Controllable local broken window bionic fire-fighting unmanned aerial vehicle

Abstract

The application relates to the technical field of fire rescue, and discloses a controllable local broken-window bionic fire rescue unmanned aerial vehicle, which comprises the following: an unmanned aerial vehicle, the bottom of which is provided with a bionic mechanical arm, and the front end of which is provided with a vacuum adsorption mechanism, which is used for adsorbing on the outer side wall of a fire building; a modularized end effector, which is arranged at the moving end of the bionic mechanical arm, and is used for loading one or more of an impact type broken-window effector, a cutting type broken-window effector and fire extinguishing bombs; the modularized end effector can break the window through the impact type broken-window effector and the cutting type broken-window effector, or throw the fire extinguishing bombs into the fire building. The power for breaking the window is provided by the spring elasticity, and the spring elasticity can be controlled by driving the motor to drive the sliding block to compress the spring, so that the impact force for breaking the window is controllable, the whole glass can be prevented from being broken in a pulverized manner, the impact force for breaking the window can be adjusted according to different glass materials and sizes, and the stability of the unmanned aerial vehicle work is improved.

Description

Technical Field

[0001] This invention relates to the field of fire rescue technology, and in particular to a biomimetic firefighting drone with controllable partial window breaking capability. Background Technology

[0002] Fires in high-rise and super high-rise buildings pose one of the most severe public safety challenges to modern cities. These buildings are characterized by complex structures, high population density, and multiple pathways for fire spread, difficulty in firefighting, and challenges in evacuation. During rescue operations, timely breaking of exterior windows for smoke extraction and heat dissipation, and the creation of rescue routes, are crucial steps in saving lives and controlling the fire.

[0003] Existing methods for breaking windows mainly rely on two approaches: one is for firefighters to approach the work area using ladder trucks, but this is limited by the lifting height of the equipment and is ineffective for super high-rise buildings; the other is for firefighters to go to the floor through the stairwell and manually break the window in the high temperature and thick smoke, which is not only extremely inefficient but also puts firefighters in danger.

[0004] To address the aforementioned technical challenges, drone technology has been applied to window-breaking operations in high-rise buildings. Typically, this involves mounting glass-breaking projectiles on a drone, which is then piloted by firefighters to strike the glass. However, this method has significant technical drawbacks: First, the recoil of the glass-breaking projectile is large at the moment of launch, and the impact force generated by the pressure difference between the inside and outside when the window is broken is also very large, which can easily cause the drone to lose control of its attitude or even crash. Second, glass-breaking bombs usually cause tempered glass to shatter completely, generating a large number of high-speed flying glass fragments that can damage flying drones. Third, it has limited functionality and cannot control the window breaking effect based on the glass material and size, resulting in insufficient precision in window breaking operations.

[0005] Therefore, how to partially or completely overcome the above-mentioned technical defects is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a biomimetic firefighting drone with controllable partial window breaking to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides a biomimetic firefighting drone with controllable partial window breaking, comprising: The drone has a bionic robotic arm at its bottom and a vacuum adsorption mechanism at its front end, which is used to adhere to the outer wall of the building on fire. A modular end effector is disposed at the moving end of the bionic robotic arm. The modular end effector is used to load one or more of an impact-type window breaker, a cutting-type window breaker, and a fire extinguishing bomb. The modular end effector can break windows using the impact-type window breaker or the cutting-type window breaker, or throw the fire extinguishing bomb into the burning building.

[0008] Furthermore, the vacuum adsorption mechanism includes: Multiple vacuum suction cups are arranged in an array and positioned at the front of the drone; A vacuum pump, connected to multiple vacuum suction cups via a vacuum tube, is used to draw the vacuum suction cups to a negative pressure and cause them to adhere to the outer wall of the fire-damaged building. An adsorption state monitor, located on the outside of the vacuum pump, is used to monitor the adsorption state of the vacuum suction cup.

[0009] Furthermore, the adsorption state monitor is a vacuum level monitor or a camera, the vacuum level monitor is connected to the vacuum tube, and the image acquisition end of the camera faces the vacuum suction cup.

