Fire-fighting robot with intelligent driving function

Abstract

The fire-fighting robot with the intelligent driving function comprises a sensing system, an intelligent driving system and a fire-fighting device, the sensing system comprises a vehicle-mounted holder, the intelligent driving system comprises a radar and a camera, and the fire-fighting device comprises a fire monitor. The vehicle-mounted holder, the radar, the camera and the fire monitor are installed on the fire-fighting robot, and the sensing system, the intelligent driving system and the fire-fighting device are connected with the central control processor. The utility model has the advantages that the fire scene environment can be observed in real time, remote control and automatic driving can be realized, and autonomous navigation, autonomous obstacle avoidance, automatic fire source tracking, automatic fire extinguishing and the like can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of emergency rescue support equipment, in particular to a fire-fighting robot with an intelligent driving function. Background Art

[0002] When facing large-scale fires in cities and industrial sites, traditional firefighting methods have problems such as firefighters being unable to enter the fire scene and being unable to control the fire in time. At the same time, environmental factors such as high temperature, thick smoke, and toxic gases greatly increase the difficulty and danger of firefighting work. Therefore, a firefighting robot is needed to solve these problems and replace firefighters to enter the fire scene to perform firefighting and rescue work. However, most existing firefighting robots can only perform simple driving and firefighting operations, and cannot achieve automatic driving and automatic tracking of fire sources, which affects the firefighting effect. Utility Model Content

[0003] The purpose of the utility model is to solve the deficiencies of the above-mentioned prior art and to provide a fire-fighting robot with intelligent driving functions that can observe the fire environment in real time, can be remotely controlled and automatically driven, and can achieve autonomous navigation, autonomous obstacle avoidance, automatic fire source tracking, and automatic fire extinguishing.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A firefighting robot with intelligent driving function, characterized in that: it comprises a perception system, an intelligent driving system and a firefighting device, the perception system comprises a vehicle-mounted pan / tilt, the intelligent driving system comprises a radar and a camera, the firefighting device comprises a firefighting cannon, the vehicle-mounted pan / tilt, radar, camera and firefighting cannon are installed on the firefighting robot, and the perception system, intelligent driving system and firefighting device are respectively connected to a central control processor;

[0006] Through the coordination of the perception system and the intelligent driving system, the fire-fighting robot can autonomously navigate into the fire scene, obtain environmental information, track the fire source in real time, and control the fire-fighting equipment to spray water to extinguish the fire according to the location of the fire source. It can independently carry out firefighting work, flexibly and stably enter and exit fire-hazardous places, perform firefighting and rescue work in harsh environments, cope with the complex environment of the fire scene, and reduce the danger of firefighting work.

[0007] The radar of the utility model includes a laser radar and a millimeter wave radar, the camera adopts a depth camera, and the intelligent driving system also includes an inertial navigation and an automatic driving algorithm processor;

[0008] Use lidar, millimeter-wave radar, inertial navigation, and depth cameras to acquire environmental features, use an autonomous driving algorithm processor to perform data calculations, and transmit the resulting action instructions to the central control processor. The central control processor controls the actions of the corresponding actuators to achieve functions such as autonomous navigation, autonomous obstacle avoidance, fire source tracking, and automatic fire extinguishing.

[0009] The vehicle-mounted pan / tilt platform of the utility model is arranged on the front side of the fire-fighting robot, and the vehicle-mounted pan / tilt platform includes a thermal imaging camera, a wide-angle camera and a zoom camera; the thermal imaging camera can detect high-temperature points on the front visual interface, and assist the intelligent driving system in tracking the location of the fire source; the wide-angle camera helps the operator observe the overall environmental conditions in the maximum range of the forward direction; the zoom camera can observe clearer local environmental conditions by changing the focal length; the setting of the vehicle-mounted pan / tilt platform can accurately assist the operator in operating the fire cannon to discharge water in the remote control mode.

[0010] The perception system of the utility model also includes a 360-degree panoramic imaging system, which includes a first wide-angle fisheye camera, a second wide-angle fisheye camera, a third wide-angle fisheye camera, and a fourth wide-angle fisheye camera. The first wide-angle fisheye camera is installed on the front side of the fire-fighting robot, the second wide-angle fisheye camera is installed on the rear side of the fire-fighting robot, the third wide-angle fisheye camera is installed on the right side of the fire-fighting robot, and the fourth wide-angle fisheye camera is installed on the left side of the fire-fighting robot; a monitoring area with no blind spots is provided, which effectively provides a comprehensive operating perspective and chassis-assisted anti-collision field of view.

