Firefighting underwater rescue robot machine maintenance method

Abstract

The present application relates to the technical field of underwater fire fighting and rescue, and particularly relates to a fire-fighting underwater rescue robot machine maintenance method, which comprises controlling an underwater rescue device to travel to a target position, and acquiring a real-time rotating speed of a propeller; based on the real-time rotating speed, a cleaning frequency is positively correlated with the real-time rotating speed; in the process of traveling, a traveling speed of the device is acquired, based on the traveling speed, a traveling water flow is used to drive a hydraulic impeller to rotate, and a wiping member is used to wipe a camera window, a wiping frequency is positively correlated with the traveling speed, the cleaning frequency is positively correlated with the rotating speed of the propeller, and the wiping frequency is positively correlated with the traveling speed. The cleaning and wiping are automatically stopped when the propeller stops, and are automatically woken up when the propeller is restarted, without the need of an additional power source. The wiping member is automatically parked at a standby position at a low speed, without blocking the camera view, and full-automatic adaptive maintenance is realized. Whether a person contacts or not is judged by detecting a pressure value on a contact surface of a detection device, and a short false touch is filtered in combination with a duration.

Description

Technical Field

[0001] This invention relates to the technical field of underwater fire rescue, and in particular to a method for maintaining an underwater fire rescue robot. Background Technology

[0002] In underwater fire and rescue operations, rescue equipment needs to operate for extended periods in complex underwater environments. Impurities such as aquatic plants, silt, and suspended matter easily adhere to the surface of the thrusters and camera windows, affecting propulsion efficiency and camera clarity. Existing rescue equipment typically requires manual cleaning and maintenance after each use; however, during continuous rescue missions, the equipment cannot be maintained in a timely manner during breaks, leading to a decline in its performance during subsequent rescue operations.

[0003] Furthermore, people who fall into the water lose body temperature rapidly after immersion, and even if they are rescued onto rescue equipment, they may face life-threatening hypothermia. Current rescue equipment typically requires the person in the water to operate the heating device themselves, but if they are physically exhausted or disoriented, they may be unable to perform the heating operation, missing the optimal time for rewarming. Additionally, if the heating device is activated prematurely or continues to operate when no one is using it, it results in energy waste.

[0004] Therefore, there is a need for an underwater fire rescue method that can automatically perform self-maintenance during rescue operations, adaptively start heating based on personnel contact status, and has intelligent judgment functions such as overheat protection, zoned heating, and accidental touch filtering. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems existing in the current maintenance methods for underwater rescue robots, this invention is proposed.

[0007] Therefore, the purpose of this invention is to provide a machine maintenance method for a fire-fighting underwater rescue robot, the purpose of which is to improve its maintenance-free nature.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: S1: Control the underwater rescue device to move towards the target location and obtain the real-time rotation speed of the thruster; based on the real-time rotation speed, drive the cleaning component to clean the filter screen on the surface of the thruster through the magnetic connection of the thruster's rotating shaft, and the cleaning frequency is positively correlated with the real-time rotation speed; during the movement, obtain the device's travel speed, and based on the travel speed, drive the hydraulic impeller to rotate through the travel water flow, thereby driving the wiping component to wipe the camera window, and the wiping frequency is positively correlated with the travel speed; S2: Obtain the pressure value applied to the contact surface of the device; determine whether the pressure value exceeds a preset contact threshold; if the pressure value exceeds the contact threshold, determine that there is personnel contact, trigger the heating module to start, and heat the contact surface; if the pressure value does not exceed the contact threshold, determine that there is no personnel contact, and the heating module remains in the off state. S3: After determining that someone has touched the heating module, obtain the real-time temperature; determine whether the real-time temperature exceeds the preset safe temperature threshold; if it exceeds, stop heating and issue an overheat warning; if it does not exceed, maintain the heating state. S4: After determining that personnel have made contact, continuously monitor the pressure value; when the pressure value drops below the contact threshold, determine that the personnel have left the device, and the heating module automatically shuts off; if the pressure value is detected to exceed the contact threshold again within the preset monitoring time period, it is determined to be continuous use of the same rescue mission, and the heating module does not restart the temperature judgment process, but directly resumes heating; if the pressure value is below the contact threshold for a duration exceeding the preset interval threshold, it is determined to be a new rescue mission, and all judgment processes are reset.

