Multi-functional fire-fighting robot dog
By integrating a three-degree-of-freedom leg structure and multiple sensors, the problems of terrain adaptability and limited functionality of the firefighting robot dog have been solved, enabling efficient and safe rescue in complex disaster sites.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 衡阳市消防救援支队(衡阳市消防救援局)
- Filing Date
- 2025-09-04
- Publication Date
- 2026-07-24
AI Technical Summary
Existing firefighting robot dogs are limited by their terrain adaptability and limited functionality, making it difficult to meet the rescue needs of complex disaster sites.
Employing a three-degree-of-freedom leg structure and integrating multiple sensors such as LiDAR, binocular thermal imaging module, and Lingxiu V2 gas monitoring module, combined with motor design for hip, knee, and ankle joints, it achieves flexible terrain adaptation and multi-functional reconnaissance.
It improves the safety and efficiency of fire and rescue operations, enables stable movement on complex terrain, monitors the environment and gases in real time, provides lighting warnings, and supports search and rescue and material transportation.
Smart Images
Figure CN224546154U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent robot technology, and more specifically, to a multifunctional fire-fighting robot dog. Background Technology
[0002] Currently, in the field of fire and rescue, traditional rescue methods often rely on firefighters to operate deep into disaster sites. However, the environments at disaster sites such as fires and earthquakes are complex and changeable, with numerous dangerous factors such as high temperatures, dense smoke, toxic gases, and building collapses. These not only pose a serious threat to the lives of firefighters but may also delay the best rescue opportunity due to the inability of rescue personnel to enter in a timely manner. Furthermore, some disaster sites have rugged terrain, making it difficult for large rescue equipment to access them, thus hindering efficient rescue operations. To address these issues, various firefighting robot dogs have emerged.
[0003] Based on the above, the inventors have found that existing fire-fighting robot dogs are mostly wheeled or tracked structures, which are insufficient in terms of adaptability and flexibility in complex terrain, making it difficult to meet diverse fire rescue needs. In addition, traditional fire-fighting robot dogs have relatively simple functions, usually only having reconnaissance capabilities and lacking basic intervention capabilities, making them inconvenient to use and resulting in poor fire reconnaissance and rescue effects. Therefore, in view of this, the inventors have researched and improved the existing structure to provide a multi-functional fire-fighting robot dog, aiming to achieve a more practical value. Utility Model Content
[0004] 1. Technical problems to be solved
[0005] To address the problems existing in the prior art, the purpose of this utility model is to provide a multifunctional firefighting robot dog. It can improve its adaptability and flexibility in complex terrain by adopting a three-degree-of-freedom leg structure, and integrates a variety of sensors and devices such as lidar, binocular thermal imaging module, and Lingxiu V2 gas monitoring module, giving it multiple functions such as environmental detection, gas monitoring, and lighting warning. This solves the problems of insufficient terrain adaptability and single function of existing firefighting robot dogs, thereby improving the safety and efficiency of fire rescue.
[0006] 2. Technical Solution
[0007] To solve the above problems, the present invention adopts the following technical solution.
[0008] A multi-functional firefighting robot dog includes a body, a shoulder plate installed at the front end of the body, a pelvic frame installed at the rear end of the body, four three-degree-of-freedom legs installed at the bottom of the body, a load base plate fixedly connected to the top of the body, a load shell fixedly connected to the top of the load base plate, a lidar and a binocular thermal imaging module fixedly installed at the front end of the load base plate, a power module and a camera fixedly installed at the rear end of the load base plate, a main control board fixedly installed at the top center of the load base plate, and a lighting lamp, a SenseV gas monitoring module and a horn sequentially installed on the top of the load shell from front to back.
[0009] Furthermore, the three-degree-of-freedom leg includes a thigh, a lower leg, and a foot. A hip joint is provided between one end of the thigh and the machine body, and the hip joint is composed of a pitch motor and a roll motor. A knee joint is provided between the other end of the thigh and one end of the lower leg, and the knee joint is composed of a pitch motor. An ankle joint is provided between the other end of the lower leg and the foot, and the ankle joint is composed of a harmonic reducer.
[0010] Furthermore, a six-dimensional force sensor and a three-level buffer module are embedded in the foot end.
[0011] Furthermore, the top of the load housing has multiple mounting holes, through which the lidar, binocular thermal imaging module, power module and camera extend to the outside of the load housing.
[0012] Furthermore, the lidar, binocular thermal imaging module, power supply module, camera, lighting lamp, SenseV gas monitoring module, and speaker are all electrically connected to the main control board via wires.
[0013] Furthermore, the main control board is electrically connected to the six-dimensional force sensor and the three-level buffer module via wires.