[0011] The fire-fighting device of the utility model comprises a self-priming fire-fighting monitor, a water outlet pipe, a fire-fighting water pump and a water tank. The self-priming fire-fighting monitor, the water tank and the fire-fighting water pump are installed on the fire-fighting robot. The water tank is connected to the self-priming fire-fighting monitor via the fire-fighting water pump and the water outlet pipe.

[0012] The fire-fighting robot comes with its own water tank. The water in the water tank is pumped by a fire-fighting water pump and sprayed out from a self-priming fire-fighting cannon through a water outlet pipe. It has few limitations in use. When the fire source is far away, the fire-fighting robot can also get close to the fire source and use its own water source to extinguish the fire, and the fire-fighting effect is good.

[0013] The utility model discloses a water outlet valve installed on the water outlet pipeline for controlling the on-off of the water source in the water tank.

[0014] The fire-fighting device of the utility model also includes an external water supply fire-fighting monitor and a second water outlet pipe. The external water supply fire-fighting monitor is installed on the fire-fighting robot, and the external water supply fire-fighting monitor is connected with an external fire hose via a second water outlet pipe. The external water source is sprayed from the external water supply fire-fighting monitor via the external fire hose and the second water outlet pipe to ensure that the water source for fire extinguishing is sufficient. According to different usage scenarios, self-priming fire-fighting monitors and / or external water supply fire-fighting monitors can be selected for fire extinguishing. The selection method is flexible to ensure the fire extinguishing effect.

[0015] The water tank of the utility model is connected with the second water outlet pipe via a water inlet pipe, and a control valve is installed at the connection point between the second water outlet pipe and the water inlet pipe; the setting of the control valve can control the connection and disconnection of the external fire hose and the second water outlet pipe and the water inlet pipe. When the control valve controls the external fire hose to be connected with the water inlet pipe, the connection between the external fire hose and the second water outlet pipe is disconnected, and water can be supplied to the water tank to ensure that there is sufficient water in the water tank. When an external water supply fire cannon is needed to spray water to extinguish a fire, the control valve controls the external fire hose to be connected with the second water outlet pipe, and the connection between the external fire hose and the water inlet pipe is disconnected.

[0016] The utility model provides a water tank with a liquid level sensor, which is convenient for monitoring the liquid level in the water tank. When the liquid level is low, water can be supplied to the water tank in time to ensure that the fire-fighting robot has sufficient water source when extinguishing a fire.

[0017] The utility model also includes an auxiliary device, which is arranged on the front side of the fire-fighting robot chassis. The auxiliary device includes a push shovel, a linear actuator drive mechanism and a connecting rod. One end of the linear actuator drive mechanism is hinged to the front end of the fire-fighting robot chassis, and the other end is hinged to the push shovel. One end of the connecting rod is hinged to the fire-fighting robot chassis, and the other end is fixedly connected to the push shovel. The push shovel is set to clear road obstacles and assist the fire-fighting robot to walk, and the push shovel can swing up and down to assist the fire-fighting robot to climb over obstacles, further ensuring that the fire-fighting robot can adapt to harsh environments.

[0018] The beneficial effects of the utility model are as follows: through the cooperation of the perception system and the intelligent driving system, the fire-fighting robot can autonomously navigate into the fire scene, obtain environmental information, track the fire source in real time, and control the fire-fighting device to spray water to extinguish the fire according to the location of the fire source. It can autonomously carry out fire-fighting work, flexibly and stably enter and exit fire-hazardous places, and carry out fire-fighting and rescue work in harsh environments. It can cope with the complex environment of the fire scene and reduce the danger of fire-fighting work. The push shovel is set to clear road obstacles and assist the fire-fighting robot to walk, and the push shovel can swing up and down to assist the fire-fighting robot to climb over obstacles, further ensuring that the fire-fighting robot can adapt to harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view of the fire-fighting robot of the present utility model.

[0020] Figure 2 It is a side view of the fire-fighting robot of the present utility model.

[0021] Figure 3 It is a top view of the fire-fighting robot of the present utility model.

[0022] Figure 4 The utility model is a schematic diagram of the structure of the water supply pipeline of the water tank in the fire-fighting device.

