Fire extinguishing robot and fire extinguishing system for roll-on roll-off automobile transport ship

Abstract

The utility model provides a fire extinguishing robot and fire extinguishing system for roll-on roll-off automobile transport ship, the fire extinguishing robot comprises a platform, the platform is provided with a drilling tool assembly and a liquid nitrogen tank, the drilling tool assembly comprises a tapping drill bit, the tapping drill bit is rotatably installed on a positioning seat, the positioning seat synchronously feeds along with the tapping drill bit, and two access pipelines are fixed on the positioning seat. Wherein the top of one connecting-in pipeline is provided with a liquid nitrogen spraying head, the top of the other connecting-in pipeline is provided with a high-pressure water jet spraying head, the bottom ends of the two connecting-in pipelines are respectively connected with a first high-pressure hose, and the first high-pressure hose corresponding to the liquid nitrogen spraying head is connected with a liquid outlet of a liquid nitrogen tank. A high-pressure jet water quick connector is arranged at the far end of the first high-pressure hose corresponding to the high-pressure water jet nozzle. The fire extinguishing robot for the automobile roll-on-roll-off ship is provided with a flexible machine body, can flexibly shuttle and advance under the automobile chassis of the roll-on-roll-off ship, can start fire extinguishing and cooling operation under the automobile chassis, and sprays fire extinguishing agents in a drilling intervention mode.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent fire fighting and rescue equipment technology, and in particular relates to fire fighting robots and fire fighting systems for roll-on / roll-off car carriers. Background Technology

[0002] With the rapid development of my country's automobile industry, roll-on / roll-off (Ro-Ro) ships, as an important tool for automobile transportation, play a vital role in inland waterway shipping and long-distance ocean-going automobile exports. However, during automobile transportation, fires caused by thermal runaway of new energy vehicle power batteries and vehicle defects are increasing year by year, often leading to fires on car carriers and even causing them to sink.

[0003] Currently, roll-on / roll-off car carriers typically have sprinkler or water mist systems installed in their cabins to combat fires. However, for car fires, especially those involving new energy electric vehicles, fixed fire suppression systems are often ineffective. Therefore, to address this issue, corresponding fire extinguishing devices have been developed, such as:

[0004] The patent "A Rapid Response Device for Extinguishing Electric Vehicle Fires" (202022913248.0) constructs a closed area around a burning vehicle using baffles and spray pipes, and then uses the surrounding spray pipes to spray water or extinguishing agent to extinguish the fire. Since electric vehicle batteries are located at the bottom of the vehicle, fires are usually caused by thermal runaway gas production leading to deflagration and jet fires. However, this patented technology, which only uses water or extinguishing agent sprayed from the closed area, is unlikely to effectively target the thermally runaway battery cells to achieve rapid fire suppression.

[0005] The patent "A Fire Blanket for Rapidly Extinguishing Car Fires (202120647360.6)" uses fire hoses and PVC pipes as flexible conduits fixed to the edge of the fire blanket, increasing its weight and improving its ability to cover the burning car and isolate it from the air. Simultaneously, the conduits are connected to fire hoses or liquid extinguishing agents to spray onto the burning vehicle, aiming to achieve proactive and rapid fire suppression. This patented technology combines a hose with a fire blanket, hoping to extinguish the fire while simultaneously spraying extinguishing agents. However, in actual use, the sprayed water or extinguishing agent will entrain a large amount of air due to the reaction force, and a significant amount of water or extinguishing agent will be lost. Relying solely on heat absorption and cooling to extinguish the thermal runaway battery cell is not particularly effective. Furthermore, this design increases the weight of the fire blanket, requiring the addition of sandbags and other heavy objects later, making operation cumbersome and potentially dangerous for firefighters.

