Intelligent fire-fighting robot

Abstract

The utility model provides an intelligent fire-fighting robot, the intelligent fire-fighting robot comprises a mobile platform and a fire extinguishing spraying execution mechanism, the fire extinguishing spraying execution mechanism comprises a nozzle module, and the nozzle module comprises a pressure sensor and a flow meter; the fire extinguishing and spraying execution mechanism is arranged on the mobile platform and is in communication connection with the mobile platform; the mobile platform is used for controlling the intelligent fire-fighting robot to walk and move; the nozzle module is used for spraying fire extinguishing liquid, the pressure sensor is used for monitoring the pressure of the fire extinguishing liquid in the nozzle module, and the flow meter is used for monitoring the flow of the fire extinguishing liquid in the nozzle module. The pressure sensor and the flow meter are arranged in the nozzle module of the intelligent fire-fighting robot to monitor the pressure and the flow of the fire extinguishing liquid in the nozzle in the working process of the intelligent fire-fighting robot in real time, so that the working state of the intelligent fire-fighting robot is monitored in real time, and the practicability of the intelligent fire-fighting robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an intelligent firefighting robot. Background Art

[0002] In the field of modern fire safety, with the rapid development of science and technology, intelligent firefighting robots have become a key tool for improving fire prevention and response capabilities.

[0003] Intelligent firefighting robots can replace firefighters to enter the fire scene and extinguish fires in dangerous and complex environments, thus avoiding casualties. However, conventional intelligent firefighting robots can usually only extinguish fires based on the fire environment and cannot monitor the robot's own sprinkler device, so their practicality is low. Utility Model Content

[0004] The main purpose of this application is to provide an intelligent fire-fighting robot, aiming to solve the technical problem of low practicality of existing intelligent fire-fighting robots.

[0005] To achieve the above-mentioned purpose, the present application provides an intelligent fire-fighting robot, the intelligent fire-fighting robot comprising: a mobile platform and a fire-extinguishing sprinkler actuator, the fire-extinguishing sprinkler actuator comprising: a sprinkler module, the sprinkler module comprising a pressure sensor and a flow meter;

[0006] The fire extinguishing sprinkler actuator is arranged on the mobile platform, and the fire extinguishing sprinkler actuator is communicatively connected with the mobile platform;

[0007] The mobile platform is used to control the movement of the intelligent fire-fighting robot;

[0008] The nozzle module is used for spraying fire extinguishing liquid, the pressure sensor is used for monitoring the pressure of the fire extinguishing liquid in the nozzle module, and the flow meter is used for monitoring the flow of the fire extinguishing liquid in the nozzle module.

[0009] Optionally, in a feasible embodiment, the mobile platform is a four-wheel controllable walking platform, a crawler-type controllable walking platform or a four-legged simulation controllable walking platform;

[0010] The four-wheel controllable walking platform includes four wheels;

[0011] The crawler-type controllable walking platform includes two crawlers;

[0012] The four-legged simulation type controllable walking platform comprises four simulation legs.

[0013] Optionally, in a feasible embodiment, the intelligent fire-fighting robot further includes: a multi-channel intelligent control module, the multi-channel intelligent control module includes: a manual on-site remote control module, a manual remote control module and a machine on-site automatic control module;

[0014] The multi-channel intelligent control module is communicatively connected with the mobile platform.

[0015] Optionally, in a feasible embodiment, the intelligent fire-fighting robot further includes: a fire-fighting scene environment monitoring system, and the fire-fighting scene environment monitoring system is communicatively connected to the mobile platform.

[0016] Optionally, in a feasible embodiment, the fire extinguishing scene environment monitoring system includes: a fire scene toxic gas alarm, a flame temperature sensor and a fire extinguishing camera;

[0017] The fire scene toxic gas alarm is used to detect the concentration of toxic gas and alarm;

[0018] The flame temperature sensor is used to detect the flame temperature of the fire scene;

[0019] The fire extinguishing camera is a fire extinguishing CCD camera or a fire extinguishing CMOS camera.

[0020] Optionally, in a feasible embodiment, the intelligent fire-fighting robot further includes: a new energy power supply system, and the new energy power supply system is connected to the mobile platform.

[0021] Optionally, in a feasible embodiment, the new energy power supply system includes: a multi-channel input module and an energy storage module;

[0022] The multi-channel input module is used to switch the power supply channel;

[0023] The energy storage module includes at least one of a lithium battery, a supercapacitor, a sodium battery and a manganese battery.

[0024] Optionally, in a feasible embodiment, the intelligent fire-fighting robot further includes: a fire-fighting communication transceiver module, and the fire-fighting communication transceiver module is used to perform data communication in the intelligent fire-fighting robot.