[0023] Figure 5 It is a schematic diagram of the structure of the auxiliary device of the utility model.

[0024] Description of the drawings: water tank 101, water tank outlet valve 102, fire pump 103, water outlet pipe 1 104, self-priming fire monitor 105, self-priming fire monitor interface 106, water tank interface 107, external water supply fire monitor 108, external water inlet 109;

[0025] Vehicle-mounted gimbal-201, first wide-angle fisheye camera-2021, second wide-angle fisheye camera-2022, third wide-angle fisheye camera-2023, fourth wide-angle fisheye camera-2024;

[0026] LiDAR-301, millimeter wave radar-302, depth camera-303;

[0027] Bulldozer 401, hydraulic cylinder 402, left connecting rod 403, right connecting rod 404. DETAILED DESCRIPTION

[0028] The utility model is described below in conjunction with the accompanying drawings and embodiments.

[0029] As shown in the accompanying drawings, a firefighting robot with intelligent driving function includes a perception system, an intelligent driving system and a firefighting device, wherein the perception system includes a vehicle-mounted pan / tilt 201, the intelligent driving system includes a radar and a camera, and the firefighting device includes a firefighting cannon, the vehicle-mounted pan / tilt, radar, camera, and firefighting cannon are installed on the firefighting robot, and the perception system, intelligent driving system, and firefighting device are respectively connected to a central control processor;

[0030] Through the coordination of the perception system and the intelligent driving system, the fire-fighting robot can autonomously navigate into the fire scene, obtain environmental information, track the fire source in real time, and control the fire-fighting equipment to spray water to extinguish the fire according to the location of the fire source. It can independently carry out firefighting work, flexibly and stably enter and exit fire-hazardous places, perform firefighting and rescue work in harsh environments, cope with the complex environment of the fire scene, and reduce the danger of firefighting work.

[0031] The radar includes a laser radar 301 and a millimeter wave radar 302, the camera uses a depth camera 303, and the intelligent driving system also includes an inertial navigation and an automatic driving algorithm processor;

[0032] In this embodiment, the laser radar 301, millimeter wave radar 302, and depth camera 303 are fixed on the front shell of the fire-fighting robot. The laser radar 301, millimeter wave radar 302, inertial navigation, and depth camera 303 are used to obtain environmental characteristics, and the automatic driving algorithm processor is used to perform data calculations, and the action instructions obtained from the calculations are transmitted to the central control processor. The central control processor controls the actions of the corresponding actuators to realize functions such as autonomous navigation, autonomous obstacle avoidance, fire source tracking, and automatic fire extinguishing.

[0033] The vehicle-mounted gimbal 201 is arranged on the front side of the fire-fighting robot, and the vehicle-mounted gimbal 201 includes a thermal imaging camera, a wide-angle camera and a zoom camera; the thermal imaging camera can detect high-temperature points on the front visual interface, and assist the intelligent driving system in tracking the location of the fire source. The wide-angle camera adopts an F1.0 ultra-large aperture lens to help the operator observe the overall environmental conditions in the maximum range of the forward direction. The zoom camera can observe clearer local environmental conditions by changing the focal length. The setting of the vehicle-mounted gimbal 201 can accurately assist the operator in operating the fire cannon to discharge water in the remote control mode.

[0034] The perception system also includes a 360-degree panoramic imaging system, which includes a first wide-angle fisheye camera 2021, a second wide-angle fisheye camera 2022, a third wide-angle fisheye camera 2023, and a fourth wide-angle fisheye camera 2024. In this embodiment, the first wide-angle fisheye camera 2021, the second wide-angle fisheye camera 2022, the third wide-angle fisheye camera 2023, and the fourth wide-angle fisheye camera 2024 are installed on the chassis of the fire-fighting robot and are respectively connected to the central control processor. The first wide-angle fisheye camera 2021 is installed on the front side of the chassis of the fire-fighting robot, the second wide-angle fisheye camera 2022 is installed on the rear side of the chassis of the fire-fighting robot, the third wide-angle fisheye camera 2023 is installed on the right side of the chassis of the fire-fighting robot, and the fourth wide-angle fisheye camera 2024 is installed on the left side of the chassis of the fire-fighting robot; a monitoring area with no blind spots is provided, which effectively provides a comprehensive operating perspective and chassis-assisted anti-collision field of view.