[0006] The patent "A Fire Extinguishing Device for Automobile Chassis (202222369491.x)" employs a motor-driven water spray frame and quick-connect pipe design. The water spray frame can be moved to the bottom of a burning vehicle via remote control or manual operation, and fire extinguishing agent is sprayed upwards from the nozzles on the frame. While this patented technology allows the water spray frame to spray fire extinguishing agent upwards from the bottom of the vehicle, directly applying the agent to the battery pack or the sprayed flames for cooling and extinguishing, it also suffers from drawbacks. The sprayed agent cannot directly target the thermally runaway battery cells. Furthermore, once the sprayed flames from the thermally runaway battery cells ignite the vehicle's interior, tires, or other parts, the patented technology cannot effectively suppress the fire. A large amount of the sprayed fire extinguishing agent is lost, and it cannot continuously exert its effect on the thermally runaway battery cells, resulting in low fire suppression efficiency and poor fire suppression effect.

[0007] In addition, due to the limited space in the cabins of roll-on / roll-off car carriers, the cars are arranged very densely with very little space between adjacent cars. Once a car thermal runaway fire occurs, it can easily spread rapidly, and it is also very difficult for personnel to carry out firefighting and rescue operations on site. Utility Model Content

[0008] In view of this, the present invention aims to propose a fire-fighting robot and fire-fighting system for roll-on / roll-off car carriers, which integrates daily inspection and fire-fighting and rescue functions in emergency situations. It can carry out fire safety inspection and monitoring inside the ship's cabin, detect the risk of thermal runaway fire in a car at the first time, and go deep under the car chassis to carry out rapid cooling treatment.

[0009] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0010] The specific details of the roll-on / roll-off car carrier firefighting robot described in this utility model are as follows:

[0011] The firefighting robot for roll-on / roll-off car carriers includes a platform with a magnetic adsorption walking mechanism at the bottom, and a drill assembly and liquid nitrogen tank on the platform.

[0012] The drilling assembly includes an upward-facing drilling bit with a corresponding positioning seat. The drilling bit is rotatably mounted on the positioning seat, which feeds synchronously with the drilling bit. The positioning seat fixes two access pipes through the area enclosed by the drilling bit. One access pipe has a liquid nitrogen injection head at its top, and the other access pipe has a high-pressure water jet nozzle at its top. Both the liquid nitrogen injection head and the high-pressure water jet nozzle are located inside the drilling bit. The bottom ends of the two access pipes are respectively connected to a first high-pressure hose. The first high-pressure hose corresponding to the liquid nitrogen injection head is connected to the outlet of the liquid nitrogen tank, which is equipped with a control valve. The high-pressure water jet quick-connect interface is provided at the distal end of the first high-pressure hose corresponding to the high-pressure water jet nozzle, and the high-pressure water jet quick-connect interface is installed on the platform.

[0013] Furthermore, the magnetic adsorption walking mechanism includes four wheel assemblies and a servo motor drive assembly for driving the wheel assemblies. Each wheel assembly includes two rubber wheels and a strong magnetic field cylindrical wheel between the two rubber wheels. The diameter of the strong magnetic field cylindrical wheel is not greater than the diameter of the rubber wheels.

[0014] Furthermore, the magnetic adsorption walking mechanism is a dual-drive walking mechanism, both front and rear.

[0015] Furthermore, the liquid nitrogen tank is provided with an inlet, and the inlet is equipped with a second high-pressure hose. The distal end of the second high-pressure hose is provided with a liquid nitrogen pipeline quick connector, which is installed on the platform.

[0016] Furthermore, the control valve is a solenoid valve.

[0017] Furthermore, the platform is equipped with an infrared temperature sensor, an image sensor, a lighting device, and an obstacle avoidance sensor.

[0018] The above is an explanation of the firefighting robot for roll-on / roll-off car carriers. The following is a detailed explanation of the firefighting system for roll-on / roll-off car carriers:

[0019] A fire extinguishing system for a roll-on / roll-off car carrier includes a fire extinguishing robot and a fire extinguishing agent supply station set on the deck of the carrier. The fire extinguishing agent supply station includes a fixed fire extinguishing agent supply station and a follow-up fire extinguishing agent supply station. Both the fixed fire extinguishing agent supply station and the follow-up fire extinguishing agent supply station are equipped with a high-pressure water source and a liquid nitrogen source.

