Air-ground amphibious autonomous fire-fighting balance car

Abstract

An open-ground amphibious autonomous fire-fighting balance car relates to the field of intelligent fire rescue equipment and comprises a car body, a first bearing plate, a second bearing plate, a third bearing plate and a base are arranged on the car body from top to bottom, traveling wheels are symmetrically arranged on two sides of the base and mounted on an output shaft of a motor, and an encoder is arranged on the output shaft of the motor. Supporting plates extending in the vertical direction are arranged on the two sides of the base, the first bearing plate, the second bearing plate and the third bearing plate are located between the two supporting plates, flying wings are symmetrically arranged on the upper sides of the outer walls of the supporting plates, each flying wing comprises a first arm and a second arm, one end of each first arm is connected with the corresponding supporting plate, and the other end of each first arm is connected with one end of the corresponding second arm. A digital steering engine is arranged at the other end of the second machine arm, and the output end of the digital steering engine is connected with the paddles. The balance car has an amphibious mode of flying in the air and running on the ground, and can realize the functions of vertical take-off and landing, horizontal sailing, running on the land surface, autonomous fire extinguishing and the like.

Description

Technical Field

[0001] This utility model relates to the field of intelligent fire rescue equipment, specifically to an amphibious autonomous fire-fighting balance vehicle. Background Technology

[0002] In the field of fire rescue, traditional manual reconnaissance and firefighting methods suffer from high risks and low efficiency. In recent years, with the rapid development of robotics technology, firefighting robots have gradually become important tools to replace manual labor in hazardous environments. However, most existing firefighting robots are complex in structure, expensive, and have limited intelligence. Therefore, developing a fire-fighting balance vehicle that is simple in structure, low in cost, and highly intelligent is of great significance.

[0003] In the existing technology, there are some self-balancing scooter products based on microcontrollers and computing platforms, but these products are mostly used in entertainment, transportation and other fields, and there are few products specifically designed and optimized for fire-fighting scenarios. In addition, most existing self-balancing scooter products are either single-purpose flying or single-purpose land-based products. Self-balancing scooters with flying capabilities can only observe fire sources from the air and cannot penetrate into fire scenes and do not have land-based driving capabilities. Products with land-based driving capabilities cannot extinguish fires at a certain height and do not have flying capabilities. Furthermore, these products also have shortcomings in terms of intelligent control, fire source identification and fire extinguishing efficiency. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides an amphibious autonomous fire-fighting balance vehicle.

[0005] The purpose of this utility model is achieved through the following technical solution. According to this utility model, an amphibious autonomous fire-fighting balance vehicle includes a vehicle body, which comprises a first support plate, a second support plate, a third support plate, and a base arranged from top to bottom. Wheels are symmetrically arranged on both sides of the base, and the wheels are mounted on the output shaft of a motor, which is equipped with an encoder. Support plates extending vertically are arranged on both sides of the base, with the first, second, and third support plates located between the two support plates. Flight wings are symmetrically arranged on the outer walls of the two support plates. Each flight wing includes a first arm and a second arm. One end of the first arm is connected to a support plate, and the other end is connected to one end of the second arm. A digital servo motor is located at the other end of the second arm, and its output end is connected to a propeller blade. A flight controller main control board, a lidar, and a depth camera are placed on the first support plate. A main controller and a fan are placed on the second support plate. An STM32 microcontroller main control board, a 360-degree turntable with a fire-fighting module, and a voice communication unit are placed on the third support plate. A power module is placed on the base.

[0006] The main controller is wired to the STM32 microcontroller main control board and the flight controller main control board. The main controller is electrically connected to the lidar, depth camera and voice communication unit. The flight controller main control board is wirelessly connected to the digital servo motor.