[0035] The fire-fighting device includes a self-priming fire-fighting monitor 105, a water outlet pipe 104, a fire-fighting water pump 103 and a water tank 101. The self-priming fire-fighting monitor 105, the water tank 101 and the fire-fighting water pump 103 are installed on the fire-fighting robot. The water tank is connected to the self-priming fire-fighting monitor via the fire-fighting water pump and the water outlet pipe 1, and the fire-fighting water pump 103 is connected to the central control processor;

[0036] The fire-fighting robot is equipped with a water tank 101. The water in the water tank 101 is sucked by a fire-fighting water pump 103 and sprayed out from a self-priming fire-fighting cannon 105 through a water outlet pipe 104. The use limitation is small. When the fire source is far away, the fire-fighting robot can also approach the fire source and use its own water source to extinguish the fire, and the fire-fighting effect is good.

[0037] In this embodiment, the self-priming fire monitor 105 is fixed on the front shell of the fire robot to facilitate the fire robot to spray water in the forward direction. The structure of the self-priming fire monitor is prior art and will not be described in detail here.

[0038] In this embodiment, the water tank 101 is fixed on the fire-fighting robot shell or inside the fire-fighting robot shell.

[0039] In this embodiment, a water outlet pipe 104 is arranged in the shell of the fire-fighting robot, one end of which is provided with a self-priming fire monitor interface 106, which is connected to the self-priming fire monitor 105 through the self-priming fire monitor interface 106, and the other end is provided with a water tank interface 107, which is connected to the water outlet of the water tank, and a fire pump 103 is installed on the water outlet pipe 104.

[0040] The water outlet pipe 104 is provided with a water tank outlet valve 102 , which is connected to a central control processor and is used to control the on-off of the water source in the water tank 101 .

[0041] In this embodiment, the water tank outlet valve 102 adopts an electric butterfly valve, but it is not limited to this. An electric valve that can realize the opening and closing of the water outlet pipe 104 can be adopted.

[0042] A liquid level sensor is installed in the water tank 101, and the liquid level sensor is connected to the central control processor; it is convenient to monitor the liquid level in the water tank. When the liquid level is low, water can be supplied to the water tank in time to ensure that the fire-fighting robot has sufficient water source when extinguishing the fire.

[0043] The fire-fighting device also includes an external water supply fire-fighting cannon 108 and a second water outlet pipe. The external water supply fire-fighting cannon 108 is installed on the fire-fighting robot. In this embodiment, the self-priming fire-fighting cannon 105 and the external water supply fire-fighting cannon 108 are fixed on the front shell of the fire-fighting robot, so that the fire-fighting robot can spray water in the forward direction. The external water supply fire-fighting cannon 108 is connected to the external fire hose through the second water outlet pipe; the external water source is sprayed from the external water supply fire-fighting cannon 108 through the external fire hose and the second water outlet pipe to ensure sufficient water source for fire extinguishing. According to different usage scenarios, you can choose to use the self-priming fire-fighting cannon 105 and / or the external water supply fire-fighting cannon 108 for fire extinguishing. The selection method is flexible to ensure the fire extinguishing effect.

[0044] The water tank 101 is connected with the second water outlet pipe via the water inlet pipe, and a control valve is installed at the connection point between the second water outlet pipe and the water inlet pipe, and the control valve is connected to the central control processor; the setting of the control valve can control the connection and disconnection of the external fire hose and the second water outlet pipe and the water inlet pipe. When the control valve controls the external fire hose to be connected with the water inlet pipe, the connection between the external fire hose and the second water outlet pipe is disconnected, and water can be supplied to the water tank 101 to ensure that there is sufficient water in the water tank 101. When the external water supply fire cannon 108 is needed to spray water to extinguish the fire, the control valve controls the external fire hose to be connected with the second water outlet pipe, and the connection between the external fire hose and the water inlet pipe is disconnected.

[0045] The control valve adopts a two-position three-way solenoid valve.

[0046] An external water port 107 is provided on the fire-fighting robot shell, and the water outlet pipe 2 is arranged in the fire-fighting robot shell. One end of the water outlet pipe 2 is provided with an external water supply fire cannon interface, and the external water supply fire cannon interface is connected to the external water supply fire cannon 108, and the other end is connected to the external water port 107. The external fire hose is detachably connected to the external water port 107.

[0047] In this embodiment, the external fire hose can be detachably connected to the external water port 107 by a threaded connection, or by a quick-connect connector.