[0020] The high-pressure jet water quick-connect interface of the fire extinguishing robot is connected to the high-pressure water source of the fixed extinguishing agent supply station via a fire hose, and / or the inlet of the liquid nitrogen tank of the fire extinguishing robot is connected to the liquid nitrogen source of the fixed extinguishing agent supply station via a hose. The fire extinguishing robot tows the fire hose and hose to enter the area under the thermally runaway burning vehicle chassis to extinguish the fire; or

[0021] The high-pressure jet water quick-connect interface of the fire extinguishing robot is connected to the high-pressure water source of the fire hose and the following fire extinguishing agent supply station, and / or the liquid nitrogen tank inlet of the fire extinguishing robot is connected to the liquid nitrogen source of the following fire extinguishing agent supply station through a hose. The following fire extinguishing agent supply station accompanies the fire extinguishing robot, and the fire extinguishing robot tows the fire hose and hose to enter the area under the thermally runaway and burning car chassis to extinguish the fire.

[0022] Compared with existing technologies, the fire-fighting robot and fire-fighting system for roll-on / roll-off car carriers described in this utility model have the following advantages:

[0023] (1) In this utility model, the fire-fighting robot adopts a magnetic adsorption walking mechanism, which can move on the metal deck and can be firmly fixed on the deck during fire-fighting operations, and will not shake due to the movement of the ship.

[0024] (2) In this utility model, the fire extinguishing robot has a clever body, which can move flexibly under the chassis of the roll-on / roll-off ship and can start fire extinguishing and cooling operations under the chassis of the car, as well as drill-intervention spraying fire extinguishing agent.

[0025] (3) In this utility model, the fire-fighting robot is equipped with obstacle avoidance probe, infrared temperature sensor and image sensor, etc., and has the ability to flexibly avoid obstacles, plan routes and move forward, infrared detection and high temperature monitoring and early warning of automobiles.

[0026] (4) In this utility model, the fire extinguishing agent supply station on the deck includes a fixed fire extinguishing agent supply station and a follow-up fire extinguishing agent supply station. The follow-up fire extinguishing agent supply station can accompany the fire extinguishing robot. Both fire extinguishing agent supply stations can provide liquid supply guarantee for the fire extinguishing robot to extinguish fires. The fire extinguishing robot carries a liquid nitrogen device, which can quickly cool and suppress the thermal runaway lithium battery of electric vehicles in emergency situations. At the same time, the robot can tow fire hoses and connect to the fixed fire extinguishing agent supply station or the follow-up fire extinguishing agent supply station on the deck through quick connectors. For cars with thermal runaway fires, it can enter under the chassis to quickly spray and extinguish the fire.

[0027] (5) The car roll-on / roll-off ship fire extinguishing robot described in this utility model adopts the functions of multi-information fusion autonomous judgment and long-distance remote control command. It can obtain the temperature, smoke concentration and video image information data of fixed points in the cabin in real time, feed back to the control center and set and operate the autonomous fire extinguishing operation path. Attached Figure Description

[0028] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0029] Figure 1 This is a front view of the firefighting robot for roll-on / roll-off car carriers described in this embodiment of the invention.

[0030] Figure 2 This is a side view of the firefighting robot for a roll-on / roll-off car carrier as described in an embodiment of this utility model.

[0031] Figure 3 This is a top view of the firefighting robot for roll-on / roll-off car carriers described in this embodiment of the invention.

[0032] Figure 4 This is a diagram showing the positional relationship between the drilling bit, the high-pressure water jet nozzle, and the liquid nitrogen injection head in an embodiment of this utility model.