[0025] Optionally, in a feasible embodiment, the intelligent fire-fighting robot also includes: a server and / or a cloud storage space, and the server and / or the cloud storage space is connected to the fire-fighting communication transceiver module for storing data uploaded by the fire-fighting communication transceiver module.

[0026] The present application provides an intelligent fire-fighting robot, which includes: a mobile platform and a fire-extinguishing sprinkler actuator, wherein the fire-extinguishing sprinkler actuator includes: a nozzle module, wherein the nozzle module includes a pressure sensor and a flow meter; the fire-extinguishing sprinkler actuator is arranged on the mobile platform, and the fire-extinguishing sprinkler actuator is communicatively connected to the mobile platform; the mobile platform is used to control the walking and movement of the intelligent fire-fighting robot; the nozzle module is used to spray fire-extinguishing liquid, the pressure sensor is used to monitor the pressure of the fire-extinguishing liquid in the nozzle module, and the flow meter is used to monitor the flow of the fire-extinguishing liquid in the nozzle module.

[0027] Compared with the conventional intelligent fire-fighting robot, the intelligent fire-fighting robot of the present application includes a mobile platform and a fire-extinguishing sprinkler actuator. The fire-extinguishing sprinkler actuator includes: a nozzle module. The nozzle module includes a pressure sensor and a flow meter. The present application sets a pressure sensor and a flow meter in the nozzle module of the intelligent fire-fighting robot to monitor the pressure and flow of the fire-extinguishing liquid in the nozzle of the intelligent fire-fighting robot in real time during its operation, thereby monitoring the working status of the intelligent fire-fighting robot in real time. If abnormalities are found in the pressure and flow, remote control can be performed automatically or manually by firefighters. In addition, firefighters can also adjust the pressure and flow in real time according to the on-site conditions and pressure and flow during the operation of the intelligent robot, thereby comprehensively improving the practicality of the intelligent robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description are used to explain the principles of the present application.

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 This is a schematic diagram of the structure of the first embodiment of the intelligent fire-fighting robot of this application;

[0031] Figure 2 A schematic diagram of the structure of the intelligent fire-fighting robot of this application;

[0032] Figure 3 A schematic diagram of the structure of the intelligent fire-fighting robot of this application;

[0033] Figure 4 This is a structural schematic diagram of the intelligent fire-fighting robot of this application.

[0034] Description of Figure Numbers:

[0035]

[0036]

[0037] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as meaning that in the field of modern fire safety, with the rapid development of science and technology, intelligent firefighting robots have become a key tool for improving fire prevention and response capabilities.

[0040] Intelligent firefighting robots can replace firefighters to enter the fire scene and extinguish fires in dangerous and complex environments, thus avoiding casualties. However, conventional intelligent firefighting robots can usually only extinguish fires according to the environment of the fire scene. When the sprinkler device fails, it cannot issue a timely warning, which makes the intelligent firefighting robots less practical in actual applications.

[0041] In response to the above problems, the present application provides an intelligent fire-fighting robot, which includes: a mobile platform and a fire-extinguishing sprinkler actuator, the fire-extinguishing sprinkler actuator includes: a nozzle module, the nozzle module includes a pressure sensor and a flow meter; the fire-extinguishing sprinkler actuator is arranged on the mobile platform, and the fire-extinguishing sprinkler actuator is communicatively connected to the mobile platform; the mobile platform is used to control the walking and movement of the intelligent fire-fighting robot; the nozzle module is used to spray fire-extinguishing liquid, the pressure sensor is used to monitor the pressure of the fire-extinguishing liquid in the nozzle module, and the flow meter is used to monitor the flow of the fire-extinguishing liquid in the nozzle module.

[0042] Compared with the conventional intelligent fire-fighting robot, the intelligent fire-fighting robot of the present application includes a mobile platform and a fire-extinguishing sprinkler actuator. The fire-extinguishing sprinkler actuator includes: a nozzle module. The nozzle module includes a pressure sensor and a flow meter. The present application sets a pressure sensor and a flow meter in the nozzle module of the intelligent fire-fighting robot to monitor the pressure and flow of the fire-extinguishing liquid in the nozzle of the intelligent fire-fighting robot in real time during its operation, thereby monitoring the working status of the intelligent fire-fighting robot in real time. If abnormalities are found in the pressure and flow, remote control can be performed automatically or manually by firefighters. In addition, firefighters can also adjust the pressure and flow in real time according to the on-site conditions and pressure and flow during the operation of the intelligent robot, thereby comprehensively improving the practicality of the intelligent robot.