[0014] 3. Beneficial effects
[0015] Compared with existing technologies, the advantages of this utility model are:
[0016] (1) This solution adopts a three-degree-of-freedom leg structure, with the pitch motor and roll motor of the hip joint working together, combined with the pitch motor of the knee joint, the harmonic reducer of the ankle joint and the foot design, so that the robot dog can flexibly adjust its leg posture, easily cross obstacles, climb stairs and adapt to rugged terrain, greatly improving its passability in complex disaster sites; at the same time, the six-dimensional force sensor embedded in the foot can sense the ground force in real time, and the three-level buffer module can effectively absorb the impact of walking, further ensuring the stability and safety of walking.
[0017] (2) This solution integrates multiple sensors and devices such as lidar, binocular thermal imaging module, and Lingxiu V2 gas monitoring module, giving it multiple functions such as environmental detection, gas monitoring, and lighting warning, solving the problems of insufficient terrain adaptability and single function of existing fire-fighting robot dogs, thereby improving the safety and efficiency of fire rescue. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall front-end structure of this utility model;
[0019] Figure 2 This is a schematic diagram of the overall rear-end structure of this utility model;
[0020] Figure 3 This is a bottom view of the structure of this utility model;
[0021] Figure 4 This is a side view of the structure of this utility model;
[0022] Figure 5 This is a schematic diagram of a partially disassembled structure of the present invention.
[0023] Explanation of the labels in the diagram:
[0024] 1. Fuselage;
[0025] 2. Scapular disc;
[0026] 3. Pelvic frame;
[0027] 4. Three degrees of freedom for the legs and feet; 401. Thigh; 402. Lower leg; 403. Foot tip;
[0028] 5. Load base plate;
[0029] 6. Load-bearing housing;
[0030] 7. LiDAR;
[0031] 8. Dual-eye thermal imaging module;
[0032] 9. Power supply module;
[0033] 10. Camera;
[0034] 11. Main control board;
[0035] 12. Lighting lamp;
[0036] 13. Lingxiu V2 Gas Monitoring Module;
[0037] 14. Horn. Detailed Implementation
[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.
[0039] Example:
[0040] Please see Figures 1-5 A multi-functional firefighting robot dog includes a body 1, a shoulder plate 2 mounted at the front end of the body 1, a pelvic frame 3 mounted at the rear end of the body 1, four three-degree-of-freedom legs 4 mounted at the bottom of the body 1, a load base plate 5 fixedly connected to the top of the body 1, a load shell 6 fixedly connected to the top of the load base plate 5, a laser radar 7 and a dual-lens thermal imaging module 8 fixedly mounted at the front end of the load base plate 5, a power module 9 and a camera 10 fixedly mounted at the rear end of the load base plate 5, a main control board 11 fixedly mounted at the middle of the top of the load base plate 5, and a camera mounted sequentially from front to back on the top of the load shell 6. The Bright Light 12, the Lingxiu V2 gas monitoring module 13, and the Horn 14, when in use, adopt a new generation of ceramic matrix composite material and gradient heat insulation layer design for the overall structure. It can operate continuously in an environment of -30℃ to 80℃ and withstand short-term high-temperature baking of 300℃. This allows it to penetrate into the high-temperature debris area after a chemical explosion. At the same time, the overall structure has the advantages of being lightweight and small in size, with a self-weight of only 20 kg. When passing through a centimeter-wide gap in a collapsed building, the pressure on the bearing surface is low, reducing the risk of secondary collapse. In the retracted state, the height is 43 cm and the length is 0.7 m. In the maintenance passage of a subway tunnel, the turning radius is small and the passage efficiency is high.
[0041] See Figure 2 The three-degree-of-freedom leg 4 includes a thigh 401, a lower leg 402, and a foot 403. A hip joint is located between one end of the thigh 401 and the body 1, and the hip joint is composed of a pitch motor and a roll motor. A knee joint is located between the other end of the thigh 401 and one end of the lower leg 402, and the knee joint is composed of a pitch motor. An ankle joint is located between the other end of the lower leg 402 and the foot 403, and the ankle joint is composed of a harmonic reducer. During use, the IMU on the main control board 11 and the sensors on the foot 403 detect the torso tilt angle and ground reaction force in real time. The computer on the main control board 11 generates spinal curvature compensation and joint torque commands based on a virtual model force algorithm: the spine actively bends to dissipate impact force, and the joint motors work together to output torque to achieve dynamic balance, supporting a 10Hz step frequency for fast running. At the same time, the three-degree-of-freedom joint design allows its single joint range of motion to reach 170°, and the dynamic balance response time is 0.02 seconds, resulting in a high success rate in avoiding sudden obstacles.
[0042] See Figure 2 The foot end 403 is equipped with a six-dimensional force sensor and a three-level buffer module.
[0043] See Figure 1 The top of the load housing 6 has multiple mounting holes, through which the lidar 7, the binocular thermal imaging module 8, the power module 9 and the camera 10 extend to the outside of the load housing 6.
