Intelligent fire rescue robot capable of climbing stairs

Abstract

The intelligent fire rescue robot capable of climbing the stairs comprises a tracked robot body, the tracked robot body comprises a body driving wheel, a shell and a bottom plate, a driving mechanism of the tracked robot body is installed on the rear portion of the robot, and two swing mechanisms are symmetrically installed on the front portion of the robot. A steering engine of each swinging mechanism is mounted below the adjacent bottom plate; each swinging mechanism comprises a steering engine, a swinging driving shaft, a swinging plate, a swinging driven wheel, a swinging crawler belt and a core-missing wheel; one end of the swinging driving shaft is connected with a driving steering engine shaft at the output end of the steering engine through a coupler, and the other end of the swinging driving shaft sequentially penetrates through a connecting plate connected with the bottom plate and the center-missing wheel and is connected with the swinging plate through a flange coupler; the upper space of the bottom plate is divided into two parts, one part is used for installing the stretching platform, and the other part is used for installing the detection execution module and the water storage tank. The system has better adaptability to complex terrains, and can realize the integration of discovery, fire extinguishment and search and rescue.

Description

Technical Field

[0001] The utility model relates to the technical field of fire prevention and fire rescue, in particular to an intelligent fire rescue robot capable of climbing stairs, used for fire reconnaissance and fire rescue, capable of extinguishing fire hazards at a fixed point and assisting in rescuing trapped persons. Background Art

[0002] With the advancement of science and technology and the continuous development of industrial automation, robotics has been widely used in various fields. In particular, in some special environments (such as disaster sites, extreme climate areas, unstable terrain, etc.), the demand for robots is increasing. These environments often pose a greater risk to human workers, and traditional wheeled or legged robots are difficult to perform tasks efficiently and stably due to their limited terrain adaptability. Therefore, intelligent tracked vehicles that can adapt to complex terrain and have good off-road capabilities have become a research hotspot. Tracked mobile robots have good off-road maneuverability, and their performance in climbing slopes and crossing ditches is better than that of wheeled mobile mechanisms, which gives them better mobility and scope of use in unstructured environments such as the wild. However, existing tracked mobile robots show obvious inadaptability when encountering high-rise buildings or climbing stairs. Therefore, this application proposes an intelligent firefighting and rescue robot that can climb stairs for special working environments such as going up and down stairs and high-rise buildings. Utility Model Content

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an intelligent firefighting and rescue robot that can climb stairs.

[0004] The technical solution of the utility model to solve the technical problem is:

[0005] An intelligent firefighting and rescue robot capable of climbing stairs includes a tracked robot body 5, the tracked robot body 5 comprising a main driving wheel 52, a main driven wheel 53, a main track 54, a housing 55, and a base plate. The drive mechanism of the tracked robot body is mounted at the rear of the robot, the main driving wheel 52 being connected to the drive mechanism of the tracked robot body. Two swing mechanisms are symmetrically mounted at the front of the robot, each having a servo 41 mounted below an adjacent base plate. The swing mechanisms comprise a servo 41, a swing driving shaft 43, a swing plate 44, a swing driven wheel 45, a swing track 46, a flange coupling 47, and a coreless wheel 48.

[0006] One end of the swing drive shaft 43 is connected to the driving servo shaft 51 at the output end of the servo 41 via a coupling 50. The other end passes through a connecting plate 49 connected to the base plate and the coreless wheel 48, and is connected to the swing plate 44 via a flange coupling 47. The flange of the flange coupling 47 is fixed to the swing plate 44. The swing drive shaft 43 and the coreless wheel are connected via a bearing.

[0007] The coreless wheel 48 is composed of four coreless wheel handles 42 connected by copper columns, two of which form a group. One group of coreless wheel handles cooperates with the main crawler 51 for transmission, and the other group of coreless wheel handles cooperates with the swing crawler 46. The center of the coreless wheel handle is hollow and equipped with a bearing. The swing driving shaft passes through the four coreless wheel handles and is connected through the corresponding bearings.