[0009] As a preferred embodiment of the machine maintenance method for the underwater rescue robot of the present invention, wherein: the wiping component in S1 wipes the camera window, and further includes: when the traveling speed is lower than the preset minimum wiping speed threshold, the speed of the hydraulic impeller is insufficient to drive the wiping component to move, and the wiping component automatically stops at the standby position on one side of the camera window, without obstructing the camera's field of view; when the traveling speed recovers to above the minimum wiping speed threshold, the hydraulic impeller re-drives the wiping component to resume the wiping action.

[0010] In a preferred embodiment of the maintenance method for the underwater rescue robot described in this invention, in step S2, after determining that a person has made contact, the duration of the contact pressure is also obtained; the heating module is only triggered to start when the pressure value exceeds the contact threshold and the duration exceeds a preset time threshold; when the duration does not exceed the time threshold, it is determined to be a brief accidental contact, and the heating module is not activated.

[0011] As a preferred embodiment of the maintenance method for the underwater rescue robot in this invention, in step S2, the device is provided with multiple independent contact surfaces, each of which acquires a pressure value and independently determines whether to trigger the heating module of the corresponding area; when a person is detected to be in contact with a certain area, only the heating module of that area is activated, while the heating modules of other areas remain closed.

[0012] As a preferred embodiment of the maintenance method for the underwater rescue robot in this invention, in step S3, when the real-time temperature exceeds the safe temperature threshold, the heating power is reduced to a preset heat preservation power to maintain the contact surface temperature within a preset human comfort temperature range and avoid excessive temperature fluctuations; when the real-time temperature drops below the safe temperature threshold, the heating power is restored to normal.

[0013] As a preferred embodiment of the maintenance method for the underwater rescue robot described in this invention, the following steps are taken: before S1, the start-up status of the thruster is obtained; when the thruster is in the start-up state, the cleaning component and the wiping component are automatically triggered to enter the working preparation state; when the thruster is in the off state, the cleaning component and the wiping component are in the dormant state; when the thruster switches from the off state to the start-up state, the cleaning component and the wiping component are automatically awakened from the dormant state and enter the working state.

[0014] As a preferred embodiment of the maintenance method for the underwater rescue robot in the fire fighting of the present invention, in step S2, the traveling speed of the device is obtained; when the traveling speed is zero, it is determined that the device has reached the personnel position or has stopped, and the heating module is switched to the preheating standby state; when the pressure value is detected to exceed the contact threshold, the heating module is directly switched from the preheating standby state to the heating state, thereby shortening the heating response time.

[0015] As a preferred embodiment of the maintenance method for the underwater rescue robot of the present invention, the following features: a housing, a support tube disposed inside the housing, a return spring disposed at the top of the support tube, a support rod slidably connected inside the support tube, a support plate fixedly disposed at the top of the support rod, and a heating component disposed at the bottom of the support plate; The traveling mechanism includes a support shell, filter plates rotatably connected to both ends of the support shell, a connecting rod fixedly mounted on one side of the support shell, a scraper fixedly connected to one side of the connecting rod, a mounting bracket fixedly mounted on one side of the support shell, a drive motor mounted on one side of the mounting bracket, and a fan blade mounted on one side of the drive motor. An imaging mechanism, comprising a water collection hood, wherein a plurality of water passage holes are provided on one side of the water collection hood, and a first baffle and a second baffle are provided inside one side of the water collection hood, wherein a guide plate is provided between the first baffle and the second baffle, the guide plate being slidably connected to the water collection hood, and a water collection hole is provided through one side of the second baffle. The imaging mechanism also includes a driving component, which includes a driving box. A water inlet is provided on one side of the driving box, an impeller is provided inside the driving box, a water outlet pipe is provided on the top of the driving box, and a driven wheel is fixedly connected to the bottom of the impeller through a rotating rod. A mounting shell is fixedly connected to one side of the water collection hood. Multiple imaging components are arranged inside the mounting shell. A cleaning component is rotatably connected to the bottom of the mounting shell. The cleaning component includes a driven ring, and a cleaning brush is fixedly arranged on one side of the driven ring.

