray heads respectively. The fire-fighting inspection intelligent robot has the advantages that the swing assembly is designed to drive the spray heads to swing at multiple angles, the horizontal swing angle and the pitch angle of the double spray heads are adjustable, the fire extinguishing range is wider, and the robot can more efficiently extinguish fire.

Description

Technical Field

[0001] This invention belongs to the field of fire protection equipment technology. Specifically, this invention relates to an intelligent fire inspection robot. Background Technology

[0002] With the rapid development of society and economy, and the special nature of construction and enterprise production, the potential hazards of chemical and radioactive material leaks, as well as fires, explosions, and collapses, have increased, and the probability of accidents has also increased accordingly. Once a disaster occurs, if firefighters rush into the scene without appropriate equipment when facing hazardous environments such as high temperatures, darkness, toxic substances, and dense smoke, they will not only fail to complete their mission but also increase casualties. As a type of special robot, fire inspection robots are playing an increasingly important role in firefighting and inspection.

[0003] Chinese patent CN211097195U discloses a fire-fighting robot, including a main unit with a water tank installed inside. An upper platform is fixed to the main unit, and a rotatable water spray pipe is mounted on the upper platform, connected to the water tank. Tracked assemblies are located on both sides of the main unit. This product, as a water spraying device to replace manual firefighting, can be used as a fire safety training tool and can be remotely controlled to enter a fire scene for firefighting. Because firefighting requires a large amount of water, the main unit of this application can be enlarged. The water tank has a water inlet and outlet, allowing for on-demand water filling and operation, thus completing both firefighting and training tasks. However, its drawbacks are: although the aforementioned patent allows for rotating water spraying, in practical applications, we have found certain shortcomings. For example, the water spray pipe can only rotate and cannot adjust its pitch angle, making it inconvenient to use and limiting its firefighting range.

[0004] This invention provides a fire inspection intelligent robot, specifically addressing how to improve the robot's firefighting range and ensure more efficient firefighting. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a fire inspection intelligent robot, the purpose of which is to increase the robot's fire-fighting range and ensure more efficient fire suppression.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a fire inspection intelligent robot, including a robot body, a water supply system, two sets of nozzles and a swing assembly, wherein the swing assembly is disposed on the robot body and is configured to control the nozzles to swing around a first axis and a second axis as rotation center lines, wherein the first axis and the second axis are perpendicular to each other;

[0007] The water supply system includes a proportional regulating valve with three ports, including one inlet and two outlets. The flow distribution ratio of the two outlets is adjustable, and the two outlets are connected to two sets of nozzles respectively.

[0008] The swing assembly includes a drive mechanism, a base, a connecting seat, a mounting frame, a rotating frame, and a connecting plate. The base is rotatably mounted on the robot body, and the rotation center line of the base is the first axis. The mounting frame is connected to the outside of the connecting seat. The rotating frame is rotatably connected to the mounting frame. The connecting plate is fixedly connected to the rotating frame. The nozzle is mounted on the connecting plate. The drive mechanism is connected to the rotating frame and is configured to control the rotating frame to swing around the second axis as the rotation center line.

[0009] The drive mechanism includes a drive motor and a power transmission mechanism, with the power transmission mechanism connected to the drive motor and the rotating frame.

[0010] The power transmission mechanism includes a meshing worm and a worm wheel, with the worm wheel connected to the rotating frame and the worm connected to the drive motor.

[0011] The rotating frame is fixedly connected to the worm wheel at the center of the worm wheel, and the axis of the worm wheel is the second axis.

[0012] The swing assembly also includes a swing actuator connected to the base.

[0013] The water supply system also includes a water storage tank, which is located inside the robot body. A first delivery pipe is provided on the outside of the water storage tank, and a connecting shell is provided on the top of the robot body near the end of the first delivery pipe.

[0014] The first delivery pipe extends from the end away from the water storage tank into the interior of the connecting shell. A water pump is installed inside the connecting shell. The water inlet of the water pump is connected to the first delivery pipe, and the water outlet of the water pump is connected to the water inlet of the proportional regulating valve. The two water outlets of the proportional regulating valve are connected to the two sets of nozzles through two second delivery pipes. The second delivery pipes pass through the side wall of the connecting shell.