[0044] See Figure 4 The lidar 7, binocular thermal imaging module 8, power supply module 9, camera 10, lighting lamp 12, Lingxiu V2 gas monitoring module 13, and speaker 14 are all electrically connected to the main control board 11 via wires. When in use, by integrating multiple devices, its overall structure can not only be used for reconnaissance, but also for transporting supplies, search and rescue, fire fighting, and broadcasting.
[0045] See Figure 5 The main control board 11 is electrically connected to the six-dimensional force sensor and the three-level buffer module via wires.
[0046] In use: First, the power module 9 is activated to supply power to all components. The main control board 11 then enters the working state and performs initialization self-tests on devices such as the lidar 7, the binocular thermal imaging module 8, and the camera 10. The lidar 7 scans the surrounding environment in real time, constructs a 3D point cloud map, and transmits it to the main control board 11. The binocular thermal imaging module 8 simultaneously acquires images of the thermal distribution and visible light images at the scene to help identify high-temperature areas and the location of trapped personnel. The acquired data is processed by the main control board 11 and transmitted back to the command center in real time via the wireless communication module. When entering a dense smoke or dark environment, the main control board 11 automatically turns on the lighting 12 to provide strong illumination to improve the image clarity of the camera 10. At the same time, the Lingxiu V2 gas monitoring module 13 continuously monitors the concentration of gases such as O1, CO, and H2S at the scene. If the concentration of toxic gases exceeds the standard or the oxygen content is too low, the main control board 11 immediately triggers the speaker 14 to emit a warning sound to remind the rescue personnel behind to pay attention to safety. During movement, the four three-degree-of-freedom legs 4 coordinate the movements of the thighs 401, calves 402, feet, hip joints, knee joints, and ankle joints. Combined with the six-dimensional force sensors on the feet 403 sensing the ground forces, the main control board 11 adjusts the output torque of each joint motor in real time based on terrain data to ensure the robot dog walks stably on complex terrains such as rubble piles and slopes. The three-level buffer module effectively absorbs the impact force during walking, preventing vibration from damaging the sensors and electronic components. When a trapped person is found, rescuers can use remote control commands to have the robot dog communicate with the trapped person via the speaker 14, conveying rescue information and calming their emotions. At the same time, the camera 10 captures details of the trapped person's condition, providing a basis for developing a rescue plan.
[0047] Finally, it should be noted that in the description of this utility model, the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0048] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0049] The above description is merely a preferred embodiment of this utility model; however, the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and its improved concept, should be included within the protection scope of this utility model.
Claims
1. A multi-functional firefighting robot dog, comprising a body (1), characterized in that: The front end of the fuselage (1) is equipped with a scapular disc (2), the rear end of the fuselage (1) is equipped with a pelvic frame (3), the bottom of the fuselage (1) is equipped with four three-degree-of-freedom legs (4), the top of the fuselage (1) is fixedly connected with a load base plate (5), the top of the load base plate (5) is fixedly connected with a load shell (6), the front end of the load base plate (5) is fixedly equipped with a laser radar (7) and a binocular thermal imaging module (8), the rear end of the load base plate (5) is fixedly equipped with a power module (9) and a camera (10), the top middle of the load base plate (5) is fixedly equipped with a main control board (11), and the top of the load shell (6) is sequentially equipped with a lighting lamp (12), a Lingxiu V2 gas monitoring module (13) and a speaker (14).
2. The multifunctional firefighting robot dog according to claim 1, characterized in that: The three-degree-of-freedom leg (4) includes a thigh (401), a lower leg (402) and a foot (403). A hip joint is provided between one end of the thigh (401) and the body (1), and the hip joint is composed of a pitch motor and a roll motor. A knee joint is provided between the other end of the thigh (401) and one end of the lower leg (402), and the knee joint is composed of a pitch motor. An ankle joint is provided between the other end of the lower leg (402) and the foot (403), and the ankle joint is composed of a harmonic reducer.
3. The multifunctional fire-fighting robot dog according to claim 2, characterized in that: The foot end (403) is equipped with a six-dimensional force sensor and a three-level buffer module.
4. The multifunctional firefighting robot dog according to claim 1, characterized in that: The top of the load housing (6) has multiple mounting holes, and the lidar (7), binocular thermal imaging module (8), power module (9) and camera (10) all extend to the outside of the load housing (6) through the corresponding mounting holes.
5. A multifunctional fire-fighting robot dog according to claim 1, characterized in that: The lidar (7), binocular thermal imaging module (8), power module (9), camera (10), lighting lamp (12), Lingxiu V2 gas monitoring module (13) and speaker (14) are all electrically connected to the main control board (11) via wires.
6. A multifunctional fire-fighting robot dog according to claim 1 or 3, characterized in that: The main control board (11) is electrically connected to the six-dimensional force sensor and the three-level buffer module via wires.