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The present application embodiment provides an intelligent fire-fighting robot. In the first embodiment of the intelligent fire-fighting robot of the present application, please refer to Figure 1 , Figure 1 This is a structural diagram of the first embodiment of the intelligent fire-fighting robot of the present application. The intelligent fire-fighting robot comprises: a mobile platform 101 and a fire-extinguishing sprinkler actuator 106. The fire-extinguishing sprinkler actuator comprises: a sprinkler module. The sprinkler module comprises a pressure sensor 115.1 and a flow meter 115.2.

[0045] The fire extinguishing sprinkler actuator is arranged on the mobile platform, and the fire extinguishing sprinkler actuator is communicatively connected with the mobile platform;

[0046] The mobile platform is used to control the movement of the intelligent fire-fighting robot;

[0047] The nozzle module is used for spraying fire extinguishing liquid, the pressure sensor is used for monitoring the pressure of the fire extinguishing liquid in the nozzle module, and the flow meter is used for monitoring the flow of the fire extinguishing liquid in the nozzle module.

[0048] In this embodiment, in order to improve the practicality of the fire-fighting robot, a pressure sensor and a flow meter are added to the nozzle module in this embodiment. The pressure sensor can monitor the pressure of the fire-extinguishing liquid in the nozzle in real time, and the flow meter can monitor the flow of the fire-extinguishing liquid in the nozzle module in real time, so that the intelligent robot can be observed by the system itself or firefighters when the flow or pressure is abnormal, and respond accordingly. For example, when the firefighters detect that the flow is small but the fire is still large, they can remotely control the flow of the robot, which improves the practicality of the intelligent robot.

[0049] Furthermore, based on the above-mentioned first embodiment of the intelligent fire-fighting robot of the present application, a second embodiment of the intelligent fire-fighting robot of the present application is proposed.

[0050] In the second embodiment of the intelligent fire-fighting robot of the present application, the mobile platform is a four-wheel controllable walking platform, a tracked controllable walking platform or a four-legged simulation controllable walking platform;

[0051] The four-wheel controllable walking platform includes four wheels;

[0052] The crawler-type controllable walking platform includes two crawlers;

[0053] The four-legged simulation type controllable walking platform comprises four simulation legs.

[0054] In this embodiment, the mobile platform can be a four-wheeled, tracked or simulated foot type, so that the robot can adapt to different types of venues and move flexibly in different venues, thereby providing a stable, reliable and safe motion platform and providing a reliable platform for carrying motion for the entire equipment system.

[0055] Optionally, the intelligent fire-fighting robot further includes: a multi-channel intelligent control module 102, wherein the multi-channel intelligent control module includes: a manual on-site remote control module 110, a manual remote control module 111 and a machine on-site automatic control module 112;

[0056] The multi-channel intelligent control module is communicatively connected with the mobile platform.

[0057] In this embodiment, a variety of designs such as manual on-site remote control, manual remote control, and automatic driving are adopted to effectively control the on-site controllable walking motion platform (including forward and backward, left and right, stop, start, and on-site turning). In order to better meet the firefighting needs of some special sites, a mixed control method of three or two methods can be adopted to avoid redundant designs that fail due to a single mode, ensuring 100% efficient control of the on-site controllable walking platform.

[0058] Optionally, the intelligent fire-fighting robot also includes: a fire-fighting scene environment monitoring system, and the fire-fighting scene environment monitoring system is communicatively connected to the mobile platform.

[0059] In this embodiment, the intelligent fire-fighting robot is also provided with a fire-fighting scene environment monitoring system. The system includes a variety of sensors that can comprehensively monitor the environment of the fire-fighting scene, thereby providing a basis for the robot to formulate fire-fighting strategies and enabling firefighters to understand the fire environment in real time. In this embodiment, the types and models of sensors in the system are not limited.

[0060] Further, in some feasible embodiments, the fire extinguishing scene environment monitoring system includes: a fire scene toxic gas alarm, a flame temperature sensor and a fire extinguishing camera;

[0061] The fire scene toxic gas alarm is used to detect the concentration of toxic gas and alarm;

[0062] The flame temperature sensor is used to detect the flame temperature of the fire scene;

[0063] The fire extinguishing camera is a fire extinguishing CCD camera or a fire extinguishing CMOS camera.

[0064] In this embodiment, the system is equipped with a fire scene toxic gas alarm, a flame temperature sensor and a fire extinguishing camera to record and transmit the situation on the scene in real time to the back-end management personnel or institutions. Through various intelligent sensors (temperature, pressure, gas, etc.), parameters are provided to the TTU (temperature detection and judgment unit) + TCU (temperature judgment and control unit) to collect and record important parameters and data of the entire fire extinguishing process.