[0015] The proportional control valve is electrically connected to the control system. The control system dynamically adjusts the valve core rotation angle of the proportional control valve according to a preset control strategy to control the flow distribution ratio of the two outlets.

[0016] The fire inspection intelligent robot of the present invention has the following beneficial effects:

[0017] By designing the swing component, the nozzles can swing at multiple angles. The adjustment of the horizontal swing angle and pitch angle of the dual nozzles allows for a wider fire extinguishing range, enabling the robot to extinguish fires more efficiently. Attached Figure Description

[0018] This manual includes the following figures, which illustrate the following:

[0019] Figure 1 This is a schematic diagram of the overall structure of the fire inspection intelligent robot of the present invention;

[0020] Figure 2 This is a schematic diagram of the swing assembly structure;

[0021] Figure 3 This is a schematic diagram of the support structure;

[0022] The components in the diagram are labeled as follows: 1. Robot body; 2. First nozzle; 3. Swing assembly; 4. Base; 5. Drive motor; 6. Mounting frame; 7. Rotating frame; 8. Connecting plate; 9. Connecting seat; 10. Worm gear; 11. Worm wheel; 12. Water storage tank; 13. First delivery pipe; 14. Connecting shell; 15. Second delivery pipe; 16. Second nozzle. Detailed Implementation

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and to facilitate its implementation.

[0024] It should be noted that in the following embodiments, the terms "first," "second," and "third" do not represent an absolute distinction in structure and / or function, nor do they represent the order of execution; they are merely for the convenience of description.

[0025] like Figures 1 to 3 As shown, this embodiment of the invention provides a fire inspection intelligent robot, including a robot body 1, a water supply system, two sets of nozzles, and a swing assembly 3. The swing assembly 3 is disposed on the robot body 1 and is configured to control the nozzles to swing around a first axis and a second axis as rotation centers. The first axis and the second axis are perpendicular to each other, the first axis is a vertical line, and the second axis is a horizontal line. The water supply system includes a proportional regulating valve with three ports, including one inlet and two outlets. The flow distribution ratio of the two outlets is adjustable, and the two outlets are respectively connected to the two sets of nozzles.

[0026] Specifically, such as Figures 1 to 3As shown, the swing assembly 3 includes a drive mechanism, a base 4, a connecting seat 9, a mounting frame 6, a rotating frame 7, and a connecting plate 8. The base 4 is rotatably mounted on the robot body 1, and the rotation center line of the base 4 is the first axis. The mounting frame 6 is connected to the outside of the connecting seat 9. The rotating frame 7 is rotatably connected to the mounting frame 6. The connecting plate 8 is fixedly connected to the rotating frame 7. The nozzle is mounted on the connecting plate 8. The drive mechanism is connected to the rotating frame 7 and is configured to control the rotating frame 7 to swing around the second axis as the rotation center line.

[0027] like Figures 1 to 3 As shown, the drive mechanism includes a drive motor 5 and a power transmission mechanism, which is connected to the drive motor 5 and the rotating frame 7. The power transmission mechanism includes a meshing worm and a worm wheel 11. The worm wheel 11 is connected to the rotating frame 7, and the worm is connected to the drive motor 5. The drive motor 5 is mounted on the base 4 and drives the worm to rotate. The axis of the worm is parallel to the first axis, and the axis of the worm wheel 11 is parallel to the second axis. The connecting seat 9 provides support for the worm. The worm passes through the connecting seat 9 and the mounting frame 6, which is fixedly mounted on the connecting seat 9. The rotating frame 7 is fixedly connected to the worm at its center. When the worm rotates, it drives the rotating frame 7 to rotate. The rotating frame 7 drives the nozzle to rotate synchronously through the connecting plate 8, thereby adjusting the nozzle's pitch angle.

