A tunnel inspection guiding and fire-fighting integrated robot

Abstract

The utility model discloses a kind of tunnel inside inspection guiding and fire-fighting integrated robot, it is related to tunnel inspection, guiding and fire-fighting robot technical field.The robot can be automated in tunnel and carry out inspection, emergency lane guiding, and preliminary fire emergency rescue work is carried out when detecting fire.The robot includes mobile system, hardware connection and protection system, inspection system, guiding system, fire-fighting system.The utility model is in actual use, according to instruction carries out automatic inspection, vehicle guiding, fire-fighting operation and the like work.

Description

Technical Field

[0001] This utility model patent belongs to the field of tunnel inspection, guidance and fire protection technology, and specifically relates to a tunnel inspection and guidance robot. This robot can perform automated inspections and emergency lane guidance in tunnels, and carry out preliminary fire rescue work when a fire is detected. Background Technology

[0002] As vital transportation corridors, the safe operation of tunnels is of paramount importance. Traditional manual inspection methods are inefficient and costly, while automated inspection systems, although improving efficiency to some extent, still suffer from drawbacks such as high costs and the difficulty of upgrading existing tunnels. Existing tunnel firefighting robots and similar products also have shortcomings such as slow emergency response and complete inactivity when there is no fire. The market now needs a product that is highly compatible, easy to operate, multifunctional, and readily adaptable to upgrading existing tunnels. Summary of the Invention

[0003] The technical problem to be solved by this utility model is: in order to overcome the above problems, based on the cable arrangement in the tunnel, a patrol and fire-fighting integrated robot is driven by a drive wheel to carry out daily patrol, emergency traffic guidance and initial fire rescue work.

[0004] The technical solution adopted by this utility model to solve its technical problem is: an integrated inspection, guidance and fire-fighting robot that moves in a tunnel by means of a cable, which is installed on the top of a highway tunnel and includes a moving system, a hardware connection and protection system, an inspection system, a guidance system and a fire-fighting system.

[0005] The mobile system includes a motor and signal receiver (1), drive wheels (2), cables (3), and a support frame (4). This system ensures the robot moves stably and flexibly within the tunnel and stops quickly when needed. Description of each component of the mobile system:

[0006] Motor and signal receiver (1): This integrated component includes a motor and a signal receiver. The motor is the power source of the mobile system, responsible for providing the necessary torque and speed to drive the robot's movement. The signal receiver receives signal commands to instruct the motor to rotate forward, reverse, or stop. Drive wheel (2): The drive wheel is located in one section of the tunnel and is directly connected to the motor. The motor transmits power to the drive wheel through transmission gears. The rotation of the drive wheel causes the cable to move forward or backward, thus driving the robot fixed on the cable to move forward or backward.

[0007] Cable (3): The cable moves by the rotation of the drive wheel. When the motor drives the drive wheel to rotate, the cable moves forward or backward on the drive wheel due to the friction between the cable and the drive wheel. The cable passes through multiple load-bearing frames and is connected to the return wheel at the other end, ensuring that the cable circulates between the drive wheel and the return wheel, thereby driving the robot to move forward or backward in the tunnel.

[0008] Load-bearing frame (4): The load-bearing frame is connected to the tunnel roof and bears the weight of the cable and the robot. The number and density of load-bearing frames deployed in the tunnel vary depending on the tunnel length and the robot's load. The design of the load-bearing frame needs to ensure the stability and durability of the entire mobile system. When the mobile system is working, the motor rotates to drive the drive wheel, and the cable moves forward or backward through the friction between the cable and the drive wheel. When braking is required, the movement of the cable is stopped by stopping the motor.

[0009] The hardware connection and protection system includes a fixing fixture (5), a robot frame (6), and a transparent protective shell (7). Together, they provide a stable mounting platform for the inspection system, guidance system, and fire protection system, and offer necessary protection in harsh environments. Description of each component of the hardware connection and protection system:

[0010] Fixture (5): It is responsible for firmly securing the robot frame to the cable and ensuring that the robot can move synchronously when the cable moves. Robot Frame (6): The robot frame is connected to the fixture and is the supporting structure of the entire robot. It provides the foundation for the installation of all hardware components.

[0011] Transparent protective shell (7): The transparent protective shell provides a protective barrier for the inside of the robot, enabling it to withstand high temperatures, rain and other harsh environmental conditions; at the same time, it facilitates observation of the robot's internal condition.