[0008] A plurality of swing driven wheels 45 are connected to the swing plate 44 via corresponding shafts, and the swing crawler 46 wraps all the swing driven wheels and the two coreless wheel handles 42;

[0009] The upper space of the bottom plate is divided into two parts, one part is used to install the stretching platform 2, and the other part is used to install the detection execution module 3 and the water tank 1.

[0010] Furthermore, the swing mechanism 4 cannot swing horizontally, but swings along the height direction of the robot. The swing mechanism can swing 360° around the swing driving shaft 43; when the servo 41 is working, it can drive the swing plate 44 and its connected accessories to rotate as a whole, but does not affect the rotation of the hearth wheel 48.

[0011] Furthermore, the stretching platform 2 includes a storage pull plate 21 and four guide optical axes 22. The four guide optical axes are arranged symmetrically in front, back, left and right. One end of the guide optical axes is fixed to the bottom plate, and the other end is provided with a limited end. The height of the guide optical axis is not higher than the height of the shell; the storage pull plate 21 has a horizontal plate and two handles in the front and back. The two handles are symmetrically arranged on both sides of the horizontal plate. Corresponding through holes for the guide optical axes to pass through are provided on the horizontal plate. Pulling the handle can make the horizontal plate move upward along the guide optical axis; fire-fighting supplies are set on the horizontal plate.

[0012] Furthermore, the upper portion of the shell where the horizontal plate is located is open.

[0013] Furthermore, a magnetic control component 23 is also provided on the stretching platform for controlling the rise or fall of the storage pull plate through a button.

[0014] Furthermore, the detection execution module 3 includes a water gun 31, a camera 32 and a pan-tilt head 33. The water gun 31 and the camera 32 are fixed to the pan-tilt head 33 by corresponding screws. The pan-tilt head can drive the camera and the water gun to rotate and rise and fall in space; the water inlet of the water gun 31 is connected to the water outlet of the water tank through a pipeline to supply water to the water gun; the water gun 31 and the camera 32 are located outside the shell.

[0015] Furthermore, the water storage tank 1 includes a water tank cover 11 and a water tank body 12. The water tank body stores water, and the water tank cover is covered on the water tank body. An interface for connecting with a fire water pipe is provided on the water tank cover 11, and the interface is communicated with the interior of the water tank body. A water tank outlet 13 is also provided on the water tank cover, and water is supplied to the water gun through the water tank outlet or the interface.

[0016] The lower part of the water tank body is fixed on the bottom plate, the shell at the position of the water tank body is open, and the water tank cover can be spliced into one piece with the shell after being closed on the water tank body.

[0017] Furthermore, a water pump is provided in the water tank body, and an output end of the water pump extends out of the water outlet 13 of the water tank through a pipeline and is connected to a water gun.

[0018] Furthermore, the robot is also provided with a control unit, which controls the robot to execute walking, swinging, water supply, and image data collection instructions. At the same time, the control unit can also communicate with the remote end, alarm module, and voice communication module.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The utility model has better adaptability to complex terrain and can realize the integration of discovery, fire extinguishing and search and rescue.

[0021] The utility model relates to an intelligent firefighting and rescue robot which can save manpower costs, improve inspection efficiency, increase the accuracy of discovering fire hazards, and conduct autonomous fire prevention and fire inspections.

[0022] The utility model has a small size and can be put into practical use quickly, which reduces the manpower cost to a certain extent during the search and rescue process and greatly protects the life, health and safety of the search and rescue personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of the intelligent firefighting and rescue robot capable of climbing stairs of the present utility model;

[0024] Figure 2 This is a schematic diagram of the left side structure of the intelligent firefighting and rescue robot capable of climbing stairs after the shell is made transparent;

[0025] Figure 3 This is a schematic diagram of the structure of the stretching platform of the present invention when it is in a low position;

[0026] Figure 4 This is a structural diagram of the stretching platform of the present invention when it is located at a high position;

[0027] Figure 5 This is a schematic diagram of the connection structure of the swing mechanism without the crawler in the present invention;

[0028] Figure 6 This is a schematic diagram of the structure from an upward angle of an embodiment of the present invention without the swinging crawler.