[0007] By employing the aforementioned technical solution, this utility model has the following beneficial effects:

[0008] This fire-fighting self-balancing vehicle has an amphibious mode, capable of both aerial flight and ground travel. In aerial flight, it can quickly reach designated floors, effectively avoiding obstacles and further improving firefighting efficiency. It is particularly suitable for firefighting missions in narrow alleys of old city areas or narrow passages of large shopping malls. In ground travel mode, it employs a two-wheel drive structure, offering high maneuverability, 360-degree rotation, and high stability. Even when subjected to external forces, it can regain its posture, making it particularly suitable for firefighting missions in confined spaces. Furthermore, the fire-fighting self-balancing vehicle can switch between flight and ground travel modes, ultimately achieving an amphibious mode capable of autonomous route planning and firefighting in both modes.

[0009] Furthermore, the base is provided with a plurality of screws, which pass through the aforementioned first bearing plate, second bearing plate, and third bearing plate, and the first bearing plate, second bearing plate, and third bearing plate are respectively placed on the corresponding nuts screwed onto the screws.

[0010] Its beneficial effects are: rotating the nut can adjust the space between the base and the third support plate, as well as between two adjacent support plates, which greatly expands the applicability of the fire-fighting balance vehicle.

[0011] Furthermore, the top surface of the first bearing plate is provided with another nut screwed onto the screw.

[0012] Its beneficial effect is that the nuts set on the top and bottom surfaces make the first bearing plate more stable.

[0013] Furthermore, guardrails are symmetrically arranged on the first bearing plate along the front-to-back direction.

[0014] Its beneficial effect is that it prevents the device on the first load-bearing plate from falling off due to changes in the speed of the trolley when the fire-fighting balance vehicle is moving.

[0015] Furthermore, the STM32 microcontroller main control board includes an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a sensor module including a smoke sensor and an infrared sensor, an attitude sensor, and a fan drive module. The input terminals of the STM32 microcontroller are electrically connected to the sensor module, attitude sensor, and encoder, and the output terminals of the STM32 microcontroller are electrically connected to the motor drive module, OLED module, fire alarm module, fire extinguishing module, and fan drive module. The main controller is wired to the STM32 microcontroller.

[0016] Furthermore, the flight controller main control board includes a flight controller, a gyroscope, a barometer, and an accelerometer. The input terminal of the flight controller is electrically connected to the gyroscope, barometer, and accelerometer. The main controller is wired to the flight controller.

[0017] Furthermore, the inner wall of the support plate is in sliding fit with the first bearing plate, the second bearing plate, and the third bearing plate in the vertical direction; one of the sliding groove and the slider is provided on the inner wall of the support plate, and the other is provided on both sides of the first bearing plate, the second bearing plate, and the third bearing plate.

[0018] Furthermore, the other end of the first arm includes two connecting arms that are distributed opposite to each other. The two ends of the rotating shaft connected to the end of the second arm are rotatably connected to the corresponding connecting arms. One end of the rotating shaft passes through the connecting arms and is connected to the output shaft of the rotary motor through a coupling. The rotary motor is mounted on the outer wall of the support plate and is connected to the main control board of the flight controller.

[0019] Its beneficial effects are as follows: Under the action of the rotating shaft, coupling and rotary motor, the first arm and the second arm can make the second arm rotate to a horizontal state to realize the flight of the car, and rotate to a vertical downward state to realize the land travel of the car.

[0020] Furthermore, the main controller is wirelessly connected to the control terminal, which includes a PC control terminal in the fire control center and a mobile terminal carried by firefighters.

[0021] Furthermore, the STM32 microcontroller uses the STM32F103RCT6 single-chip microcomputer, the main controller uses the Orange Pi 5B computing platform, the flight controller uses the Pixhawk4 flight controller, the lidar uses the Mid360 lidar, and the depth camera uses the D435i depth camera.

[0022] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the second arm of the amphibious autonomous fire-fighting balance vehicle of this utility model when it is horizontally deployed.

[0024] Figure 2 This is a schematic diagram of the structure of the second arm of the amphibious autonomous fire-fighting balance vehicle of this utility model when it is vertically downward.