[0033] Figure 5 This is a schematic diagram of the power coordination between the hole drill and the matching drive motor in this embodiment;

[0034] Figure 6 This is the main view of the hole drilling feed structure in this embodiment;

[0035] Figure 7 This is a top view of the hole drilling feed structure in this embodiment.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1-Platform; 2-Obstacle avoidance probe; 3-Infrared temperature sensor; 4-Drill assembly; 6-Drill bit; 8-Image probe; 10-Wheel assembly; 11-Rubber wheel; 12-Strong magnetic field cylindrical wheel; 15-Servo motor drive assembly; 16-High-pressure water jet quick connector; 18-Liquid nitrogen pipeline quick connector; 20-Lighting lamp; 21-Liquid nitrogen tank; 23-High-pressure water jet nozzle; 25-Liquid nitrogen injection head; 26-External gear ring; 27-Gear; 28-Positioning seat; 29-Drill bit rotation drive motor; 30-Guide plate; 31-Lifter; 32-Guide hole. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] like Figure 1 , Figure 2 and Figure 3 As shown, the firefighting robot for roll-on / roll-off car carriers has an overall height not exceeding the height of the car chassis, preferably not exceeding 15cm. The robot includes a platform 1, with a magnetic adsorption walking mechanism at its bottom. The platform 1 also houses a drill assembly 4 and liquid nitrogen tanks 21, preferably two tanks 21 symmetrically positioned on the left and right sides of the platform. Specific structural details are as follows:

[0040] Drill assembly 4 includes drilling bit 6, such as Figure 4 , Figure 5As shown, the drilling end of the drill bit 6, i.e., the high-speed steel cutting tooth end, is positioned upwards. The drill bit 6 has a corresponding positioning seat 28. The drill bit 6 is rotatably mounted on the positioning seat 28, and the positioning seat 28 feeds synchronously with the drill bit 6. The drill bit 6 has a conventional hollow drill bit structure, the specific structure of which will not be described in detail here. The positioning seat 28 fixes two access pipes through the enclosed area of ​​the drill bit 6. One access pipe has a liquid nitrogen injection head 25 at its top, and the other access pipe has a high-pressure water jet nozzle 23 at its top. Both the liquid nitrogen injection head 25 and the high-pressure water jet nozzle 23 are located inside the drill bit 6 and are close to the drilling end of the drill bit 6. The bottom ends of the two access pipes are each independently connected to a first high-pressure hose (not shown in the figure). The first high-pressure hose corresponding to the liquid nitrogen nozzle 25 is connected to the outlet of the liquid nitrogen tank 21. The liquid nitrogen tank 21 is equipped with a control valve at the outlet, preferably a solenoid valve. The first high-pressure hose corresponding to the high-pressure water jet nozzle 23 is equipped with a high-pressure water jet quick interface 16 at its far end. The high-pressure water jet quick interface 16 is installed on the platform 1.

[0041] In this invention, the rotational power source for the drilling bit 6 comes from a drill bit rotation drive motor 29. For example, an external gear ring 26 is provided on the outside of the drilling bit 6, and a gear 27 is provided on the positioning seat 28 at a position outside the drilling opening 6. The gear 27 meshes with the external gear ring 26. The drill bit rotation drive motor 29 is mounted on the positioning seat 28, and its output end is connected to the gear 27. The feed structure of the drilling bit is as follows: Figure 6 , Figure 7 As shown, a lifter 31 is set directly below the positioning seat 28 on the platform 1. The lifter 31 is preferably a pneumatic or hydraulic lifter. Two guide plates 30 are vertically arranged on both sides of the lifter 31. The positioning seat 28 is correspondingly provided with two guide holes 32. The two guide plates 30 move through their respective guide holes 32, so that the positioning seat 28 can only move up and down along the guide plates 30. During firefighting operations, the lifter 31 lifts the positioning seat 28. The positioning seat 28, along with the drilling bit 6, gear 27, external gear ring 26, drill bit rotation drive motor 29, connecting pipeline, liquid nitrogen spray head 25, and high-pressure water jet nozzle 23, advances synchronously. At the same time, the drill bit rotation drive motor 29 is turned on, and the torque is transmitted to the drilling bit 6 through the meshing gear 27 and external gear ring 26. The drilling bit 6 rotates and is aligned with the fire point of the car battery above, making a hole in the battery protection plate. After the battery protection plate is pierced, the high-pressure water jet or liquid nitrogen jet is activated, spraying to drive away the circular metal block and cool the environment inside. The liquid nitrogen spray prevents the thermal runaway of the lithium battery from developing and avoids the expansion of the disaster. When the fluid pressure entering the lift 31 is removed, the positioning seat 28, together with the drilling bit 6, gear 27, external gear ring 26, drill bit rotation drive motor 29, connection pipeline, liquid nitrogen injection head 25 and high-pressure water jet nozzle 23 installed on it, will automatically reset and detach from the pierced hole surface under its own gravity.