[0048] In this embodiment, both the self-priming fire monitor 105 and the external water supply fire monitor 108 can be driven by a motor to realize rotational water spraying. A worm gear 1 is fixedly sleeved on the self-priming fire monitor 105, and the worm gear 1 is meshed with a worm. A motor 1 is fixedly connected to the shell of the fire robot and drives the worm 1 to rotate, which drives the worm gear 1 to rotate, and the worm gear 1 drives the self-priming fire monitor to rotate to realize rotational water spraying.

[0049] The external water supply fire monitor 108 is fixedly sleeved with a worm gear 2, which meshes with a worm gear 2. Motor 2 is fixedly connected to the fire robot housing and drives the worm gear 2 to rotate, thereby driving the worm gear 2 to rotate. The worm gear 2 drives the external water supply fire monitor to rotate to realize rotary water spraying. Motor 1 and Motor 2 are respectively connected to the controller.

[0050] This embodiment also includes an auxiliary device, which is arranged on the front side of the fire-fighting robot chassis. The auxiliary device includes a push shovel 401, a linear actuator drive mechanism and a connecting rod. One end of the linear actuator drive mechanism is hinged to the front end of the fire-fighting robot chassis, and the other end is hinged to the push shovel. One end of the connecting rod is hinged to the fire-fighting robot chassis, and the other end is fixedly connected to the push shovel. The push shovel 401 is used to clear road obstacles and assist the fire-fighting robot in walking, and the push shovel can swing up and down to assist the fire-fighting robot in climbing over obstacles, further ensuring that the fire-fighting robot can adapt to harsh environments.

[0051] In this embodiment, the linear actuator drive mechanism adopts a hydraulic cylinder 402, and may also adopt a pneumatic cylinder, an electric push rod, etc. There are two connecting rods, including a left connecting rod 403 and a right connecting rod 404. The left connecting rod 403 is arranged on the left side of the hydraulic cylinder, and the right connecting rod 404 is arranged on the right side of the hydraulic cylinder 402. One end of the left connecting rod 403 is hinged to the chassis of the fire-fighting robot, and the other end is fixedly connected to the dozer. One end of the right connecting rod 404 is hinged to the chassis of the fire-fighting robot, and the other end is fixedly connected to the dozer.

[0052] In this embodiment, under the action of the hydraulic cylinder and the connecting rod, the dozer blade 401 swings up and down within a range of +20° to -33°.

[0053] In this embodiment, the power system of the fire-fighting robot chassis is composed of a diesel engine and a transfer case, which provides power for the fire-fighting robot to walk.

[0054] In this embodiment, the central control processor may be a PLC controller or a controller developed based on an MCU.

[0055] When the utility model is used:

[0056] 1. The manager issues a start-up command and a work command to the fire-fighting robot in the central control room. The fire-fighting robot enters the fire scene. The laser radar 301, millimeter-wave radar 302, inertial navigation, and depth camera 303 obtain environmental features, use the automatic driving algorithm processor to perform data calculations, and transmit the action instructions obtained from the calculations to the central control processor. The central control processor controls the fire-fighting robot to achieve autonomous navigation and autonomous obstacle avoidance. The thermal imaging camera is used to detect high-temperature points on the front visual interface and assist the intelligent driving system in tracking the location of the fire source. The wide-angle camera helps the operator observe the overall environmental conditions in the maximum range of the forward direction. The variable-focus camera can observe a clearer local environmental condition by changing the focal length. When the fire-fighting robot reaches the fire source, the central control processor controls the fire-fighting device to start and extinguish the fire.

[0057] 2. According to the location and scenario of the fire extinguishing, choose to use the external water supply fire monitor 108 and / or the self-priming fire monitor 105 to spray water to extinguish the fire. When the external water supply fire monitor 108 is used to extinguish the fire, the firefighter inserts the external fire hose at the external water inlet 109 in advance, and the central control processor controls the control valve to open the water outlet pipe 2, disconnects the water inlet pipe, and the external water source is sprayed from the external water supply fire monitor 108 through the external fire hose and the water outlet pipe 2 in sequence; when the self-priming fire monitor 105 is used to extinguish the fire, the central control processor controls the water tank outlet valve 102 to open and the fire pump 103 to start, and the water in the water tank 101 is sucked by the fire pump 103 and sprayed from the self-priming fire monitor 105 through the water outlet pipe 104. When the fire is large, the external water supply fire monitor 108 and the self-priming fire monitor 105 can be used to spray water to extinguish the fire at the same time;