[0025] Figure 3 This is a control block diagram of an amphibious autonomous fire-fighting balance vehicle of this utility model.

[0026] Figure 4 This is a schematic diagram of the STM32F103RCT6 microcontroller used in the microcontroller of an amphibious autonomous fire-fighting balance vehicle of this utility model.

[0027] [Attached image labels]

[0028] 1. First support plate; 2. Second support plate; 3. Third support plate; 4. Base; 5. Motor; 6. Encoder; 7. Wheels; 8. Screw; 9. Nut; 10. Handrail; 11. LiDAR; 12. Depth camera; 13. Main controller; 14. STM32 microcontroller main control board; 15. Speaker; 16. Power module; 17. Flight controller main control board; 18. Support plate; 19. Slide; 20. Slider; 21. First arm; 2101. Connecting arm; 2102. Shaft; 2103. Coupling; 22. Second arm; 23. Rotary motor; 24. Digital servo; 25. Propeller blade; 26. Rubber protective pad. Detailed Implementation

[0029] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings:

[0030] An amphibious autonomous fire-fighting vehicle, including the vehicle body (see [link]). Figure 1 For ease of explanation of this technical solution, Figure 1(Some parts are omitted). The vehicle body includes a first support plate 1, a second support plate 2, a third support plate 3, and a base 4 arranged from top to bottom. The base 4 is provided with several screws 8 (for example, in this embodiment, one screw 8 is provided at each of the four corners of the base 4). After the screws 8 pass through the aforementioned first support plate 1, second support plate 2, and third support plate 3, the first support plate 1, second support plate 2, and third support plate 3 are respectively placed on the corresponding nuts 9 screwed onto the screws 8. In this embodiment, the corresponding nuts 9 can be rotated to move the first support plate 1, second support plate 2, and third support plate 3 up and down in the vertical direction, thereby changing the phase... The space between the two adjacent support plates is conducive to the installation and maintenance of various functional modules, and also to the installation of different models of functional modules, thus expanding the application range of the fire balance vehicle. Furthermore, the top surface of the first support plate 1 is provided with another nut 9 screwed onto the screw 8, making the first support plate 1 more stable. Of course, corresponding nuts 9 can also be provided on the top surfaces of the second support plate 2 and the third support plate 3, thereby making the overall structure of the fire balance vehicle more robust and improving its stability when walking. The two sides of the base 4 are symmetrically provided with walking wheels 7, which are mounted on the output shaft of the motor 5, and the output shaft of the motor 5 is provided with an encoder 6.