[0012] The inspection system includes a panoramic camera (8), a thermal imaging camera (9), and a positioning and communication module (10). Introduction to each component of the inspection system:

[0013] Panoramic camera (8): The panoramic camera is responsible for capturing a full-view view of the tunnel interior. During inspections, the images are transmitted to the control system via the communication system. Thermal imaging camera (9): The thermal imaging camera is used to detect thermal anomalies in the tunnel. It can identify temperature changes caused by equipment failure, fire hazards, or other heat sources, and transmit the information to the control system via the communication system.

[0014] Positioning and Communication Module (10): The positioning and communication module includes a positioning system and a communication system. The positioning system is used to determine the robot's precise location within the tunnel and transmits the information to the control system via the communication system. The communication system is responsible for transmitting the data collected by the inspection system to the control system in real time, and also receives instructions from the control system.

[0015] The guidance system includes electronic signs (11), loudspeakers (12), and a sign and loudspeaker signal receiver module (13). The guidance system will improve safety guidance and information transmission efficiency within the tunnel. Description of each component of the guidance system:

[0016] Electronic signage (11): Electronic signage is used to display real-time information in the tunnel, such as safety warnings, traffic instructions, and emergency evacuation directions. Loudspeaker (12): Loudspeakers are used to broadcast voice information in the tunnel, such as safety warnings, traffic guidance, and emergency evacuation instructions.

[0017] Sign and megaphone signal receiver module (13): The sign and megaphone signal receiver module includes a sign receiver and a megaphone receiver. The sign receiver is responsible for receiving signals from the control system and controlling the electronic sign to display corresponding information. The megaphone receiver is responsible for receiving audio signals from the control system and controlling the megaphone to play corresponding voice information.

[0018] The fire protection system includes a pressurized dry powder storage chamber (14), sprinkler direction control components (15), and a signal receiver and controller module (16). It is designed to respond quickly and effectively to fire incidents within the tunnel. The following is an introduction to the components of the fire protection system:

[0019] Pressurized dry powder storage chamber (14): Pressurized dry powder storage chamber is used to store dry powder extinguishing agents, which can be quickly released to extinguish flames when a fire occurs.

[0020] Spray direction control firmware (15): The spray direction control firmware is used to adjust the direction and range of dry powder spraying to ensure that the dry powder can accurately cover the fire source.

[0021] Signal receiver and controller module (16): This module is used to receive instructions from the robot or control center, control the spray direction control firmware, and open or close the dry powder storage bin. The controller is the actuator that controls the release of dry powder and can start or stop the spraying of dry powder in the event of a fire.

[0022] The beneficial effects of this utility model are as follows:

[0023] Facilitates the upgrading of existing tunnels: With its lightweight design and cable-based mobility, the robot can be deployed in most existing or planned tunnels without requiring extensive hardware infrastructure.

[0024] Enhanced safety: Through an integrated inspection system, robots can promptly detect potential safety hazards in tunnels, such as tunnel leaks, driving accidents, and fire hazards, thereby taking preventative measures to reduce the risk of accidents.

[0025] Enhanced emergency response capabilities: The rapid response and automatic fire extinguishing functions of the fire protection system greatly improve the emergency response capabilities for emergencies such as fires in tunnels, helping to quickly control and extinguish fire sources and reduce property damage and casualties.

[0026] Improving inspection efficiency: Robotic automated inspection reduces the need for manual inspection, lowers labor intensity and safety risks, while increasing the frequency and coverage of inspections, ensuring real-time monitoring of tunnel conditions.

[0027] Optimized resource utilization: Through the electronic signs and loudspeakers of the guidance system, the robot can provide effective guidance and information transmission in emergency situations, optimizing traffic management and emergency evacuation within the tunnel and improving resource utilization efficiency.

[0028] High environmental adaptability: The robot's design takes into account the special environment inside the tunnel, such as high temperature, humidity, and darkness. The weather-resistant materials and sealing design used enable it to work stably in various environments.

[0029] Easy to upgrade and expand: The modular design of the robot makes future technology upgrades and functional expansions simple and quick, and can adapt to the ever-evolving technological needs and changes in tunnel operations.

[0030] Reduced environmental impact: By reducing manual inspections and improving firefighting efficiency, robots help reduce disturbance to the tunnel environment, lower energy consumption and carbon emissions, which aligns with the concept of sustainable development. Attached Figure Description

[0031] Figure 1 is This invention provides a schematic diagram of an integrated robot mobile system for tunnel inspection guidance and firefighting, a hardware connection and protection system, and an inspection system.