[0058] 3. After the fire is extinguished, the central control processor controls the fire-fighting robot to automatically drive away from the fire scene;

[0059] 4. The liquid level sensor in the water tank 101 detects the water level in the water tank 101 and feeds back the signal to the central control processor. When the water level in the water tank 101 reaches the minimum liquid level, the central control processor controls the control valve to close the water outlet pipeline 2, open the water inlet pipeline, and insert the external fire hose at the external water inlet 109. The external water source enters the water tank 101 from the water inlet of the water tank 101 through the external fire hose and the water inlet pipeline in turn;

[0060] 5. When the water level in the water tank 101 reaches the high level, the firefighter unplugs the external fire hose according to the liquid level information displayed by the central control processor.

Claims

1. A firefighting robot with intelligent driving function, characterized in that: It includes a perception system, an intelligent driving system and a fire-fighting device. The perception system includes a vehicle-mounted pan-tilt platform, the intelligent driving system includes a radar and a camera, and the fire-fighting device includes a fire-fighting cannon. The vehicle-mounted pan-tilt platform, radar, camera and fire-fighting cannon are installed on a fire-fighting robot. The perception system, intelligent driving system and fire-fighting device are respectively connected to a central control processor.

2. The fire-fighting robot with intelligent driving function according to claim 1, characterized in that: The radar includes a laser radar and a millimeter wave radar, the camera adopts a depth camera, and the intelligent driving system also includes an inertial navigation and an automatic driving algorithm processor.

3. A firefighting robot with intelligent driving function according to claim 1 or 2, characterized in that: The vehicle-mounted pan / tilt platform is arranged on the front side of the fire-fighting robot, and the vehicle-mounted pan / tilt platform includes a thermal imaging camera, a wide-angle camera and a zoom camera.

4. The fire-fighting robot with intelligent driving function according to claim 3, characterized in that: The perception system also includes a 360-degree panoramic imaging system, which includes a first wide-angle fisheye camera, a second wide-angle fisheye camera, a third wide-angle fisheye camera, and a fourth wide-angle fisheye camera. The first wide-angle fisheye camera is installed on the front side of the fire-fighting robot, the second wide-angle fisheye camera is installed on the rear side of the fire-fighting robot, the third wide-angle fisheye camera is installed on the right side of the fire-fighting robot, and the fourth wide-angle fisheye camera is installed on the left side of the fire-fighting robot.

5. A firefighting robot with intelligent driving function according to claim 1, 2 or 4, characterized in that: The fire-fighting device includes a self-priming fire-fighting monitor, a water outlet pipe, a fire-fighting water pump and a water tank. The self-priming fire-fighting monitor, the water tank and the fire-fighting water pump are installed on a fire-fighting robot. The water tank is connected to the self-priming fire-fighting monitor via the fire-fighting water pump and the water outlet pipe.

6. The fire-fighting robot with intelligent driving function according to claim 5, characterized in that: A water tank water outlet valve is installed on the water outlet pipeline.

7. The fire-fighting robot with intelligent driving function according to claim 6, characterized in that: The fire-fighting device also includes an external water supply fire monitor and a second water outlet pipeline. The external water supply fire monitor is installed on the fire-fighting robot, and the external water supply fire monitor is connected to an external fire hose via the second water outlet pipeline.

8. The fire-fighting robot with intelligent driving function according to claim 7, characterized in that: The water tank is connected with the second water outlet pipeline via the water inlet pipeline, and a control valve is installed at the connection point between the second water outlet pipeline and the water inlet pipeline.

9. A firefighting robot with intelligent driving function according to claim 6, 7 or 8, characterized in that: A liquid level sensor is installed in the water tank.

10. A firefighting robot with intelligent driving function according to claim 1 or 2 or 4 or 6 or 7 or 8, characterized in that: It also includes an auxiliary device, which is arranged on the front side of the fire-fighting robot chassis. The auxiliary device includes a push shovel, a linear actuator drive mechanism and a connecting rod. One end of the linear actuator drive mechanism is hinged to the front end of the fire-fighting robot chassis, and the other end is hinged to the push shovel. One end of the connecting rod is hinged to the fire-fighting robot chassis, and the other end is fixedly connected to the push shovel.

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