[0042] In this invention, the magnetic adsorption walking mechanism includes four wheel assemblies 10 and servo motor drive assemblies 15 that drive the wheel assemblies. The four wheel assemblies 10 are installed on the platform in two groups, one in front and one behind. The preferred driving method is a dual-drive method, that is, each of the front and rear wheel assembly groups is equipped with a servo motor drive assembly 15. Each wheel assembly includes two rubber wheels 11 and a strong magnetic field cylindrical wheel 12 between the two rubber wheels 11. The diameter of the strong magnetic field cylindrical wheel 12 is not greater than the diameter of the rubber wheels 11. The strong magnetic field cylindrical wheel 12 can be a permanent magnet cylindrical wheel or a cylindrical wheel with a ring magnet structure fitted at the rim, so that the strong magnetic field cylindrical wheel 12 has a strong magnetic field. After the four wheel assemblies come into contact with the surface of the deck (steel plate structure) of the roll-on / roll-off car carrier, the strong magnetic field cylindrical wheel 12 and the deck generate an adsorption force, compressing the rubber wheels to provide static friction. The stable properties of magnetic attraction help robots move in all directions on ships for surveying and inspection. They are especially suitable for completing various angle flipping movements on steel surfaces, with safe and stable suspension, smooth and free movement, and flexible turning.

[0043] It should be noted that the magnetic adsorption walking structure described in this utility model has a magnetic field source that is not limited to magnetic wheels, but also includes multi-shaped permanent magnet magnetic field units attached to appropriate parts of the robot. For example, the permanent magnet is placed on the bottom surface of platform 1, and platform 1 is provided with an iron box with an opening on the bottom surface corresponding to the permanent magnet. The permanent magnet is placed inside the iron box, so that the magnetic field of the permanent magnet downwards and magnetically adsorbs the deck. At the same time, the iron box shields the upward magnetic field of the permanent magnet, ensuring the normal operation of other parts of the robot.

[0044] In this utility model, the liquid nitrogen tank 21 is provided with a liquid inlet, which is connected to a second high-pressure hose. The second high-pressure hose is provided with a liquid nitrogen pipeline quick interface 18 at its far end, and the liquid nitrogen pipeline quick interface 18 is installed on the platform 1.

[0045] In this invention, the robot carries a liquid nitrogen tank and is equipped with a liquid nitrogen spray head 25, which can rapidly cool and suppress the thermal runaway lithium battery of an electric vehicle in an emergency. The robot is also equipped with a high-pressure water jet nozzle 23. Both the liquid nitrogen spray head 25 and the high-pressure water jet nozzle 23 are equipped with quick-connect interfaces 18 for liquid nitrogen lines and 16 for high-pressure water jets, providing continuous backup power for the robot's handling operations. The quick-connect interfaces 18 and 16 can be towed with fire hoses and connected to the fire extinguishing agent supply station (providing both liquid nitrogen and water sources) on the deck via quick-connect couplings. For vehicles experiencing thermal runaway fires, the robot can enter under the chassis to quickly spray and extinguish the fire.