[0028] In this embodiment of the invention, the swing assembly 3 further includes a swing actuator connected to the base 4. The swing actuator is mounted on the robot body 1 and is a telescopic component, such as an electric cylinder or a hydraulic cylinder. Both ends of the swing actuator are rotatably connected to the base 4 and the robot body 1, respectively. The lower end of the base 4 is rotatably connected to the robot body 1. Through the extension and retraction of the swing actuator, the base 4 rotates around the first axis, causing the nozzle to swing in the left-right direction, thus adjusting the nozzle's spray direction. The multi-angle swing of the nozzle, with adjustable pitch angle, provides a wider fire extinguishing range, enabling fire extinguishing at higher locations and further improving the fire extinguishing range and efficiency.

[0029] like Figure 1As shown, the water supply system also includes a water storage tank 12, which is located inside the robot body 1. A first delivery pipe 13 is provided on the outside of the water storage tank 12, and a connecting shell 14 is provided on the top of the robot body 1 near the end of the first delivery pipe 13. The end of the first delivery pipe 13 away from the water storage tank 12 extends into the interior of the connecting shell 14. A water pump is located inside the connecting shell 14. The inlet of the water pump is connected to the first delivery pipe 13, and the outlet of the water pump is connected to the inlet of a proportional regulating valve. The two outlets of the proportional regulating valve are connected to two sets of nozzles through two second delivery pipes 15, which pass through the side wall of the connecting shell 14. When the water pump is started, water from the water storage tank 12 can be introduced into the water pump through the first delivery pipe 13, and then the water can be introduced into the nozzles through the second delivery pipes 15, and then sprayed out by the nozzles to extinguish the fire. The water output ratio of the two nozzles can be adjusted by controlling the proportional regulating valve.

[0030] In this embodiment of the invention, the drive motor 5, the swing actuator, the water pump, the proportional regulating valve, and the control system are electrically connected. The control system dynamically adjusts the rotation angle of the valve core of the proportional regulating valve according to a preset control strategy to control the flow distribution ratio of the two outlets. The proportional regulating valve can achieve proportional flow distribution. The two outlets of the proportional regulating valve are a first outlet and a second outlet, and the two nozzles are a first nozzle 2 and a second nozzle 16. The first outlet is connected to the first nozzle 2 through a second delivery pipe 15, and the second outlet is connected to the second nozzle 16 through another second delivery pipe 15.

[0031] The proportional control valve is a rotary ball valve with two outlets that can achieve proportional regulation. During robot operation, the rotation angle of the internal valve core of the proportional control valve is dynamically adjusted according to a preset control strategy to control the flow ratio of the two outlets. The valve core rotation angle is dynamically adjusted according to different scenarios to control the flow ratio of specific two outlets, meeting the needs of different operating modes.

[0032] In this embodiment of the invention, the preset control strategy includes:

[0033] When the proportional control valve rotates within the range of 0° to 50°, the flow ratio of the first outlet and the second outlet changes inversely. When the proportional control valve rotates at 0°, 100% flow flows through the first outlet, the first nozzle 2 sprays water at full flow, and the second nozzle 16 does not spray water, thus achieving single-sided nozzle alignment with the fire source. When the proportional control valve rotates at 50°, 100% flow flows through the second outlet, the second nozzle 16 sprays water at full flow, and the first nozzle 2 does not spray water, thus achieving single-sided nozzle alignment with the fire source.

[0034] The rotation angle of the valve core of the proportional control valve is strictly limited to the range of 0° to 50°. Within this range, the flow distribution between the first outlet and the second outlet changes in a strictly inverse proportion. That is, when the flow ratio of one outlet increases with the increase of the angle, the flow ratio of the other outlet decreases simultaneously, and the sum of the flow of the first outlet and the second outlet is always equal to the total flow of the control valve inlet.

[0035] From the perspective of extreme working conditions:

[0036] When the valve core of the proportional control valve rotates at 0°, the internal channel of the proportional control valve is fully open to the first outlet, and 100% of the flow from the inlet flows through the first outlet and is finally delivered to the first nozzle 2. At this time, the first nozzle 2 sprays water at full flow. Meanwhile, the second outlet is completely blocked by the valve core, and the second nozzle 16 has no water output.

[0037] When the valve core of the proportional control valve rotates at an angle of 50°, the valve core channel of the proportional control valve switches to a state where the second outlet is fully open. 100% of the flow rate from the inlet flows to the second outlet and supplies the second nozzle 16, which sprays water at full flow. The first outlet is blocked, and the first nozzle 2 stops spraying water.