[0031] The base 4 has vertically extending support plates 18 on both sides. The inner walls of the two support plates 18 have vertically extending grooves 19. The first support plate 1, second support plate 2, and third support plate 3 have sliders 20 on both sides that slide in conjunction with the grooves 19. The guide cooperation between the sliders 20 and the grooves 19 ensures that any support plate can move smoothly in the vertical direction, thereby changing the space between adjacent support plates and expanding the applicability of the fire-fighting balance vehicle. It also ensures the stability of each module during operation. Symmetrically arranged on the outer walls of the two support plates 18 are flight wings (in this embodiment, a 450mm wheelbase and 7-inch three-bladed rotor structure) are also provided. The wing includes a first arm 21 and a second arm 22 (in this embodiment, the first arm 21 and the second arm 22 are in a 1:5 length ratio). One end of the first arm 21 is connected to a support plate 18, and the other end includes two relatively distributed connecting arms 2101 to make the end U-shaped. The two ends of the rotating shaft 2102 connected to the end of the second arm 22 are respectively rotatably connected to the corresponding connecting arms 2101. One end of the rotating shaft 2102 passes through the connecting arms 2101 and is connected to the output shaft of the rotary motor 23 through a coupling 2103. The rotary motor 23 (in this embodiment, the output end of the flight controller is connected to the rotary motor 23 to realize the forward and reverse rotation of the rotary motor 23, thereby realizing the flight wing as...) Figure 1 The unfolded state shown, such as Figure 2The folded state shown is set on the outer wall of the support plate 18. By starting the rotary motor 23, the second arm 22 is driven to rotate relative to the first arm 21, allowing the second arm 22 to be in a horizontal state for flight, or in a vertically downward state (e.g., Figure 2 (As shown) to achieve walking; the other end of the second arm 22 is provided with a digital servo 24 including a brushless motor. The output shaft of the brushless motor is connected to the rotating shaft of the propeller 25. The rotation and stopping of the propeller can be achieved by starting the brushless motor; preferably, rubber protective pads 26 are provided on the outer walls of the two support plates 18 to prevent the second arm from colliding with the support plates when it is in a vertical downward state, thus playing a buffering role; the first support plate 1 is symmetrically provided with guardrails 10 along the front and rear directions. The main control board 17 of the aircraft, which integrates a flight controller (in this embodiment, a Pixhawk4 flight controller), gyroscope, barometer, accelerometer and laser radar, is placed on the first support plate 1. The first support plate 11 has a depth camera 12 installed on the front wall of the first support plate 1, and a guardrail 10 is set to ensure the stability of the lidar 11 and the flight controller main control board 17 on the first support plate 1 during walking; the second support plate 2 has a main controller 13 (in this embodiment, the main controller adopts the Orange Pi 5B computing platform) and a fan; the third support plate 3 has an STM32 microcontroller main control board 14 integrating an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a sensor module, an MPU6050 module, and a fan drive module, as well as a 360-degree turntable and a voice communication unit; and the base 4 has a power module 16. The fire-fighting balance vehicle utilizes a two-wheel drive structure for its land-based driving mode. Motor 5 controls the rotation speed of the wheels to achieve forward, backward, and 360-degree turning functions. It also exhibits high stability, able to recover its posture even when subjected to external interference, and possesses high maneuverability, enabling it to perform firefighting tasks in confined spaces. In flight mode, the fire-fighting balance vehicle uses a rotary motor 23 to control the rotation of the shaft 2102, thereby driving the rotation of the second arm 22. A brushless motor controls the rotation of the propeller 25, allowing the fire-fighting balance vehicle to quickly fly to designated floors. This not only effectively avoids obstacles but also further improves firefighting efficiency.

[0032] like Figure 2 As shown, the two-wheeled fire-fighting balance vehicle also includes an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a fire extinguishing module, a sensor module, an MPU6050 module, a motor 5, an encoder 6, a main controller 13, a depth camera 12, a lidar 11, a voice communication unit, and a fan drive module.

[0033] The STM32 microcontroller used is the STM32F103RCT6 microcontroller, and its schematic diagram is shown below. Figure 3As shown, the main components that collect data from the sensor module, MPU6050 module, and encoder 6 when the car is driving on land are the STM32 microcontroller. The STM32 microcontroller processes the collected information on the land driving status at high speed and sends it to the designated module to control the car to make corresponding instructions.

[0034] The Pixhawk4 flight controller mainly collects data from the gyroscope, barometer, and accelerometer sensors during the vehicle's flight, processes the attitude information collected during flight at high speed, and sends it to the designated module to control the vehicle to make corresponding commands.

[0035] The MPU6050 module is an attitude sensor that integrates a three-axis accelerometer and a three-axis gyroscope, as well as a scalable digital motion processor (DMP). The DMP can process the data from the accelerometer and gyroscope in real time and transmit the real-time attitude information of the vehicle's land travel to the STM32 microcontroller.

[0036] The motor drive module uses the AT8236 motor drive chip; the encoder 6 is used to feed back the position, speed and acceleration information of the motor. By sending this information to the STM32 microcontroller, the microcontroller uses the AT8236 motor drive chip to adjust the speed of the motor 5 using the balance control PID algorithm, thereby controlling the speed of the vehicle and realizing the balance control of the fire-fighting balance vehicle when it moves on land.