[0016] The beneficial effects of this invention are as follows: the cleaning frequency is positively correlated with the propeller rotation speed, and the wiping frequency is positively correlated with the travel speed. Cleaning and wiping automatically stop when the propeller stops and automatically resume when the propeller restarts, requiring no additional power source. At low speeds, the wiping component automatically stops at the standby position, without obstructing the camera's view, achieving fully automatic adaptive maintenance. The pressure value on the contact surface of the device is detected to determine if there is personnel contact, and short-term false touches are filtered out by combining the duration. Only continuous and effective contact triggers heating, and only the heating module in the contact area is activated, while other areas remain off, maximizing energy conservation. When the device is stationary, the heating module automatically switches to preheating standby mode, so that the target temperature can be quickly reached upon contact, shortening the heating response time and providing valuable recovery time for those who have fallen into the water. During the heating process, the heating temperature is continuously monitored, and if it exceeds the safety threshold, the power is automatically reduced to a heat preservation state to prevent burns to those who have fallen into the water, while maintaining a stable contact surface temperature to avoid excessive temperature fluctuations. The heating module automatically shuts off after personnel leave, saving energy. If personnel briefly leave and then re-contact during the same rescue mission, heating is directly resumed without reassessment, reducing response delay. All decision-making processes are automatically reset between different rescue missions to ensure that each rescue starts from the initial state. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of 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. Wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2A bottom view of the overall structure provided for this invention.

[0019] Figure 3 This is a partial schematic diagram of the imaging mechanism provided by the present invention.

[0020] Figure 4 This is a schematic diagram of the traveling mechanism provided by the present invention.

[0021] Figure 5 This is a schematic diagram showing the cooperation between the driving component and the cleaning component provided by the present invention.

[0022] Figure 6 This is a schematic diagram of the interior of the housing provided by the present invention. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0026] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0027] Example 1

[0028] Reference Figures 1-6 This is the first embodiment of the present invention, which provides a method for maintaining a fire-fighting underwater rescue robot.

[0029] Rescuers activate the underwater rescue device remotely. The thruster's activation status is obtained; once activated, the cleaning and wiping components are automatically put into operational readiness. The underwater thruster then propels the device towards the target location.

[0030] The real-time rotational speed of the propeller is obtained. The propeller's rotating shaft drives the cleaning components to continuously rotate and scrape away impurities from the filter screen via magnetic linkage. The water flow washes away the scraped impurities from the filter screen. The higher the propeller's rotational speed, the higher the cleaning frequency.

[0031] During operation, the device's speed is recorded. The flowing water drives a hydraulic impeller to rotate, which in turn drives a wiping component to wipe the camera window via a transmission mechanism. The faster the speed, the higher the wiping frequency. When the speed falls below a minimum wiping speed threshold, the wiping component automatically stops at a standby position on one side of the camera window, ensuring it does not obstruct the camera's view. Once the speed returns to normal, the wiping component automatically resumes its wiping action.

[0032] The device's travel speed is acquired. When the travel speed drops to zero, it is determined that the device has reached the personnel's location, and the heating module automatically switches to preheating standby mode.

[0033] Once rescuers approach the device, they grasp the contact surface. The pressure applied to the contact surface is recorded. If this pressure exceeds a preset contact threshold, the duration of the contact pressure is recorded. If the duration exceeds a preset time threshold, it is considered valid contact, triggering the heating module to heat the contact surface.