[0038] When the valve core rotation angle of the proportional control valve is in the middle range of 0° to 50°, the inlet of the proportional control valve always remains connected to both outlets simultaneously, but the cross-sectional area of ​​the connection between the two outlets adjusts in opposite directions as the angle changes:

[0039] As the rotation angle of the valve core of the proportional control valve increases, the cross-sectional area connecting the inlet and the second outlet gradually decreases, and the flow rate proportion of the second outlet decreases accordingly. At the same time, the cross-sectional area connecting the inlet and the first outlet gradually increases, and the flow rate proportion of the first outlet increases accordingly.

[0040] Throughout the entire adjustment process of the proportional control valve, the sum of the cross-sectional areas of the two outlets is always equal to the cross-sectional area of ​​the inlet, ensuring that the total flow area of ​​the water remains unchanged and avoiding sudden changes in water flow velocity or pressure fluctuations in the system due to diversion.

[0041] To precisely control flow distribution, this invention embodiment clarifies the quantitative relationship between the valve core rotation angle and the proportion of outlet flow through a formula:

[0042] Let the rotation angle of the valve core of the proportional control valve be α (unit: °, and 0°≤α≤50°), then:

[0043] The flow rate percentage of the first outlet is Q1 = [(50°-α) / 50°] × 100%;

[0044] The flow rate percentage of the second outlet is Q2 = (α / 50°) × 100%.

[0045] Taking a proportional control valve with its spool rotated at 25° as an example: When the spool is at a 25° rotation position, substitute the values ​​into the formula to calculate:

[0046] The proportion of flow rate at the first outlet = [(50°-25°) / 50°]×100% = 50%;

[0047] The flow rate percentage of the second outlet = (25° / 50°) × 100% = 50%;

[0048] At this time, the water flow from the inlet of the proportional regulating valve is evenly distributed to the two outlets: 50% of the water flow is delivered to the first nozzle 2 through the first outlet, and the remaining 50% is delivered to the second nozzle 16 through the second outlet. Since the total flow area is consistent with the cross-sectional area of ​​the inlet, the water flow speed remains stable and there is no problem of sudden pressure change. It is suitable for scenarios where two fire points are extinguished at the same time and the fire intensity is similar.

[0049] Taking the proportional control valve core at a 10° rotation angle as an example (focusing on the first nozzle 2 operating condition): When the valve core is at a 10° rotation position, substitute into the formula to calculate:

[0050] The proportion of flow rate at the first outlet = [(50°-10°) / 50°]×100%≈80%;

[0051] The flow rate percentage of the second outlet is approximately 20% (10° / 50°) × 100%.

[0052] At this time, the first outlet receives a higher flow rate (about 80%), which is suitable for scenarios where "the fire area corresponding to the first nozzle 2 is larger and the fire is more intense". The fire can be quickly suppressed by increasing the water flow of the first nozzle 2; the second nozzle 16 assists in extinguishing the fire with a flow rate of 20% to prevent the local fire from spreading.

[0053] Taking the proportional control valve core at a 40° rotation angle as an example (focusing on the second nozzle 16 operating condition): When the valve core is at a 40° rotation position, substitute into the formula to calculate:

[0054] The proportion of flow rate at the first outlet = [(50°-40°) / 50°]×100%≈20%;

[0055] The flow rate percentage of the second outlet is approximately 80% (40° / 50°) × 100%.

[0056] At this time, the second outlet receives a higher flow rate (about 80%), which is suitable for scenarios where "the second nozzle 16 corresponds to a larger fire area and a more rapid fire". The fire can be quickly suppressed by increasing the water flow of the second nozzle 16; the first nozzle 2 assists in extinguishing the fire with a flow rate of 20% to prevent the local fire from spreading.

[0057] Through the aforementioned preset control strategy, the rotary ball valve-type proportional control valve brings two major technical advantages to the fire inspection robot:

[0058] 1. Flexible flow distribution to adapt to different scenarios: Based on the precise adjustment of the valve core angle, the flow ratio of the two nozzles can be dynamically adjusted according to scenario parameters such as the number of fire points, the size of the fire, and the location of the fire points, avoiding the problem that a single flow rate cannot cover multiple fire points and improving the targeting of fire suppression.