[0010] Furthermore, an emergency release valve is provided on the vacuum tube. When the emergency release valve is opened, the vacuum tube and suction cup are released from negative pressure.

[0011] Furthermore, the bionic robotic arm includes at least four rotary joints and is driven by a reducer.

[0012] Furthermore, the modular end effector includes: The actuator body is detachably connected to the moving end of the bionic robotic arm, and the actuator body has a defined receiving cavity inside; And those located within the receiving cavity: The slide rail has an outlet communicating with the receiving cavity on the actuator body, one end of the slide rail corresponds to the outlet, and the other end of the slide rail is provided with a limit block; A slider is slidably mounted on the upper surface of a slide rail. One side of the slider is connected to a limiting block via a spring, and the other side is provided with a quick-change interface corresponding to the outlet. The quick-change interface is used to load one or more of an impact-type window breaker actuator, a cutting-type window breaker actuator, and a fire extinguishing bomb. A drive mechanism, located on one side of the slide rail, is used to drive the slider to compress the spring or release the spring force. The impact-type window breaker and the cutting-type window breaker extend from the outlet and break the window by the spring force. The fire extinguishing bomb is thrown into the burning building by the spring force.

[0013] Furthermore, the quick-change interface is a flexible snap or a mechanical snap.

[0014] Furthermore, the drive mechanism includes: A rack is slidably disposed on the outside of the slide rail. A micro motor is disposed inside the rack. A rotating key is disposed on the output end of the micro motor. A keyway is disposed on the bottom of the slider. The keyway is located outside the slide rail and corresponds to the rotating keyway. The gear meshes with the rack and is driven to rotate by a drive motor. When the gear rotates, the rack can slide along the outside of the slide rail to the position corresponding to the key pin and the keyway. The micro motor is used to drive the key pin to enter or move out of the keyway. When the key pin enters the keyway, the drive motor can synchronously drive the rack and the slider.

[0015] Furthermore, the impact-type window-breaking actuator is a window-breaking pin with a conical tip that can extend from the outlet and break the window; the cutting-type window-breaking actuator is a glass cutter mounted on a cutter holder connected to a quick-change interface, and the glass cutter can extend from the outlet and break the window.

[0016] Furthermore, it also includes: The clamping assembly holds and fixes the fire extinguishing bomb in the clamping assembly. The clamping assembly consists of two clamping arms, one of which extends to form a connecting part, which is connected to a quick-change interface.

[0017] The present invention discloses the following technical effects: This invention employs an impact-type and a cutting-type window-breaking actuator. The force for breaking the window is provided by the elasticity of a spring, which can be controlled by a drive motor that compresses the spring via a slider. Therefore, the impact force of breaking the window is controllable. It enables controlled partial window breaking, avoiding complete shattering of the glass, and allows adjustment of the impact force according to different glass materials and sizes. Furthermore, this partial window breaking avoids generating large recoil forces and large internal and external pressure differences after the window is broken, improving the stability of the drone during operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of a vacuum adsorption mechanism; Figure 3Schematic diagram of the installation of an impact-type window breaker actuator; Figure 4 Schematic diagram of the installation of a cutting-type window breaker actuator; Figure 5 Diagram showing the installation of fire extinguishing bombs; Among them, 1. Drone; 2. Vacuum adsorption mechanism; 21. Vacuum suction cup; 22. Vacuum pump; 23. Adsorption status monitor; 24. Emergency release valve; 3. Bionic robotic arm; 4. Modular end effector; 41. Window breaker pin; 42. Knife holder; 421. Glass cutter; 43. Fire extinguishing bomb; 44. Clamping assembly; 5. Quick-change interface; 6. Rotary joint; 7. Spring; 8. Rack; 9. Rotary key; 10. Slider; 11. Gear. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 5 As shown, this embodiment of the invention provides a biomimetic firefighting drone with controllable partial window breaking, comprising: The drone 1 has a bionic robotic arm 3 at its bottom and a vacuum adsorption mechanism 2 at its front end. The vacuum adsorption mechanism 2 is used to adsorb onto the outer wall of the building on fire. Modular end effector 4 is located at the moving end of bionic robotic arm 3. Modular end effector 4 is used to load one or more of impact window breaker actuator, cutting window breaker actuator and fire extinguishing bomb 43. Modular end effector 4 can break windows with impact window breaker actuator or cutting window breaker actuator, or throw fire extinguishing bomb 43 into the fire building.