[0046] In this invention, platform 1 is equipped with an infrared temperature sensor 3, an image sensor 8, a lighting lamp 20, and an obstacle avoidance sensor 2. The control valves of the infrared temperature sensor 3, image sensor 8, drilling bit 6, magnetic adsorption walking mechanism, lighting lamp 20, obstacle avoidance sensor 2, and corresponding pipelines for the extinguishing medium (such as pipelines for liquid nitrogen and pipelines for high-pressure water for extinguishing fire) are wirelessly connected to the controller and control terminal of the extinguishing agent supply station to achieve wireless information transmission and proactively detect and take measures against thermal runaway of the lithium battery pack under the car. The robot adopts the functions of multi-information fusion autonomous judgment and long-distance remote control command. It can acquire real-time temperature, smoke concentration, and video image information data of fixed points in the cabin, feed back to the control center, and set and operate the autonomous fire extinguishing operation path. The opening and closing of the solenoid valve and the drilling information are controlled by conditional logic judgment. The injection of liquid nitrogen nozzles and high-pressure water jet pipes depends on the thermal runaway temperature information of the lithium battery. The robot's liquid nitrogen nozzle 25 and high-pressure water jet nozzle 23 are concealed (located inside the drilling bit) and have automatic extension and retraction functions (synchronously feeding with the drilling bit). Each is equipped with a corresponding fire extinguishing medium input connection pipeline, allowing for flexible switching between liquid nitrogen and water-based fire extinguishing agents from the fire extinguishing agent supply station for targeted spraying. The liquid nitrogen spraying unit features a vaporization and decompression mechanism, which is existing technology and can utilize common commercially available structures, thus not described in detail here. The vaporization and decompression mechanism can be located at the far end of the access pipeline corresponding to the liquid nitrogen nozzle 25 (the end opposite to the liquid nitrogen nozzle), enabling rapid release of supercritical nitrogen to quickly cool thermal runaway batteries in electric vehicles. The nitrogen spray distance is no less than 5 meters. This robot can autonomously inspect and detect problems on the steel deck of a ship, autonomously handling them and mitigating risks and controlling potential hazards in a timely manner.

[0047] The above describes the embodiments of the fire-fighting robot for roll-on / roll-off car carriers according to this utility model. The following describes the embodiments of the fire-fighting system for roll-on / roll-off car carriers according to this utility model:

[0048] Firefighting systems for roll-on / roll-off car carriers, including firefighting robots, such as... Figure 1 , 2 As shown in Figure 3, the system also includes fire extinguishing agent supply stations installed on the deck of the transport ship. These stations include fixed and following fire extinguishing agent supply stations. Multiple fixed stations can be installed, each equipped with a water tank that can serve as a high-pressure water source and a liquid nitrogen tank that can serve as a liquid nitrogen source. Following fire extinguishing agent supply stations can move alongside the fire extinguishing robot. Their structure can utilize existing following robots, with a water tank that can serve as a high-pressure water source and a liquid nitrogen tank that can serve as a liquid nitrogen source installed on the robot. Both fixed and following fire extinguishing agent supply stations can supply the fire extinguishing robot, ensuring its fire extinguishing operations.

[0049] Firefighting robots inspect the chassis of electric vehicles on the deck. Once a fire is detected, the robot can extinguish it by spraying liquid nitrogen it carries onto the fire. It can also perform the following operations:

[0050] The fire-fighting robot moves to the nearest fixed extinguishing agent supply station. Its high-pressure jet water quick-connect interface 16 is connected to the high-pressure water source of the fixed extinguishing agent supply station via a fire hose, and / or the inlet of the fire-fighting robot's liquid nitrogen tank 21 is connected to the liquid nitrogen source of the fixed extinguishing agent supply station via a hose. The fire-fighting robot tows the fire hose and hose to the fire point. For vehicles with thermal runaway fires, it can enter under the chassis for rapid spraying to extinguish the fire; or