[0059] 2. Stable and reliable system operation: Because the total flow area is always consistent with the inlet cross-sectional area, the water flow velocity and system pressure remain stable. There will be no problems such as water flow interruption or pressure drop leading to shortened spray range due to flow ratio adjustment, ensuring the continuity and effectiveness of the fire extinguishing process.

[0060] In this embodiment of the invention, the fire inspection intelligent robot also includes a detection system. The detection system includes a vision sensor, a flow sensor, a distance sensor, a flame sensor, and a temperature sensor. These sensors are electrically connected to the control system. The robot body 1 is equipped with these sensors. The flame sensor identifies the location, range, and intensity of the fire. The temperature sensor detects the temperature distribution in the area. The flow sensor collects the actual water flow rate from the two nozzles in real time. The distance sensor measures the distance between the nozzle and the fire. The vision sensor, flame sensor, temperature sensor, and distance sensor are connected to the control system via a data bus, forming a multi-source data acquisition network. The control system is linked with the drive motor 5 and the swing actuator of the swing assembly 3 to achieve coordinated control of the flow rate ratio and nozzle angle. The vision sensor uses image algorithm analysis to achieve qualitative and quantitative identification of the fire, overcoming the limitation of traditional sensors that can only detect the presence or absence of a fire. It distinguishes between a real fire and interfering light sources, avoiding false triggering of fire extinguishing actions. During the fire extinguishing process, the vision sensor monitors changes in the fire point in real time.

[0061] During operation, after the robot body 1 moves to the fire area, the detection system collects data simultaneously:

[0062] Flame sensors determine the distribution of the fire (e.g., the fire area on the left side of the robot body 1 is 0.8㎡, and the fire area on the right side is 1.5㎡).

[0063] Temperature sensors detect the temperature of the fire point (e.g., the core temperature of the fire point on the left side of the robot body 1 is 720℃, and the core temperature of the fire point on the right side is 550℃).

[0064] The distance sensor measures the distance between the nozzle and the fire point (e.g., the first nozzle 2 on the left is 3m away from the fire point on the left, and the second nozzle 16 on the right is 2.5m away from the fire point on the right).

[0065] The control system calculates the optimal flow ratio between the two outlets of the proportional regulating valve based on the preset control strategy, combined with factors such as fire size, temperature, and distance. The larger the fire area and the closer the distance, the higher the flow rate is required to ensure a wide coverage area and strong water jet impact from the nozzles. The higher the temperature, the more the flow rate of the nozzles needs to be increased to suppress high-temperature reignition.

[0066] For example, if the area of ​​the right fire point is 1.9 times that of the left fire point and the distance is 0.5m closer, the control system decides that the flow rate of the second nozzle 16 accounts for 65% and the flow rate of the first nozzle 2 accounts for 35%.

[0067] The control system sends a signal to the proportional regulating valve drive module to control the valve core rotation angle, adjusting the opening of the second outlet to 65% and the opening of the first outlet to 35%, thereby achieving flow distribution.

[0068] At the same time, the control system can send angle commands to the swing assembly 3, and the two swing actuators control the two bases 4 to rotate, so that the first nozzle 2 swings 15° to the left and the second nozzle 16 swings 10° to the right to aim at the fire point. The pitch angle of the nozzles can also be adjusted as needed.

[0069] If the fire situation changes, such as the fire on the left reigniting or the temperature rising to the preset threshold, the sensor uploads new data in real time, and the control system recalculates the flow ratio to achieve dynamic adaptation.

[0070] When the detection system detects two independent fire sources, namely the first fire point and the second fire point, the distance sensor collects the straight-line distance D1 from the first nozzle 2 to the first fire point and the straight-line distance D2 from the second nozzle 16 to the second fire point in real time. Following the logic of high flow rate near the fire point and appropriate flow rate for the fire point far away, the closer the fire point is to the nozzle, the stronger the water flow impact and the more accurate the coverage, and a higher flow rate needs to be allocated to quickly suppress the fire; the farther the distance, the water flow needs to maintain a sufficient range, and an appropriate flow rate needs to be allocated to avoid waste. At the same time, the pitch angle of the nozzle is adjusted by the swing component 3 to ensure that the water flow hits the target.