[0037] The digital servo 24 includes a brushless motor, which uses two 2020KV T-Motor racing motors. These motors have a small weight and a powerful power curve, as well as a high load-bearing capacity, with a maximum load of 5Kg, to meet the flight requirements of the self-balancing scooter.

[0038] The sensor module includes a smoke sensor and an infrared sensor. The smoke sensor is used to detect the smoke concentration at the fire scene, and the infrared sensor is used to detect the temperature at the fire scene and identify the location of the fire source. The sensor module transmits this information to the STM32 microcontroller. After receiving the information, the microcontroller transmits it to the main controller 13 and sends an alarm command to the fire alarm module, which can quickly determine the location of the fire source.

[0039] The OLED module includes an OLED display screen for displaying the planned route, fire location, obstacle information, and the real-time location information of the fire-fighting vehicle.

[0040] The fire extinguishing module is installed on a 360-degree turntable, allowing for 360-degree directional adjustment. When the fire-fighting balance vehicle detects a fire source, it identifies the location of the fire source through an infrared sensor and adjusts the turntable accordingly. The STM32 microcontroller controls the fire extinguishing module to extinguish the fire at the fire source location. For example, actual experiments have shown that in this embodiment, when the fire extinguishing device carries water resources, it can effectively spray up to 80% of the extinguishing water flow within a 3-meter range, improving the success rate of fire extinguishing. Of course, in other embodiments of this utility model, the fire extinguishing device can carry other types of extinguishing resources (such as carbon dioxide).

[0041] In this embodiment, the STM32 microcontroller, Pixhawk4 flight controller, and main controller 13 are connected via a USB serial port for wired communication. The main controller 13 uses an Orange Pi 5B computing platform loaded with the ROS operating system. This computing platform can run existing autonomous navigation algorithms (such as SLAM algorithm) to build more accurate environmental maps, run existing global path planning algorithms (such as A* algorithm) and existing local path planning algorithms (such as TEB algorithm) to determine the optimal global path when driving on land, and run existing visual recognition algorithms (such as YOLOv5 detection algorithm) to identify fire sources and fire scenarios. This fire-fighting balance vehicle... The existing Mavlink protocol enables data transmission between the Orange Pi 5B computing platform with ROS operating system and the Pixhawk 4 flight controller. It collects attitude information of the self-balancing vehicle in flight and data from the LiDAR 11. Using the existing Monte Carlo localization algorithm, it deploys existing global path planning algorithms (such as the A* algorithm) and existing local path planning algorithms (such as the TEB algorithm), and runs the existing FAST-LIO 3D LiDAR SLAM algorithm. By collecting data from the depth camera 12, it runs the existing VINS visual SLAM algorithm based on D435I, and finally realizes path planning and autonomous navigation of the fire-fighting self-balancing vehicle in flight and on land.

[0042] The depth camera 12 acquires real-time information about the fire scene and monitors the fire source. The lidar 11 analyzes whether there are obstacles ahead, determines the turning direction based on the obstacle information, and can detect the distance of objects within a 360-degree range. The lidar 11 and the depth camera 12 send the real-time information they acquire to the main controller 13 for path planning and navigation.

[0043] The voice communication unit includes a microphone and a speaker 15, which can communicate with trapped personnel in real time. Firefighters can both comfort and evacuate trapped personnel, and carry rescue items according to the needs of the trapped personnel.

[0044] The main controller 13 communicates wirelessly with the control terminal to achieve data interaction. The control terminal includes a PC control terminal in the fire control center and a mobile terminal carried by firefighters. During fire rescue, the PC control terminal in the fire control center can be remotely controlled by a computer. Firefighters close to the fire scene communicate wirelessly (e.g., via Bluetooth) with the main controller of the fire balance vehicle through their mobile terminals. With the help of the PC's interactive interface and the mobile terminal's interactive interface, the images monitored by the depth camera can be displayed in real time, and data such as extinguishing agent dosage, smoke concentration, and temperature can be displayed in real time.