[0024] In this embodiment, the vacuum adsorption mechanism 2 includes: Multiple vacuum suction cups 21 are arranged in an array and positioned at the front end of the UAV 1; Vacuum pump 22 is connected to multiple vacuum suction cups 21 through a vacuum tube. Vacuum pump 22 is used to draw vacuum suction cups 21 to negative pressure and make vacuum suction cups 21 adhere to the outer wall of the fire-damaged building. The adsorption state monitor 23 is located outside the vacuum pump 22 and is used to monitor the adsorption state of the vacuum suction cup 21.

[0025] In this embodiment, the adsorption status monitor 23 is a vacuum monitor or a camera. The vacuum monitor is connected to the vacuum tube, and the image acquisition end of the camera is facing the vacuum suction cup 21. The vacuum monitor can detect the vacuum level of the vacuum tube in real time to determine whether the vacuum suction cup 21 is adsorbed on the outer wall of the fire building. If the vacuum level does not reach the preset value, it proves that the adsorption force is insufficient. The camera can directly capture and transmit the image of the vacuum suction cup 21, so as to intuitively observe whether the adsorption is successful.

[0026] In this embodiment, an emergency release valve 24 is provided on the vacuum tube. When the emergency release valve 24 is opened, the vacuum tube and suction cup are released from negative pressure.

[0027] In this embodiment, the bionic robotic arm 3 includes at least four rotary joints 6, and the bionic robotic arm 3 is driven by a reducer.

[0028] In this embodiment, the modular end effector 4 includes: The actuator body is detachably connected to the moving end of the bionic robotic arm 3, for example, by snap-fit, threaded connection, etc., and the actuator body has a defined receiving cavity inside. And those located within the receiving cavity: The slide rail has an outlet that communicates with the receiving cavity. One end of the slide rail corresponds to the outlet, and the other end of the slide rail is provided with a limit block. The slider 10 is slidably disposed on the upper surface of the slide rail. One side of the slider 10 is connected to the limit block by the spring 7, and the other side is provided with a quick-change interface 5 corresponding to the outlet. The quick-change interface 5 is used to load one or more of the impact window breaker, the cutting window breaker and the fire extinguishing bomb 43. The drive mechanism, located on one side of the slide rail, is used to drive the slider 10 to compress the spring 7 or release the elastic force of the spring 7. The impact-type window breaker and the cutting-type window breaker extend from the outlet and break the window through the elastic force of the spring 7. The fire extinguishing bomb 43 is thrown into the burning building through the elastic force of the spring 7.

[0029] In this embodiment, the quick-change interface 5 is an elastic snap or a mechanical snap.

[0030] In this embodiment, the driving mechanism includes: The rack 8 is slidably mounted on the outside of the slide rail. A micro motor is installed inside the rack 8. A rotating key 9 is installed on the output end of the micro motor. The rotating key 9 can be made of rigid material or elastic material. The bottom of the slider 10 is provided with a keyway, which is located outside the slide rail and corresponds to the rotating key 9. Gear 11 meshes with rack 8 and is driven to rotate by a drive motor. When gear 11 rotates, rack 8 can slide along the outside of the slide rail to the position where rotating key pin 9 corresponds to the keyway. The micro motor is used to drive rotating key pin 9 into or out of the keyway. When rotating key pin 9 enters the keyway, drive motor can synchronously drive rack 8 and slider 10.