[0071] When the detection system detects two independent fire sources, namely the first fire point and the second fire point, the distance sensor collects the straight-line distance D1 from the first nozzle 2 to the first fire point and the straight-line distance D2 from the second nozzle 16 to the second fire point in real time. Combining the distances D1 and D2 between the two fire sources, a quantitative calculation model is established as follows:

[0072] 1. First step: Calculate distance weights;

[0073] First, calculate the distance weight between the two fire points to reflect the degree of influence of distance on traffic allocation:

[0074] The distance weight of the first fire point is W1 = D2 / (D1+D2).

[0075] The distance weight of the second fire point is W2 = D1 / (D1+D2);

[0076] The closer the distance, the greater the corresponding weight. For example, if D1 = 2m and D2 = 3m, W1 = 3 / (2+3) = 0.6 and W2 = 2 / (2+3) = 0.4. The closer the first fire point, the higher the weight.

[0077] 2. Second step: Calculation of traffic share;

[0078] Based on distance weighting, the target flow rate proportions for the first nozzle 2 and the second nozzle 16 are allocated as follows:

[0079] The target flow rate percentage of the first nozzle 2 is Q1_target = W1 × 100%.

[0080] The target flow rate percentage of the second nozzle 16 is Q2_target = W2 × 100%;

[0081] Meanwhile, the constraints are set as follows: Q1_target and Q2_target must be within the range of 10%-90% - to avoid the fire suppression being too weak due to too low flow rate, or the system pressure fluctuating due to too high flow rate. If the calculation result exceeds the range, the boundary value shall be taken. For example, if Q1_target>90%, then take 90% and Q2_target<10%, then take 10%.

[0082] 3. Third step: Calculate the rotation angle of the proportional control valve core;

[0083] Convert the target flow rate percentage into the valve core rotation angle α:

[0084] From Q1=(50°-α) / 50°×100%→ we can derive:

[0085] α=50°(Q1_target / 100%×50°)

[0086] For example, if Q1_target = 60%, then α = 50° - (60% × 50°) = 20°. At this time, Q2_target = 40%, which is a perfect match with Q2 = 20° / 50° × 100% = 40% when α = 20°, which conforms to the inverse proportional regulation law of the regulating valve.

[0087] In this embodiment of the invention, the preset control strategy includes:

[0088] When the detection system detects two independent fire sources, namely the first fire point and the second fire point, the distance sensor collects the straight-line distance D1 from the first nozzle 2 to the first fire point and the straight-line distance D2 from the second nozzle 16 to the second fire point in real time. The vision sensor assists in calibration. If the two fire points are located on the same side of the robot body 1 (e.g., both on the left side of the robot), the control system instructs the swing component 3 to adjust the first nozzle 2 and the second nozzle 16 to swing synchronously to the left to ensure that the nozzle axis is aligned with the fire point. Then, the distances D1 and D2 are collected again. The distance weights W1 and W2 of the first fire point and the second fire point are calculated. Then, the target flow ratio Q1_target of the first nozzle 2 and the target flow ratio Q2_target of the second nozzle 16 are calculated. The control system sends a signal to the proportional regulating valve to control the valve core to rotate to the set angle, thereby adjusting the flow ratio of the first nozzle 2 and the second nozzle 16. After the water pump is started, the water flows through the proportional regulating valve to the two nozzles. The flow sensor collects the actual flow of the nozzles in real time.

[0089] In this embodiment of the invention, the nozzle is controlled by the above-mentioned control strategy. By calculating the distance, the problem of insufficient flow at distant fire points to cover near fire points and excessive flow at near fire points is avoided, thus improving practicality. The linkage proportional adjustment valve, swing component 3, and multiple sensors form a closed-loop process of perception-calculation-execution-feedback, ensuring the efficiency and stability of dual-ignition source fire suppression, expanding the applicable scenarios of the robot, and meeting the fire suppression needs of single and multiple fire points.

[0090] Example

[0091] In this embodiment, a fire inspection robot is used in a multi-layered warehouse to handle localized fires.