[0029] In the figure, 1, water tank, 2 stretching platform, 3 detection execution module, 4 swing mechanism, 5 crawler robot body,

[0030] 11 water tank cover, 13 water tank outlet, 12 water tank body, 22 lead optical axis, storage pull plate 21, 23 magnetic control component, 31 water gun, 32 camera, 33 pan / tilt, 41 servo, 42 center wheel handle, 43 swing driving shaft, 44 swing plate, 45 swing driven wheel, 46 swing track, 47 flange coupling, 48 center wheel, 49 connecting plate, 50 coupling, 51 driving servo shaft, 52 main body driving wheel, 53 main body driven wheel, 54 main body track, 55 shell. DETAILED DESCRIPTION

[0031] The following are specific examples of the present invention, which are only used to further illustrate the present invention and do not limit the scope of protection of this application.

[0032] This utility model provides an intelligent firefighting and rescue robot capable of climbing stairs. Its primary application scenarios are high-rise buildings and factory buildings, and its application field is firefighting. The robot features a swingable forearm, which enables it to ascend and descend stairs and traverse complex terrain. Furthermore, the robot's water tank is equipped with an inlet compatible with an external firefighting water supply. This water tank supports both internal water storage and external water supply for water cannons. The robot also features a storage platform capable of carrying a certain amount of rescue supplies, further safeguarding the lives, health, and safety of those trapped in a fire scene.

[0033] This utility model is an intelligent fire rescue robot that can climb stairs. Figure 1 , including a crawler robot body 5, the crawler robot body 5 includes a body driving wheel 52, a body driven wheel 53, a body crawler track 54, a shell 55 and a bottom plate, the driving mechanism of the crawler robot body is installed at the rear of the robot, the body driving wheel 52 is connected to the driving mechanism of the crawler robot body, the body driven wheel is fixed to the connecting plate 49 on the bottom plate through the shaft, the body crawler track 54 is arranged outside the body driving wheel, the body driven wheel and the heartless wheel, the body driving wheel drives the body crawler track to work, and then drives the body driven wheel and the heartless wheel 48 to follow the rotation, so as to realize the movement of the robot by relying on the body crawler track; the heartless wheel 48 is located at the front end inside the body crawler track, and the center of the heartless wheel is hollow for the swing driving shaft 43 of the swing mechanism 4 to pass through;

[0034] The upper space of the bottom plate is divided into two parts, one part is used to install the stretching platform 2, and the other part is used to install the detection execution module 3 and the water tank 1;

[0035] The swing mechanism 4 cannot swing horizontally, but swings along the height direction of the robot. It includes a servo 41, a swing driving shaft 43, a swing plate 44, a swing driven wheel 45, a swing track 46, a flange coupling 47 and a hearth wheel 48. Two swing mechanisms 4 are symmetrically arranged at the front end of the robot. The servo 41 of each swing mechanism is installed under the adjacent base plate. One end of the swing driving shaft 43 is connected to the driving servo shaft 51 at the output end of the servo 41 through a coupling 50, and the other end is connected to the swing plate 44 through a flange coupling 47; the rightmost end of the swing driving shaft 43 is connected to the driving servo shaft 51 at the output end of the servo 41, and the swing driving shaft 43 passes through the connecting plate 49 connected to the base plate and the hearth wheel 48 and the flange coupling 47 in sequence. The flange of the flange coupling 47 is fixed on the swing plate 44, and the rotation of the swing driving shaft 43 does not drive the hearth wheel 48 to rotate;

[0036] The structure of the heartless wheel 48 is composed of four heartless wheel handles 42 connected by copper columns, two of which form a group, one group of heartless wheel handles is matched with the main body track 51, and the other group of heartless wheel handles is matched with the swing track 46. The center of the heartless wheel handle is hollow and is installed with a bearing. The swing driving shaft passes through the four heartless wheel handles and is connected by corresponding bearings, so that the rotation of the swing driving shaft does not affect the self-rotation of the four heartless wheel handles. The four heartless wheel handles are connected into a whole in sequence by copper columns. When the main body driving wheel rotates, the four heartless wheel handles can be driven to rotate together through the main body track, and then the track driven wheel 45 is driven to rotate through the swing track.