[0031] In this embodiment, the impact-type window breaker actuator is a window breaker pin 41, which has a conical tip made of hard alloy. The conical tip can extend from the outlet and break the window. The cutting-type window breaker actuator is a glass cutter 421, which is mounted on a cutter holder 42 and specifically adopts a high-hardness alloy cutter wheel. The cutter holder 42 is connected to the quick-change interface 5. The glass cutter 421 can extend from the outlet and break the window.

[0032] In this embodiment, it also includes: The fire extinguishing bomb 43 is clamped and fixed in the clamping assembly 44. The clamping assembly 44 consists of two clamping arms, one of which extends to form a connecting part, which is connected to the quick-change interface 5.

[0033] In this embodiment, it also includes: The control system is integrated into the UAV 1 and is used to control the flight and hovering of the UAV 1, the adsorption and release of the vacuum adsorption component, the movement of the bionic robotic arm 3, and the entire working process of the modular end effector 4.

[0034] The specific work process is as follows: 1. The window-breaking process of an impact-type window-breaking actuator S1: First, the operator controls the drone 1 to fly to the target fire building and starts the vacuum pump 22. The drone 1 is attached to the outer wall of the fire building by the vacuum suction cup 21. The impact window breaker actuator is moved to a position close to the glass window by the bionic robotic arm 3. S2: The drive motor drives the rack 8 to slide (the micro motor can also be pre-started). The rack 8 slides along the outside of the slide rail to the position where the rotating key pin 9 corresponds to the keyway. The micro motor drives the rotating key pin 9 to enter the keyway. At this time, the rack 8 and the slider 10 are connected as one unit. The drive motor can drive the rack 8 and the slider 10 synchronously. The drive motor drives the slider 10 to compress the spring 7, so that the spring 7 generates elastic force. Then the micro motor drives the rotating key pin 9 to move out of the keyway. The spring 7 releases the elastic force instantly and drives the window breaking pin 41 to spring out from the exit towards the glass window. The elastic force, i.e. the window breaking impact force, can be controlled by changing the displacement of the slider 10 according to the different materials and sizes of the glass window. S3: Repeat step S2 to repeatedly impact the glass window until it is broken.

[0035] 2. The window-breaking process of a cutting-type window-breaking actuator Unlike impact-type window breakers, cutting-type window breakers do not require impacting the glass window. After the drone 1 attaches to the outer wall of the burning building, the spring force of the spring 7 and the bionic robotic arm 3 press the glass cutter 421 against the glass window, and then cut the glass window along a straight line or a preset movement path.