[0051] The high-pressure jet water quick interface 16 of the fire extinguishing robot is connected to the high-pressure water source of the fire hose and the following fire extinguishing agent supply station, and / or the liquid nitrogen tank 21 of the fire extinguishing robot is connected to the liquid nitrogen source of the following fire extinguishing agent supply station through a hose. The following fire extinguishing agent supply station moves with the fire extinguishing robot. The fire extinguishing robot can enter under the chassis of a car that has caught fire due to thermal runaway to quickly spray and extinguish the fire.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A firefighting robot for roll-on / roll-off car carriers, characterized in that: Includes a platform (1), the bottom of which is equipped with a magnetic adsorption walking mechanism, and the platform (1) is equipped with a drill assembly (4) and a liquid nitrogen tank (21); The drill assembly (4) includes an upward-facing drilling bit (6), which is equipped with a corresponding positioning seat (28). The drilling bit (6) is rotatably mounted on the positioning seat (28), and the positioning seat (28) is fed synchronously with the drilling bit (6). The positioning seat (28) fixes two access pipes through the area enclosed by the drilling bit (6). One access pipe is equipped with a liquid nitrogen injection head (25) at the top, and the other access pipe is equipped with a high-pressure water jet nozzle (23) at the top. The liquid nitrogen injector (25) and the high-pressure water jet nozzle (23) are both located inside the drilling bit (6). The bottom ends of the two access pipes are respectively connected to the first high-pressure hose. The first high-pressure hose corresponding to the liquid nitrogen injector (25) is connected to the liquid outlet of the liquid nitrogen tank (21). The liquid outlet is equipped with a control valve. The high-pressure water jet quick interface (16) is set at the far end of the first high-pressure hose corresponding to the high-pressure water jet nozzle (23). The high-pressure water jet quick interface (16) is installed on the platform (1).

2. The firefighting robot for roll-on / roll-off car carriers according to claim 1, characterized in that: The magnetic adsorption walking mechanism includes four wheel assemblies (10) and a servo motor drive assembly (15) that drives the wheel assemblies. Each wheel assembly (10) includes two rubber wheels (11) and a strong magnetic field cylindrical wheel (12) between the two rubber wheels (11). The diameter of the strong magnetic field cylindrical wheel (12) is not greater than the diameter of the rubber wheels (11).

3. The firefighting robot for roll-on / roll-off car carriers according to claim 2, characterized in that: The magnetic adsorption walking mechanism is a dual-drive walking mechanism, both front and rear.

4. The firefighting robot for roll-on / roll-off car carriers according to claim 1, characterized in that: The liquid nitrogen tank (21) is provided with a liquid inlet, and the liquid inlet is provided with a second high-pressure hose. The second high-pressure hose is provided with a liquid nitrogen pipeline quick interface (18) at its far end. The liquid nitrogen pipeline quick interface (18) is installed on the platform (1).

5. The firefighting robot for roll-on / roll-off car carriers according to claim 1, characterized in that: The control valve is a solenoid valve.

6. The firefighting robot for roll-on / roll-off car carriers according to claim 1, characterized in that: The platform (1) is equipped with an infrared temperature sensor (3), an image sensor (8), a lighting lamp (20), and an obstacle avoidance sensor (2).

7. A fire extinguishing system for roll-on / roll-off car carriers, characterized in that: Includes the fire-fighting robot as described in any one of claims 1-6, and the fire extinguishing agent supply station set on the deck of a transport ship, wherein the fire extinguishing agent supply station includes a fixed fire extinguishing agent supply station and a follow-up fire extinguishing agent supply station, and both the fixed fire extinguishing agent supply station and the follow-up fire extinguishing agent supply station are equipped with a high-pressure water source and a liquid nitrogen source. The high-pressure jet water quick-connect interface (16) of the fire extinguishing robot is connected to the high-pressure water source of the fixed extinguishing agent supply station via a fire hose, and / or the inlet of the liquid nitrogen tank (21) of the fire extinguishing robot is connected to the liquid nitrogen source of the fixed extinguishing agent supply station via a hose. The fire extinguishing robot tows the fire hose and hose to enter the area under the thermally runaway burning car chassis to extinguish the fire; or The high-pressure jet water quick interface (16) of the fire extinguishing robot is connected to the high-pressure water source of the fire hose and the following fire extinguishing agent supply station, and / or the liquid nitrogen tank (21) of the fire extinguishing robot is connected to the liquid nitrogen source of the following fire extinguishing agent supply station through the hose. The following fire extinguishing agent supply station accompanies the fire extinguishing robot. The fire extinguishing robot drags the fire hose and hose into the underside of the thermally runaway car chassis to extinguish the fire.

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