[0037] When the servo 41 is operating, it drives the swing plate 44 and its attached accessories to rotate as a whole, without affecting the rotation of the coreless wheel 48. Multiple swinging driven wheels 45 are connected to the swing plate 44 via corresponding shafts. The swinging tracks 46 wrap around all of the swinging driven wheels and the two coreless wheel handles 42, working in conjunction with them to achieve the movement of the swinging tracks. The swinging drive shaft 43's oscillation does not affect the operation of the coreless wheel 48. The servo 41 and the swinging drive shaft are connected by a coupling 50, and the swinging drive shaft 43 is connected to the swing plate via a flange coupling 47. When the servo is operating, the swing plate rotates.

[0038] The swing mechanism is capable of swinging 360 degrees around the swing drive shaft 43. The installation method is to first install the servo 41 on a standard servo sheet metal, then connect it to the bottom of the base plate via a copper column. The swing drive shaft 43 is connected to the servo's drive servo shaft 51 via a coupling 50, so that the servo can control the swing drive shaft 43 to swing. The swing drive shaft 43 will pass through the centerless wheel 48. The centerless shaft 48 is connected to the flange coupling 47, and the flange of the flange coupling 47 is fixed to the swing plate 44 with screws. Because the centerless wheel 48 has a bearing at the center, even if the flange coupling is fixed, it does not affect the rotation of 48. The remaining wheels are then fastened to the swing plate 44 with screws and corresponding shafts. Finally, the swing track 46 is installed, and the entire swing mechanism is successfully installed.

[0039] The stretching platform 2 includes four guide optical axes 22 and a storage pull plate 21. The four guide optical axes are symmetrically arranged front to back and left to right. One end of each guide optical axis is fixed to the base plate, and the other end is provided with a limit stop. The height of the guide optical axis is slightly lower than the height of the housing. The storage pull plate 21 has a horizontal plate and two front and rear handles. The two handles are symmetrically arranged on either side of the horizontal plate. The horizontal plate is provided with corresponding through holes for the guide optical axes to pass through. Pulling the handles can cause the horizontal plate to move upward along the guide optical axes. When the handles are moved to the highest point of the guide optical axes, the firefighting supplies are exposed, making them convenient for trapped personnel to use. After the firefighting supplies are removed, the handles are released, and the storage pull plate slides down by gravity. The firefighting supplies are placed on the horizontal plate, and the upper part of the housing where the horizontal plate is located is open.

[0040] The specific installation method of the stretching platform 2 is: first install the flange at one end of the guide optical axis 22. The flange is a standard part and its function is to clamp the optical axis. The guide optical axis can be fixed on the base plate by fastening with screws. Then, the four guide optical axes are fastened to the base plate, and then the storage pull plate 21 is installed, that is, the four lead optical axes are passed through the four corresponding through holes of the storage pull plate 21. Finally, the limit flange at the other end of the guide optical axis is fastened.

[0041] In the embodiment of the present invention, a magnetic control component 23 can also be provided on the stretching platform for controlling the rise or fall of the storage pull plate through a button, which can be specifically implemented according to existing technologies.

[0042] The detection execution module 3 includes a water gun 31, a camera 32, and a pan / tilt platform 33. The pan / tilt platform is controlled by two servos for steering and elevation, and has two degrees of freedom. The water gun 31 and camera 32 are fixed to the pan / tilt platform 33 via corresponding screws, and the pan / tilt platform can drive the camera and water gun to rotate and rise and fall within a space. The water inlet of the water gun 31 is connected to the water outlet of the water tank via a pipe to supply water to the water gun. The water gun 31 and camera 32 are located outside the housing.

[0043] The water tank 1 includes a water tank cover 11 and a water tank body 12. Water is stored in the water tank body, and the water tank cover is covered on the water tank body. An interface for connecting with a fire water pipe is provided on the water tank cover 11. The interface is communicated with the interior of the water tank body, and a water tank outlet hole 13 is also provided on the water tank cover. Water can be supplied to the water gun through the water tank outlet hole or the interface. When an external fire water pipe needs to be connected, water is supplied to the water gun only through the water tank outlet hole.