[0036] 3. The throwing process of fire extinguishing grenade 43 The throwing step of the fire extinguishing bomb 43 occurs after the window-breaking process of the impact-type window breaker or the cutting-type window breaker. Similar to step S2 above, after the spring 7 generates elastic force, the micro motor drives the rotating key pin 9 to move out of the keyway. The spring 7 instantly releases its elastic force and drives the clamping assembly 44 and the fire extinguishing bomb 43 to move outward together. If the quick-change interface 5 is an elastic buckle, the elastic force of the elastic buckle is set to be less than the elastic force of the spring 7, so that the clamping assembly 44 and the fire extinguishing bomb 43 can detach from the elastic buckle during the outward movement. If the quick-change interface 5 is a mechanical buckle, an electronic valve that can contact the mechanical buckle is correspondingly provided. The electronic valve can adopt existing technology and is also controlled by the control system. While the clamping assembly 44 and the fire extinguishing bomb 43 move outward together, the mechanical buckle is released through the electronic valve. At this time, the clamping assembly 44 and the fire extinguishing bomb 43 are thrown into the burning building under the action of elastic force.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection between two components. The term refers to the connection between parts or the interaction between two elements, unless otherwise explicitly defined. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A biomimetic firefighting drone with controllable partial window breaking, characterized in that, include: The drone (1) has a bionic robotic arm (3) at its bottom and a vacuum adsorption mechanism (2) at its front end. The vacuum adsorption mechanism (2) is used to adsorb onto the outer wall of the building in the fire. A modular end effector (4) is disposed at the moving end of the bionic robotic arm (3). The modular end effector (4) is used to load one or more of an impact window breaker, a cutting window breaker, and a fire extinguishing bomb (43). The modular end effector (4) can break windows with the impact window breaker or the cutting window breaker, or throw the fire extinguishing bomb (43) into the burning building. The modular end effector (4) includes: The actuator body is detachably connected to the moving end of the bionic robotic arm (3), and the actuator body has a cavity defined inside; And those located within the receiving cavity: The slide rail has an outlet communicating with the receiving cavity on the actuator body, one end of the slide rail corresponds to the outlet, and the other end of the slide rail is provided with a limit block; The slider (10) is slidably set on the upper surface of the slide rail. One side of the slider (10) is connected to the limiting block by a spring (7), and the other side is provided with a quick-change interface (5) corresponding to the outlet. The quick-change interface (5) is used to load one or more of the impact window breaker, the cutting window breaker and the fire extinguishing bomb (43). The driving mechanism is located on one side of the slide rail and is used to drive the slider (10) to compress the spring (7) or release the spring (7). The impact window breaker and the cutting window breaker extend from the outlet and break the window by the spring (7). The fire extinguishing bomb (43) is thrown into the fire building by the spring (7). The drive mechanism includes: A rack (8) is slidably disposed on the outside of the slide rail. A micro motor is disposed inside the rack (8). A rotating key (9) is disposed on the output end of the micro motor. A keyway is disposed at the bottom of the slider (10). The keyway is located outside the slide rail and corresponds to the rotating key (9). The gear (11) meshes with the rack (8) and is driven to rotate by the drive motor. When the gear (11) rotates, the rack (8) can slide along the outside of the slide rail to the position corresponding to the key pin (9) and the keyway. The micro motor is used to drive the key pin (9) to enter or move out of the keyway. When the key pin (9) enters the keyway, the drive motor can synchronously drive the rack (8) and the slider (10).

2. The biomimetic firefighting drone with controllable partial window breaking as described in claim 1, characterized in that, The vacuum adsorption mechanism (2) includes: Multiple vacuum suction cups (21) are arranged in an array and positioned at the front end of the UAV (1); A vacuum pump (22) is connected to a plurality of vacuum suction cups (21) via a vacuum tube. The vacuum pump (22) is used to draw the vacuum suction cups (21) to a negative pressure and make the vacuum suction cups (21) adhere to the outer wall of the fire-damaged building. An adsorption state monitor (23) is located outside the vacuum pump (22) and is used to monitor the adsorption state of the vacuum suction cup (21).

3. The biomimetic firefighting drone with controllable partial window breaking as described in claim 2, characterized in that, The adsorption state monitor (23) is a vacuum monitor or a camera. The vacuum monitor is connected to the vacuum tube, and the image acquisition end of the camera faces the vacuum suction cup (21).

4. The biomimetic firefighting drone with controllable partial window breaking as described in claim 2, characterized in that, An emergency release valve (24) is provided on the vacuum tube. When the emergency release valve (24) is opened, the vacuum tube and suction cup are released from negative pressure.

5. The biomimetic firefighting drone with controllable partial window breaking as described in claim 1, characterized in that, The bionic robotic arm (3) includes at least four rotary joints (6) and is driven by a reducer.

6. The biomimetic firefighting drone with controllable partial window breaking as described in claim 1, characterized in that, The quick-change interface (5) is an elastic buckle or a mechanical buckle.

7. The biomimetic firefighting drone with controllable partial window breaking as described in claim 1, characterized in that, The impact-type window breaker actuator is a window breaker pin (41), which has a conical tip that can extend from the outlet and break the window; the cutting-type window breaker actuator is a glass cutter (421), which is mounted on a cutter holder (42) connected to a quick-change interface (5). The glass cutter (421) can extend from the outlet and break the window.

8. The biomimetic firefighting drone with controllable partial window breaking as described in claim 1, characterized in that, Also includes: The clamping assembly (44) holds and fixes the fire extinguishing bomb (43) in the clamping assembly (44). The clamping assembly (44) consists of two clamping arms, one of which extends to form a connecting part, which is connected to the quick-change interface (5).

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