[0065] Furthermore, in some feasible embodiments, the intelligent fire-fighting robot also includes: a new energy power supply system, and the new energy power supply system is connected to the mobile platform.

[0066] In this example, the intelligent fire-fighting robot uses new energy power supply equipment to perform its functions, which is more environmentally friendly.

[0067] Further, in some feasible embodiments, the new energy power supply system includes: a multi-channel input module and an energy storage module;

[0068] The multi-channel input module is used to switch the power supply channel;

[0069] The energy storage module includes at least one of a lithium battery, a supercapacitor, a sodium battery and a manganese battery.

[0070] In this embodiment, the intelligent fire-fighting robot can be powered by a variety of energy supply equipment. For example, the energy storage module can be at least one of a lithium battery, a supercapacitor, a sodium battery and a manganese battery. When equipped with two or more types of batteries, the battery module used can be switched through a multi-channel input module, thereby achieving compatibility with diversified battery types. The multi-channel design and intelligent switching of the input module can achieve the matching and compatibility of various energy sources at the fire scene (for example: diesel generators, photovoltaic panels, municipal power grids, wind power generators, hydrogen energy batteries and other electrical energy sources), and realize the various needs of the on-site robot for electrical energy.

[0071] Furthermore, in some feasible embodiments, the intelligent fire-fighting robot also includes: a fire-fighting communication transceiver module, and the fire-fighting communication transceiver module is used to perform data communication in the intelligent fire-fighting robot.

[0072] In this embodiment, the fire-extinguishing communication transceiver module is responsible for the communication between various modules of the robot, and can receive data from various sensors and transmit the data.

[0073] Furthermore, in some feasible embodiments, the nozzle module is a fixed nozzle module and / or a rotatable nozzle module.

[0074] In this embodiment, the nozzle module may be a fixed nozzle module and / or a rotatable nozzle module, so as to adapt to different fire scene environments and improve the adaptability of the robot.

[0075] Furthermore, in some feasible embodiments, the intelligent fire-fighting robot also includes: a server and / or a cloud storage space, wherein the server and / or the cloud storage space is connected to the fire-fighting communication transceiver module and is used to store data uploaded by the fire-fighting communication transceiver module.

[0076] In this embodiment, the robot is also connected to the server and / or cloud storage space through the communication transceiver module, so that the robot can upload the detected data to the server and / or cloud storage space for subsequent viewing.

[0077] As an example, see Figure 2 , Figure 2 This is a schematic diagram of the structure of the intelligent fire-fighting robot of this application, such as Figure 2 As shown, when there is no fire, the four-wheel controllable walking platform will use the new energy power supply system in the equipment waiting area to perform intelligent automatic monitoring, charging and discharging maintenance on the energy storage batteries (lithium batteries, supercapacitor electromagnetics, sodium batteries, manganese batteries) in the energy storage module to ensure that the battery power, voltage and temperature in the energy storage module are in normal conditions. At the same time, it can be uploaded to the server or cloud storage space for backup and storage through the fire extinguishing communication transceiver module.

[0078] When a fire occurs, the fire-fighting site environment monitoring system will immediately capture the dynamic information of the flame through the fire-fighting CCD / CMOS camera; at the same time, the flame temperature sensor will test the temperature of the current flame and the temperature around the scene; the fire-fighting site environment monitoring system will send emergency alarm information through the fire-fighting communication transceiver module. After receiving the alarm information, the multi-channel intelligent control module will optimize the algorithm and select the mode 1 of the manual on-site remote control module, the mode 2 of the manual remote control module, and the mode 3 of the machine on-site automatic control module, and use one of them to intelligently control the four-wheel controllable walking platform. Any of the three modes will start the new energy power supply system and provide energy and electricity to the four-wheel controllable walking platform through the accompanying power cable. The four-wheel controllable walking platform will walk to the fire location according to the control software algorithm of one mode in the multi-channel intelligent control module. After the four-wheel controllable walking platform reaches the fire operation area and can be safely operated in real time, the intelligent control module will start the fire extinguishing sprinkler actuator, and the fire extinguishing sprinkler actuator will use two methods:

[0079] Method 1: The pressure sensor and flow meter on the fixed collision module monitor the pressure and flow of the fire extinguishing liquid in real time.

[0080] Method 2: The pressure sensor and flow meter on the rotatable nozzle module monitor the pressure and flow of the fire extinguishing liquid in real time.