[0092] The warehouse environment where the multi-layer shelving is located is: a 500㎡ single-story warehouse with 4 sets of 3-layer steel shelving inside, and a 2m wide aisle in the middle of the warehouse.

[0093] The following fire occurred inside the warehouse:

[0094] On the left side, on the second shelf of shelf number 2 (2.2m high), a pile of cardboard boxes caught fire, with an area of ​​0.6㎡ and a core temperature of 680℃, with no obvious smoke; on the right side, on the ground below shelf number 1 (0.4m high), scattered plastic film caught fire, with an area of ​​1.2㎡ and a core temperature of 520℃, accompanied by a small amount of molten dripping.

[0095] Constraints: The warehouse aisle is narrow, and the robot body 1 can only stay in the middle aisle. The robot body 1 is 3.5m away from the left fire point and 3m away from the right fire point, and cannot get close to either fire point.

[0096] The complete firefighting process of the robot is as follows:

[0097] Phase 1: Robot Body 1 Response and Initial Localization;

[0098] After the warehouse fire protection system triggers the alarm, the robot body 1 starts from the standby point, moves along the preset path to the middle aisle of the warehouse, locates the two fire points through visual sensors and distance sensors, and starts the fire extinguishing mode after stopping.

[0099] Phase 2: Multi-sensor fire detection and decision-making;

[0100] The flame sensor identifies the left fire point (i.e., the second layer of shelf 2) and the right fire point (i.e., the lower layer of shelf 1);

[0101] The temperature sensor reports a temperature of 450℃ around the left ignition point and a temperature of 320℃ around the right ignition point.

[0102] The control system makes decisions based on fire point height, area, and distance.

[0103] Left fire point: requires medium flow rate and high elevation angle to ensure that the water flow accurately covers the upper layer. Set the flow rate ratio of the first nozzle 2 to 40%, the elevation angle of the first nozzle 2 to 30°, and the left and right swing angle to the left to 18°.

[0104] Right fire point: High flow rate and low elevation angle are required to ensure that the water flow spreads and covers the ground. Set the flow rate ratio of the second nozzle 16 to 60%, the elevation angle of the second nozzle 16 to 10°, and the left and right swing angle to the right to 15°.

[0105] Phase 3: Proportional Adjustment and Coordinated Spraying;

[0106] The control system sends instructions to the proportional control valve: the opening of the first outlet is 40%, the opening of the second outlet is 60%, the flow sensor monitors in real time, and calibrates to the set value within 5 seconds;

[0107] The swing assembly 3 operates as follows: the two swing actuators drive the two sets of nozzles to swing to the left to 18° and to the right to 15° respectively. The drive motor 5 adjusts the elevation angle of the first nozzle 2 to 30° to ensure that it can cover the left fire point, and the elevation angle of the second nozzle 16 to 10° to cover the entire range of the right fire point.

[0108] Water spraying effect: The water jet from the first nozzle 2 is sprayed in a narrow beam precisely at the fire point on the second shelf, suppressing the burning of the high-temperature cardboard box; the water jet from the second nozzle 16 is sprayed in a wide beam to cover the fire point on the ground, quickly extinguishing the flames of molten plastic.

[0109] Phase 4: Dynamic Adjustment and Fire Extinguishing;

[0110] The detection system reported that the flame at the right ignition point was basically extinguished and the temperature had dropped to 280℃, while the left ignition point still had a few sparks and the temperature was 620℃.

[0111] The control system dynamically adjusts the flow rate of the second nozzle 16 to 20% to maintain ground cooling, while increasing the flow rate of the first nozzle 2 to 80% to enhance the extinguishing of the sparks. At the same time, the pitch angle of the first nozzle 2 is slightly adjusted to 28° so that the water flow is closer to the position of the sparks.

[0112] The detection system performed another test, and the feedback results were: the spark at the left ignition point was extinguished and the temperature dropped to 300℃; the right ignition point showed no signs of reignition and the temperature was 250℃; the control system commanded the proportional regulating valve to gradually reduce the flow rate of the two nozzles, and the swing assembly 3 was reset to the neutral position.