[0034] The device has multiple independent contact surfaces. When rescue personnel only come into contact with one of the contact surfaces, the heating module in that area will be activated, while the heating modules in other areas will remain off.

[0035] After the heating module is activated, its real-time temperature is acquired. If the real-time temperature exceeds the safe temperature threshold, the heating power is automatically reduced to the heat preservation power to maintain the contact surface temperature within a comfortable range for the human body. Once the real-time temperature drops below the safe temperature threshold, the heating power is restored to normal.

[0036] After the rescuers have successfully gripped and climbed the device, they leave the contact surface. The pressure value is continuously monitored. Once the pressure value drops below the contact threshold, it is determined that the personnel have left, and the heating module automatically shuts off.

[0037] If, within the preset monitoring period, the person to be rescued grasps the contact surface again, and the pressure value exceeds the contact threshold again, it is determined to be continuous use for the same rescue mission. The heating module directly resumes heating without restarting the temperature judgment process.

[0038] If the pressure value remains below the contact threshold for more than a preset interval threshold after a rescue mission is completed, it is considered a new rescue mission, and all judgment processes are automatically reset.

[0039] Ideally, if a rescuer briefly touches the contact surface and then immediately leaves, and the pressure exceeds the contact threshold but the duration does not exceed the time threshold, it is determined to be a brief accidental touch, and the heating module will not start, thus avoiding accidental heating activation caused by water flow impact or misoperation.

[0040] Preferably, during operation, the device's speed remains consistently above the minimum wiping speed threshold, with the hydraulic impeller continuously rotating to drive the wiping component to continuously wipe the camera window. As the device approaches the target location and begins to decelerate, falling below the minimum wiping speed threshold, the wiping component automatically stops at a standby position on one side of the camera window to avoid obstructing the camera's view. After the device stops, the hydraulic impeller ceases rotation, and the wiping component remains in standby mode. The entire wiping process is driven entirely by the flowing water, requiring no electricity.

[0041] Ideally, after the heating module is activated, the real-time temperature continues to rise. When it approaches the safe temperature threshold, the heating module reduces its heating power in advance, allowing the real-time temperature to steadily approach the safe temperature threshold, avoiding passive adjustments after the temperature overshoots and exceeds the safe threshold. This predictive power regulation method can further reduce temperature fluctuations and improve the comfort and safety of people falling into the water.

[0042] Example 2

[0043] Reference Figures 1-6 This is the second embodiment of the present invention, which provides a fire-fighting underwater rescue robot.

[0044] Specifically: box body 1, support tube 11 set inside the box body 1, return spring 12 set at the top of support tube 11, support rod 14 slidably connected inside support tube 11, support plate 13 fixedly set at the top of support rod 14, and heating component 15 set at the bottom of support plate 13. The traveling mechanism 2 includes a support shell 21, with filter plates 22 rotatably connected to both ends of the support shell 21, a connecting rod 23 fixedly installed on one side of the support shell 21, a scraper 24 fixedly connected to one side of the connecting rod 23, a mounting bracket 24 fixedly installed on one side of the support shell 21, a drive motor 26 installed on one side of the mounting bracket 24, and a fan blade 27 installed on one side of the drive motor 26. The imaging mechanism 3 includes a water collection hood 31. A plurality of water passage holes 311 are provided on one side of the water collection hood 31. A first baffle 312 and a second baffle 314 are provided inside one side of the water collection hood 31. A guide plate 313 is provided between the first baffle 312 and the second baffle 314. The guide plate 313 is slidably connected to the water collection hood 31. A water collection hole 3141 is provided through one side of the second baffle 314. The imaging mechanism 3 also includes a drive component 32, which includes a drive box 321. A water inlet 3211 is provided on one side of the drive box 321. An impeller 3212 is provided inside the drive box 321. A water outlet pipe 3213 is provided on the top of the drive box 321. The bottom of the impeller 3212 is fixedly connected to a driven wheel 323 via a rotating rod 322.