[0045] In specific implementation, the power module 16 is powered by a battery. According to the magnitude of the output voltage, the corresponding existing step-down circuit is configured to power the aforementioned modules. For example, the output voltage is 12V, which is directly input to the motor driver chip to drive the motor. The 12V voltage is stepped down to 5V through the step-down circuit (in this embodiment, we use the step-down chip RT8289GSP) to power the aforementioned modules.

[0046] When the fire-fighting balance vehicle is in operation, it has two working modes. In flight mode, the flight controller first drives the rotary motor 23 to control the rotating shaft 2102 to rotate, which in turn drives the second arm 22 to rotate relative to the first arm 21. When the second arm 22 rotates to a horizontal position, it stops rotating. At the same time, the digital servo motor 24 receives information from the flight controller and transmits it to the brushless motor, which controls the rotation of the propeller 25, thereby enabling the vehicle to fly and ensuring that the vehicle can fly to the designated location according to the global route deployed in flight mode. When switching to land driving mode is required... The digital servo 24 receives information from the flight controller, and the brushless motor controls the rotation speed of the propeller 25 (at this time, the rotation speed of the propeller should be reduced), causing the vehicle's flight altitude to decrease. When the vehicle touches the ground, the propeller 25 stops rotating. At this time, the flight controller drives the rotary motor 23 to control the rotation of the shaft 2102, causing the second arm 22 to rotate to a vertical downward position and then stop rotating, thereby activating the land driving mode. When driving on land, the STM32 microcontroller controls the motor drive module to drive the motor 5, thereby controlling the vehicle to move on the two walking wheels 7, and according to the land driving status... The system deploys a global route to ensure the vehicle can reach its designated location. In both operating modes, the lidar 11 and depth camera 12 monitor the surrounding environment in real time. The main controller 13 presets environmental maps and plans the driving route for both flight and land travel, displaying them on an OLED screen to determine the optimal global path. The microcontroller judges the current smoke concentration based on information from the smoke sensor. When the smoke concentration is too high, it controls the fan drive module to disperse the smoke to avoid affecting detection. During fire source identification, the fire-fighting vehicle can monitor the fire scene in real time via the depth camera 12 and accurately identify the fire source location via infrared sensors. Once a fire source or trapped personnel is detected, the fire-fighting vehicle will immediately issue an alarm. During firefighting operations, the microcontroller can activate the fire-fighting module to extinguish the fire once the fire-fighting vehicle reaches the fire source location or flies to the designated location. After completing the fire-fighting operation, the fire-fighting vehicle will return to the starting point along the same path. If the main controller 13 of the fire-fighting vehicle experiences a communication failure with the control terminal, the fire-fighting vehicle will immediately stop and return to the starting point along the same path.

[0047] Of course, in other embodiments of this utility model, four telescopic rods can be provided between the base 4 and the third bearing plate 3, and between two adjacent bearing plates, to replace the screw 8 and nut 9; a baffle can be provided on the first bearing plate 1 to replace the guardrail 10.

[0048] In other embodiments of this utility model, a quadcopter flight structure can be adopted when the mass of the vehicle is too large to fly to the ideal height or when more components need to be assembled, which increases the weight of the vehicle.