[0113] Phase 5: Firefighting Confirmation and Evacuation;

[0114] The detection system conducted a final test and the feedback results were: no open flame, temperature below 200℃, and no smoke, confirming that the fire was extinguished.

[0115] The robot body 1 shuts down the water pump and proportional control valve, evacuates the warehouse along the original path, and uploads the fire extinguishing data to the fire control system.

[0116] In this embodiment, the control system can achieve a wider fire extinguishing range through the synergistic effect of on-demand flow distribution and nozzle angle adjustment. By setting differentiated flow rates, it can simultaneously cover multiple fire points at different heights and in different ranges, avoiding the problem of insufficient coverage of high-altitude fire points or wasted flow rates for ground fire points by a single flow rate. Moreover, it can make real-time decisions based on multiple sensors, dynamically adapting the flow rate ratio to changes in the fire situation, reducing ineffective water spraying time, reducing water storage consumption, and extending the continuous operation time of the robot body 1.

[0117] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A fire inspection intelligent robot, comprising a robot body (1) and a water supply system, characterized in that: It also includes two sets of nozzles (2) and a swing assembly (3). The swing assembly (3) is disposed on the robot body (1). The swing assembly (3) is configured to control the nozzles (2) to swing around the first axis and the second axis as the rotation center line. The first axis and the second axis are perpendicular to each other. The water supply system includes a proportional regulating valve with three ports, including one inlet and two outlets. The flow distribution ratio of the two outlets is set to be adjustable, and the two outlets are respectively connected to two sets of nozzles (2).

2. The fire inspection intelligent robot according to claim 1, characterized in that: The swing assembly (3) includes a drive mechanism, a base (4), a connecting seat (9), a mounting frame (6), a rotating frame (7), and a connecting plate (8). The base (4) is rotatably mounted on the robot body (1), and the rotation center line of the base (4) is the first axis. The mounting frame (6) is connected to the outside of the connecting seat (9). The rotating frame (7) is rotatably connected to the mounting frame (6). The connecting plate (8) is fixedly connected to the rotating frame (7). The nozzle (2) is mounted on the connecting plate (8). The drive mechanism is connected to the rotating frame (7) and is configured to control the rotating frame (7) to swing around the second axis as the rotation center line.

3. The fire inspection intelligent robot according to claim 2, characterized in that: The drive mechanism includes a drive motor and a power transmission mechanism, and the power transmission mechanism is connected to the drive motor and the rotating frame (7).

4. The fire inspection intelligent robot according to claim 3, characterized in that: The power transmission mechanism includes a meshing worm (10) and a worm wheel (11), the worm wheel (11) is connected to the rotating frame (7), and the worm (10) is connected to the drive motor.

5. The fire inspection intelligent robot according to claim 3, characterized in that: The rotating frame (7) is fixedly connected to the worm wheel (11) at the center of the worm wheel (11), and the axis of the worm wheel (11) is the second axis.

6. The fire inspection intelligent robot according to any one of claims 2 to 5, characterized in that: The swing assembly (3) also includes a swing actuator connected to the base (4).

7. The fire inspection intelligent robot according to any one of claims 1 to 5, characterized in that: The water supply system also includes a water storage tank (12), which is located inside the robot body (1). A first delivery pipe (13) is provided on the outside of the water storage tank (12), and a connecting shell (14) is provided on the top of the robot body (1) and near the end of the first delivery pipe (13).

8. The fire inspection intelligent robot according to claim 7, characterized in that: The first delivery pipe (13) extends from the end away from the water storage tank (12) into the interior of the connecting shell (14). The interior of the connecting shell (14) is equipped with a water pump. The water inlet of the water pump is connected to the first delivery pipe (13), and the water outlet of the water pump is connected to the water inlet of the proportional regulating valve. The two water outlets of the proportional regulating valve are connected to the two sets of nozzles (2) through two second delivery pipes (15). The second delivery pipes (15) pass through the side wall of the connecting shell (14).

9. The fire inspection intelligent robot according to claim 8, characterized in that: The proportional control valve is electrically connected to the control system. The control system dynamically adjusts the valve core rotation angle of the proportional control valve according to a preset control strategy to control the flow distribution ratio of the two outlets.

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