[0045] A mounting shell 33 is fixedly connected to one side of the water collection cover 31. Multiple imaging components 34 are arranged inside the mounting shell 33. A cleaning component 35 is rotatably connected to the bottom of the mounting shell 33. The cleaning component 35 includes a driven ring 351. A cleaning brush 352 is fixedly arranged on one side of the driven ring 351.

[0046] The drive motor 26 drives the fan blades 27 to rotate in the forward or reverse direction, thereby causing the whole to rise or fall. Since the edge of the fan blades 27 is equipped with magnets and the bottom of the filter plate 22 is also equipped with magnets, the filter plate 22 is rotated by magnetism, thereby ensuring that impurities are scraped off. The faster the movement speed, the higher the cleaning frequency.

[0047] When the device descends, the water flow impacts the water collection hood 31. Excess water is discharged through the water passage 311, ensuring smooth movement. Some water flows towards the second baffle 314 under the action of the guide plate 313. If the movement speed is too slow, the guide plate 313 does not move, and the water flows out naturally. When the movement speed reaches a certain level, the guide plate 313 moves, and the water flows into the drive box 321 through the water collection hole 3141, causing the impeller 3212 to rotate. Under the action of the rotating rod 322 and the driven wheel 323, the driven ring 351 and the cleaning brush 352 rotate, thus preventing the cleaning brush 252 from obstructing the camera's field of view due to excessively slow rotation. When the travel speed resumes, the wiping component automatically resumes the wiping action.

[0048] When the person awaiting rescue touches one of the support plates 13, only the heating component 15 in that area is activated, while the heating components 15 in other areas remain off.

[0049] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible without substantially departing from the novelty and advantages of the subject matter described in this application. For example, variations in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​such as temperature, pressure, etc., installation arrangements, use of materials, color, orientation, etc. For instance, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise changed, and the nature or number or position of discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure performing the function described herein, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims. Furthermore, for the purpose of providing a concise description of exemplary embodiments, not all features of the actual embodiments may be omitted, i.e., those features not relevant to the currently considered best mode for carrying out the invention, or those features not relevant to implementing the invention.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for maintaining a fire-fighting underwater rescue robot, characterized in that, Includes the following steps: S1: Control the underwater rescue device to move towards the target location and obtain the real-time rotation speed of the thruster; based on the real-time rotation speed, drive the cleaning component to clean the filter screen on the surface of the thruster through the magnetic connection of the thruster's rotating shaft, and the cleaning frequency is positively correlated with the real-time rotation speed; march During the process, the traveling speed of the acquisition device is obtained. Based on the traveling speed, the water flow drives the hydraulic impeller to rotate, which in turn drives the wiping component to wipe the camera window. The wiping frequency is positively correlated with the traveling speed. S2: Obtain the pressure value applied to the contact surface of the device; determine whether the pressure value exceeds a preset contact threshold; if the pressure value exceeds the contact threshold, determine that there is personnel contact, trigger the heating module to start, and heat the contact surface; if the pressure value does not exceed the contact threshold, determine that there is no personnel contact, and the heating module remains in the off state. S3: After determining that someone has come into contact with the heating module, obtain the real-time temperature of the heating module; determine whether the real-time temperature exceeds the preset safe temperature threshold; if it exceeds, stop heating and issue an overheat warning; if it does not exceed, maintain the heating state.

2. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: The wiping component described in S1 wipes the camera window, and further includes: when the travel speed is lower than the preset minimum wiping speed threshold, the speed of the hydraulic impeller is insufficient to drive the wiping component to move, and the wiping component automatically stops at the standby position on one side of the camera window, without obstructing the camera's field of view; when the travel speed recovers to above the minimum wiping speed threshold, the hydraulic impeller drives the wiping component again to resume the wiping action.

3. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: In S2, after it is determined that a person has made contact, the duration of the contact pressure is also obtained; the heating module is only triggered to start when the pressure value exceeds the contact threshold and the duration exceeds the preset time threshold; when the duration does not exceed the time threshold, it is determined to be a brief accidental touch and the heating module is not started.

4. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: In S2, the device has multiple independent contact surfaces. Each contact surface acquires a pressure value and independently determines whether to trigger the heating module of the corresponding area. When a person is detected touching a certain area, only the heating module of that area is activated, while the heating modules of other areas remain off.

5. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: In S3, when the real-time temperature exceeds the safe temperature threshold, the heating power is reduced to a preset heat preservation power to keep the contact surface temperature within a preset human comfort temperature range and avoid excessive temperature fluctuations; when the real-time temperature drops below the safe temperature threshold, the heating power is restored to normal.

6. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: It also includes S4: After determining that personnel have made contact, continuously monitor the pressure value; when the pressure value drops below the contact threshold, determine that the personnel have left the device, and the heating module automatically shuts down; if the pressure value is detected to exceed the contact threshold again within a preset monitoring period, it is determined to be continuous use of the same rescue mission, and the heating module does not restart the temperature judgment process, but directly resumes heating; if the pressure value is below the contact threshold for a duration exceeding a preset interval threshold, it is determined to be a new rescue mission, and all judgment processes are reset.

7. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: Before S1, the start-up status of the thruster is obtained; when the thruster is in the start-up state, the cleaning and wiping components are automatically triggered to enter the working preparation state; when the thruster is in the off state, the cleaning and wiping components are in the dormant state; when the thruster switches from the off state to the start-up state, the cleaning and wiping components are automatically awakened from the dormant state and enter the working state.

8. The method for maintaining a fire-fighting underwater rescue robot according to claim 1, characterized in that: In S2, the traveling speed of the device is acquired; when the traveling speed is zero, it is determined that the device has reached the personnel position or has stopped, and the heating module is switched to the preheating standby state; when the pressure value is detected to exceed the contact threshold, the heating module directly switches from the preheating standby state to the heating state, shortening the heating response time.

9. A fire-fighting underwater rescue robot, characterized in that: The method for maintaining a fire-fighting underwater rescue robot, as described in any one of claims 1 to 8, includes, Box (1), support tube (11) is set inside the box (1), a return spring (12) is set at the top of the support tube (11), a support rod (14) is slidably connected inside the support tube (11), a support plate (13) is fixedly set at the top of the support rod (14), and a heating component (15) is set at the bottom of the support plate (13). The traveling mechanism (2) includes a support shell (21), with filter plates (22) rotatably connected to both ends of the support shell (21), a connecting rod (23) fixedly installed on one side of the support shell (21), a scraper (24) fixedly connected to one side of the connecting rod (23), a mounting bracket (24) fixedly installed on one side of the support shell (21), a drive motor (26) installed on one side of the mounting bracket (24), and a fan blade (27) installed on one side of the drive motor (26). The imaging mechanism (3) includes a water collection hood (31). A plurality of water passage holes (311) are provided on one side of the water collection hood (31). A first baffle (312) and a second baffle (314) are provided inside one side of the water collection hood (31). A guide plate (313) is provided between the first baffle (312) and the second baffle (314). The guide plate (313) is slidably connected to the water collection hood (31). A water collection hole (3141) is provided through one side of the second baffle (314). The imaging mechanism (3) also includes a driving component (32), which includes a driving box (321). A water inlet (3211) is provided on one side of the driving box (321). An impeller (3212) is provided inside the driving box (321). A water outlet pipe (3213) is provided on the top of the driving box (321). A driven wheel (323) is fixedly connected to the bottom of the impeller (3212) through a rotating rod (322).

10. The underwater fire rescue robot according to claim 9, characterized in that: The water collection cover (31) is fixedly connected to one side of the mounting shell (33), and multiple sets of imaging components (34) are arranged inside the mounting shell (33). The bottom of the mounting shell (33) is rotatably connected to a cleaning component (35), which includes a driven ring (351) and a cleaning brush (352) is fixedly arranged on one side of the driven ring (351).

Images