[0049] In other embodiments of this utility model, sliding grooves can be provided on both sides of the first bearing plate 1, the second bearing plate 2, and the third bearing plate 3, and a slider extending in the vertical direction can be provided on the inner wall of the support plate 18 to slide in cooperation with the sliding grooves.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the design and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. An amphibious autonomous fire-fighting balance vehicle, comprising a vehicle body, the vehicle body comprising, from top to bottom, a first support plate (1), a second support plate (2), a third support plate (3), and a base (4), with symmetrically arranged wheels (7) on both sides of the base (4), the wheels (7) being mounted on the output shaft of a motor (5), and an encoder (6) being provided on the output shaft of the motor (5); characterized in that: The base (4) has support plates (18) extending vertically on both sides, and the first support plate (1), the second support plate (2), and the third support plate (3) are located between the two support plates (18). The outer walls of the two support plates (18) are symmetrically provided with flight wings. The flight wings include a first arm (21) and a second arm (22). One end of the first arm (21) is connected to the support plate (18), and the other end is connected to one end of the second arm (22). The other end of the second arm (22) is connected to the support plate (18). A digital servo motor (24) is provided, and the output end of the digital servo motor is connected to the propeller (25); the flight controller main control board (17), lidar (11) and depth camera (12) are placed on the first support plate (1); the main controller (13) and fan are provided on the second support plate (2); the STM32 microcontroller main control board (14) and a 360-degree turntable with fire extinguishing module and voice communication unit are placed on the third support plate (3); and the power module (16) is provided on the base (4). The main controller (13) is wired to the STM32 microcontroller main control board (14) and the flight controller main control board (17). The main controller (13) is electrically connected to the lidar (11), the depth camera (12) and the voice communication unit. The flight controller main control board (17) is wirelessly connected to the digital servo motor (24).

2. The amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The base (4) is provided with a plurality of screws (8), which pass through the aforementioned first bearing plate (1), second bearing plate (2), and third bearing plate (3). The first bearing plate (1), second bearing plate (2), and third bearing plate (3) are respectively placed on the corresponding nuts (9) screwed onto the screws (8).

3. The amphibious autonomous fire-fighting vehicle according to claim 2, characterized in that: The top surface of the first bearing plate (1) is provided with another nut (9) screwed onto the screw (8).

4. The amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The first bearing plate (1) is symmetrically provided with railings (10) along the front-back direction.

5. The amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The STM32 microcontroller main control board (14) includes an STM32 microcontroller, a motor drive module, an OLED module, a fire alarm module, a sensor module including a smoke sensor and an infrared sensor, an attitude sensor, and a fan drive module. The input terminal of the STM32 microcontroller is electrically connected to the sensor module, the attitude sensor, and the encoder. The output terminal of the STM32 microcontroller is electrically connected to the motor drive module, the OLED module, the fire alarm module, the fire extinguishing module, and the fan drive module. The main controller (13) is wired to the STM32 microcontroller.

6. The amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The flight controller main control board (17) includes a flight controller, a gyroscope, a barometer, and an accelerometer. The input terminal of the flight controller is electrically connected to the gyroscope, the barometer, and the accelerometer. The main controller (13) is wired to the flight controller.

7. The amphibious autonomous fire-fighting vehicle according to claim 2, characterized in that: The inner wall of the support plate (18) is in a sliding fit with the first bearing plate (1), the second bearing plate (2), and the third bearing plate (3) in the vertical direction; one of the sliding groove (19) and the slider (20) is set on the inner wall of the support plate (18), and the other is set on both sides of the first bearing plate (1), the second bearing plate (2), and the third bearing plate (3).

8. The amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The other end of the first arm (21) includes two connecting arms (2101) that are distributed opposite to each other. The two ends of the rotating shaft (2102) connected to the end of the second arm (22) are rotatably connected to the corresponding connecting arms (2101). One end of the rotating shaft (2102) passes through the connecting arms (2101) and is connected to the output shaft of the rotary motor (23) through the coupling (2103). The rotary motor (23) is set on the outer wall of the support plate (18). The rotary motor (23) is connected to the main control board (17) of the flight controller.

9. An amphibious autonomous fire-fighting vehicle according to claim 1, characterized in that: The main controller (13) is wirelessly connected to the control terminal, which includes a PC control terminal in the fire protection center and a mobile terminal carried by firefighters.

10. An amphibious autonomous fire-fighting vehicle according to any one of claims 1-9, characterized in that: The STM32 microcontroller uses an STM32F103RCT6 microcontroller, the main controller (13) uses an Orange Pi 5B computing platform, the flight controller uses a Pixhawk4 flight controller, the lidar (11) uses a Mid360 lidar, and the depth camera (12) uses a D435i depth camera.

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