[0044] The lower part of the water tank body is fixed on the bottom plate, the shell at the position of the water tank body is open, and the water tank cover can be spliced into one piece with the shell after being closed on the water tank body.

[0045] A water pump is provided in the water tank body, and an output end of the water pump extends out of the water outlet 13 of the water tank through a pipeline and is connected to a water gun.

[0046] The utility model robot is also provided with a control unit, which communicates with the crawler robot body drive mechanism, all steering gears, water pumps, and cameras. The control unit can also communicate with the remote end, the alarm module, and the voice communication module.

[0047] The working principle and workflow of this utility model involve two scenarios:

[0048] First is the internal water supply. At this time, the water inlet of the water gun on the pan-tilt platform is connected to the water pump inside the water tank. When it starts working, the camera on the pan-tilt platform can capture the location of the flame hazard, and the pan-tilt platform rotates and rises to aim the water gun 31 at the location of the flame hazard. The water pump pumps water and sprays the fire extinguishing material (water) to the location of the flame hazard. At the same time, the camera can also capture the trapped person. After locking the trapped person, the robot will drive to the front of the trapped person. The trapped person needs to manually pull out the storage pull plate 21 and take down the small fire extinguisher or survival supplies tied to the storage pull plate 21 to save himself and achieve the effect of auxiliary rescue.

[0049] The second is external water supply. When the fire is too big and the internal water storage is scarce, the fire water pipe can be stuck on the water tank cover 11. The specific usage method is that a boss slightly larger than the outer diameter of the fire water pipe is provided on the water tank cover 11. The fire water pipe can be stuck on the water tank cover 11 by pressing to achieve external water supply.

[0050] The swing mechanism enables the utility model to adapt to complex terrain. When climbing stairs, the swing mechanism will be slightly raised, and when halfway up, the swing mechanism will be slightly lowered, which can better adapt to special occasions such as high-rise fires.

[0051] The control unit of the present invention is loaded with an image recognition algorithm, which can detect things like cigarette butts, sparks, trapped people, etc. through computer vision, and automatically spray water on the identified sparks and cigarette butts, thus realizing the function of intelligent fire prevention and sounding an alarm. When it is confirmed that a flame has been ignited, the present invention is placed near the fire scene by a non-trapped person. Before entering the fire scene, the non-trapped person clips on the water hose. The fire hose carried is in a working state. When the water hose is flowing, it can supply water to the present invention, and at the same time, the water hose has a certain fire prevention capability. The present invention enters the fire scene while extinguishing the fire, and the climbing stair function of the swing mechanism can quickly and stably enter the flame scene and be equipped with an external fire hose. If a fire truck is on its way and timely rescue is needed, the robot can connect the water pipe to the fire hydrant at the safety exit before the flames spread, and the robot can drag the water pipe to the upper floors to put out the fire and rescue people. The robot is connected to the external fire-fighting pipe water supply, which can continuously supply water to the water gun, which is conducive to quickly extinguishing the fire. After finding the trapped people, professionals can remotely guide the trapped people to take the supplies loaded inside. After extinguishing the flames around the trapped people, they can continue to guide the trapped people to save themselves.

[0052] The control unit of the utility model is also provided with an inspection algorithm and a navigation algorithm, which can make autonomous decisions during inspections, reduce waste of human resources, and can navigate autonomously, which can reduce the burden on the operator and improve work efficiency. The specific algorithm implementation method can also adopt existing technology and is not an innovation point of this application.

[0053] This utility model is a multifunctional crawler-type intelligent firefighting and rescue robot suitable for complex environments and multiple scenarios. It can realize the autonomous switching of internal water storage and external firefighting pipe water supply, and the swing mechanism is more adaptable to situations with large terrain changes such as climbing stairs and high-rise buildings. The utility model is small in size, stable in operation, and can bear more firefighting materials.

[0054] Any matters not described in this utility model are applicable to the prior art.