[0081] Until the fire is extinguished or the firefighters arrive at the scene to take over the on-site management, the four-wheel controllable walking platform will exit the automatic control module and enter the manual on-site remote control module mode, waiting for the on-site firefighters to accept control. The temperature, voltage, current, flow, pressure and other data of the entire fire extinguishing process will be uploaded to the server or cloud storage space in real time through the fire extinguishing communication transceiver module for storage and recording.

[0082] As an example, see Figure 3 , Figure 3 This is a structural schematic diagram of the intelligent fire-fighting robot of this application. Figure 3 The intelligent firefighting robot shown in Figure 2 Only the structure of the mobile platform is different. Figure 3 In the embodiment, the structure of the mobile platform is a crawler-type controllable walking platform, and other embodiments are similar to Figure 2 The intelligent fire-fighting robot designed in this paper is consistent with that in the previous section and will not be described in detail here.

[0083] As an example, see Figure 4 , Figure 4 This is a structural schematic diagram of the intelligent fire-fighting robot of this application. Figure 4 The intelligent firefighting robot shown in Figure 2 Only the structure of the mobile platform is different. Figure 4 In the embodiment, the structure of the mobile platform is a four-legged simulation controllable walking platform. Figure 2 The intelligent fire-fighting robot designed in this paper is consistent with that in the previous section and will not be described in detail here.

[0084] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0085] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0086] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent fire-fighting robot, characterized in that: The intelligent fire-fighting robot comprises: a mobile platform and a fire-extinguishing sprinkler actuator, the fire-extinguishing sprinkler actuator comprises: a sprinkler module, the sprinkler module comprises a pressure sensor and a flow meter; The fire extinguishing sprinkler actuator is arranged on the mobile platform, and the fire extinguishing sprinkler actuator is communicatively connected with the mobile platform; The mobile platform is used to control the movement of the intelligent fire-fighting robot; The nozzle module is used for spraying fire extinguishing liquid, the pressure sensor is used for monitoring the pressure of the fire extinguishing liquid in the nozzle module, and the flow meter is used for monitoring the flow of the fire extinguishing liquid in the nozzle module.

2. The intelligent fire-fighting robot according to claim 1, characterized in that: The mobile platform is a four-wheel controllable walking platform, a crawler-type controllable walking platform or a four-legged simulation controllable walking platform; The four-wheel controllable walking platform includes four wheels; The crawler-type controllable walking platform includes two crawlers; The four-legged simulation type controllable walking platform comprises four simulation legs.

3. The intelligent fire-fighting robot according to claim 2, characterized in that: The intelligent fire-fighting robot further comprises: a multi-channel intelligent control module, the multi-channel intelligent control module comprises: a manual on-site remote control module, a manual remote control module and a machine on-site automatic control module; The multi-channel intelligent control module is communicatively connected with the mobile platform.

4. The intelligent fire-fighting robot according to claim 3, characterized in that: The intelligent fire-fighting robot also includes: a fire-fighting scene environment monitoring system, and the fire-fighting scene environment monitoring system is communicatively connected with the mobile platform.

5. The intelligent fire-fighting robot according to claim 4, characterized in that: The fire-fighting scene environment monitoring system includes: a fire-scene toxic gas alarm, a flame temperature sensor and a fire-fighting camera; The fire scene toxic gas alarm is used to detect the concentration of toxic gas and alarm; The flame temperature sensor is used to detect the flame temperature of the fire scene; The fire extinguishing camera is a fire extinguishing CCD camera or a fire extinguishing CMOS camera.

6. The intelligent fire-fighting robot according to claim 5, characterized in that: The intelligent fire-fighting robot also includes: a new energy power supply system, and the new energy power supply system is connected to the mobile platform.

7. The intelligent fire-fighting robot according to claim 6, characterized in that: The new energy power supply system comprises: a multi-channel input module and an energy storage module; The multi-channel input module is used to switch the power supply channel; The energy storage module includes at least one of a lithium battery, a supercapacitor, a sodium battery and a manganese battery.

8. The intelligent fire-fighting robot according to claim 7, characterized in that: The intelligent fire-fighting robot also includes: a fire-fighting communication transceiver module, and the fire-fighting communication transceiver module is used to perform data communication in the intelligent fire-fighting robot.

9. The intelligent fire-fighting robot according to claim 8, characterized in that: The nozzle module is a fixed nozzle module and / or a rotatable nozzle module.

10. The intelligent fire-fighting robot according to claim 9, characterized in that: The intelligent fire-fighting robot also includes: a server and / or a cloud storage space, which is connected to the fire-extinguishing communication transceiver module and is used to store data uploaded by the fire-extinguishing communication transceiver module.

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