[0032] Figure 2 is A schematic diagram of an integrated robot guidance system for tunnel inspection and firefighting according to the present invention;

[0033] Figure 3 is A schematic diagram of an integrated robot firefighting system for tunnel inspection guidance and firefighting according to the present invention; Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see the appendix Figure 1, This invention provides a method for the daily work and emergency response of an integrated robot for inspection guidance and firefighting in tunnels. One or more robots are installed in locations within highway tunnels that do not affect traffic safety. The method includes the following steps:

[0036] S1. Robots can be deployed in single-bore two-way tunnels, double-bore one-way lanes, and multi-bore one-way lanes.

[0037] S2. When the robot receives the inspection command, the mobile system moves at a constant speed, and the inspection system starts video collection, storage and transmission.

[0038] S3. When the robot receives the road guidance instruction, the mobile system moves at a constant speed and stops after the robot reaches the designated location where traffic needs to be guided. The panoramic camera (8) and thermal imaging camera (9) are turned on, and the guidance system transmits traffic guidance information through the electronic sign (11) and loudspeaker (12) at the rear of the robot.

[0039] S4. When the robot receives a fire command, the mobile system moves at a constant speed and stops after reaching the designated location where fire fighting is required. The panoramic camera (8) and thermal imaging camera (9) are turned on. The sprinkler direction control firmware (15) performs automatic positioning and manual correction based on the data from the thermal imaging camera (9), and then the fire controller module turns on the switch to carry out fire fighting operations. The guidance system transmits traffic guidance information through the electronic sign (11) and loudspeaker (12) at the rear of the robot.

[0040] In S2, when the robot is inspecting, it can move clockwise or counterclockwise along the track in one direction as needed; it can also move clockwise and counterclockwise alternately.

[0041] The start command in S3 and S4 can be a command that is automatically identified and converted during the inspection, or it can be a received command.

[0042] In S3, when some or all roads may be impassable due to road traffic accidents, natural disasters, etc., the robot can play electronic signs (11) and broadcast announcements via loudspeaker (12) based on pre-programmed and recorded information. It can also accurately broadcast content based on real-time transmitted road images. The image analysis can be performed automatically by the machine or manually. Commands can be issued automatically by the machine, after machine recognition and manual approval, or after manual recognition.

[0043] Once the robot in S4 arrives at the designated location, it will automatically activate the fire detection mode, during which manual intervention is possible.

[0044] When the pressure of dry powder in the pressurized dry powder storage chamber (14) of the robot in S4 is insufficient, the robot will automatically return to the starting point, and the staff can replace the dry powder storage chamber.

[0045] The robot spray direction control firmware (15) in S4 can adjust the nozzle angle in the vertical direction relative to the robot's movement direction.

Claims

1. A robot integrating tunnel inspection guidance and firefighting, characterized in that: It includes a mobile system, a hardware connection and protection system, an inspection system, a guidance system, and a fire protection system. The cable (3) in the mobile system is connected to the fixing clamp (5) in the hardware connection and protection system. The inspection system, the guidance system, and the fire protection system are all fixed on the robot frame (6). The mobile system controls the drive wheel (2) to rotate via a motor and signal receiver (1), which in turn drives the cable (3) to move. The cable (3) then drives the robot frame (6) to move within the tunnel. The hardware connection and protection system includes a fixing clamp (5), a robot frame (6), and a transparent protective shell (7). The robot frame (6) is equipped with an inspection system, a guidance system, and a fire protection system. The robot frame (6) has transparent protective shells (7) on both sides for easy observation. The inspection system includes a panoramic camera (8), a thermal imaging camera (9), and a positioning and communication module (10). The panoramic camera (8) is located on the front side of the robot frame (6), and the thermal imaging camera (9) is located at the bottom of the robot frame (6), providing image support for inspection, guidance, and fire fighting. The electronic sign (11) and loudspeaker (12) in the guidance system are located on the rear side of the robot frame (6), and the sign and loudspeaker signal receiver module (13) is located on the top of the robot frame (6). The fire protection system includes a pressurized dry powder storage chamber (14), a spray direction control firmware (15), and a signal receiver and controller module (16). The dry powder storage chamber (14) is located inside the robot frame (6), the spray direction control firmware (15) is located at the bottom of the robot frame (6), and the signal receiver and controller module (16) is located inside the robot frame (6). The dry powder storage compartment (14) is a quick-disassembly component, which is connected to the spray direction control firmware (15) after installation.

2. The integrated robot for tunnel inspection guidance and firefighting according to claim 1, characterized in that: The spray direction control firmware (15) can be adjusted to aim at the fire source for fire extinguishing operations.

3. The integrated robot for tunnel inspection guidance and firefighting according to claim 2, characterized in that: The signal receiver and controller module (16) can open or close the dry powder storage bin (14), and the signal receiver and controller module (16) can control the direction of the spray direction control firmware (15).

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