Claims

1. An intelligent firefighting and rescue robot capable of climbing stairs, comprising a crawler robot body, characterized in that: The crawler robot body includes a main driving wheel, a main driven wheel, a main crawler track, a shell and a bottom plate. The driving mechanism of the crawler robot body is installed at the rear of the robot. The main driving wheel is connected to the driving mechanism of the crawler robot body. Two swing mechanisms are symmetrically installed at the front of the robot. The steering gear of each swing mechanism is installed under the adjacent bottom plate. The swing mechanism includes a steering gear, a swing driving shaft, a swing plate, a swing driven wheel, a swing crawler track, a flange coupling and a coreless wheel. One end of the swing driving shaft is connected to the driving steering gear shaft at the output end of the steering gear through a coupling, and the other end passes through the connecting plate connected to the base plate and the coreless wheel in sequence and is connected to the swing plate through a flange coupling; the flange of the flange coupling is fixed to the swing plate; the swing driving shaft and the coreless wheel are connected through a bearing; The heartless wheel is composed of four heartless wheel handles connected by copper columns, two of which form a group. One group of heartless wheel handles cooperates with the main crawler for transmission, and the other group of heartless wheel handles cooperates with the swing crawler. The center of the heartless wheel handle is hollow and equipped with a bearing. The swing driving shaft passes through the four heartless wheel handles and is connected through the corresponding bearings. A plurality of swing driven wheels are connected to the swing plate through corresponding shafts, and the swing crawler wraps all the swing driven wheels and two coreless wheel handles; The upper space of the bottom plate is divided into two parts, one part is used for installing the stretching platform, and the other part is used for installing the detection execution module and the water tank.

2. The robot according to claim 1, characterized in that The swing mechanism cannot swing horizontally, but swings along the height direction of the robot. The swing mechanism can swing 360° around the swing driving axis; when the servo is working, it can drive the swing plate and its connected accessories to rotate as a whole, but will not affect the rotation of the hearth wheel.

3. The robot according to claim 1, characterized in that The stretching platform includes a storage pull plate and four guide optical axes, which are arranged symmetrically in front, back, left and right directions. One end of the guide optical axes is fixed to the bottom plate, and the other end is provided with a limited end. The height of the guide optical axis is not higher than the height of the shell; the storage pull plate has a horizontal plate and two handles in the front and back, and the two handles are symmetrically arranged on both sides of the horizontal plate. Corresponding through holes for the guide optical axes to pass through are provided on the horizontal plate. Pulling the handle can make the horizontal plate move upward along the guide optical axis; fire-fighting supplies are set on the horizontal plate.

4. The robot according to claim 3, characterized in that The upper portion of the shell where the horizontal plate is located is open.

5. The robot according to claim 3, characterized in that A magnetic control component is also provided on the stretching platform for controlling the rise or fall of the storage pull plate through a button.

6. The robot according to claim 1, characterized in that The detection execution module includes a water gun, a camera and a pan-tilt platform. The water gun and the camera are fixed to the pan-tilt platform by corresponding screws. The pan-tilt platform can drive the camera and the water gun to rotate and rise and fall in space; the water inlet of the water gun is connected to the water outlet of the water tank through a pipe to supply water to the water gun; the water gun and the camera are located outside the shell.

7. The robot according to claim 1, characterized in that The water storage tank includes a water tank cover and a water tank body. The water tank body stores water. The water tank cover is covered on the water tank body. An interface for connecting with a fire water pipe is provided on the water tank cover. The interface is communicated with the interior of the water tank body. A water tank outlet is also provided on the water tank cover. Water is supplied to the water gun through the water tank outlet or the interface. The lower part of the water tank body is fixed on the bottom plate, the shell at the position of the water tank body is open, and the water tank cover can be spliced into one piece with the shell after being closed on the water tank body.

8. The robot according to claim 7, characterized in that A water pump is arranged in the water tank body, and an output end of the water pump extends out of the water outlet of the water tank through a pipeline and is connected to a water gun.

9. The robot according to any one of claims 1 to 8, characterized in that: The robot is also provided with a control unit, which controls the robot to execute walking, swinging, water supply, and image data collection instructions. At the same time, the control unit can also communicate with the remote end, the alarm module, and the voice communication module.

Images