An indoor space automatic inspection fire extinguishing robot

Abstract

The utility model relates to the field of fire safety technology, specifically disclose a kind of indoor space automatic inspection fire extinguishing robot;Including carrier, information acquisition mechanism, fire extinguishing mechanism, puncture mechanism, mechanical arm assembly and support base, carrier inside is equipped with controller, bottom is equipped with first group of moving wheel and second group of moving wheel;Information acquisition mechanism contains gas detection unit, radar unit and camera unit, can multidimensional acquisition fire information;Fire extinguishing mechanism includes fire extinguishing cannon and storage tank, and fire extinguishing cannon is communicated with storage tank by pipeline, elbow;Puncture mechanism contains puncture electric jar and puncture gun, and puncture gun is equipped with connecting part, tip end and injection hole, and second connecting pipe is connected storage tank by hose;Mechanical arm assembly is connected puncture mechanism and fire extinguishing cannon by mounting plate, can be flexibly adjusted operating position. Controller can drive carrier to drive to incident area autonomously, and conventional fire is extinguished by fire extinguishing cannon, and closed / interdiction type fire is sprayed fire extinguishing agent after puncture mechanism breaks open.

Description

Technical Field

[0001] This utility model relates to the field of fire safety technology, and in particular to an automatic indoor space inspection and fire extinguishing robot. Background Technology

[0002] In the field of indoor fire safety, timely detection and effective handling of fires are core requirements for ensuring the safety of people's lives and property. Currently, the mainstream indoor fire extinguishing methods are mainly divided into two categories: one is fire extinguishing equipment that relies on manual operation, such as portable fire extinguishers and wheeled fire extinguishers. This type of equipment requires personnel to first discover the fire, determine its location, and carry the equipment to extinguish it. This is not only limited by the coverage and response speed of manual inspections, but also presents safety risks such as high temperatures and toxic gases when personnel enter the fire scene. Especially in open or complex indoor spaces such as large shopping malls, warehouses, and underground parking garages, the lag in manual inspections can easily lead to the spread and expansion of the fire. The other category is fixed-installation automatic fire extinguishing systems, such as sprinkler systems and gas extinguishing systems. While these systems can achieve a certain degree of automatic response, they are limited by their fixed installation location and can only cover a preset area. They are difficult to effectively deal with moving fire sources or fires outside their coverage area, and they cannot function effectively against enclosed or isolated fires. With the diversification of indoor space functions, the challenges of handling enclosed or isolated fires (such as fires inside vehicles, glass display cases, or sealed equipment compartments) are becoming increasingly prominent. Even fire cannons with a certain range cannot penetrate the outer shell of a vehicle or glass barriers with their extinguishing agents. They only act on the outside, unable to reach the internal fire source, causing the fire to continue burning within the enclosed space until the barrier is destroyed, at which point it can be controlled by external firefighting methods. This process not only causes complete destruction of internal items but may also lead to the fire spreading to surrounding areas. Furthermore, existing automatic inspection equipment mostly only has fire detection capabilities and lacks integration with firefighting functions. Even if a fire is detected in an enclosed space, it still needs to be relayed to humans before specialized personnel with breaching tools and firefighting equipment can be dispatched, further prolonging the fire response time and exacerbating disaster losses. Furthermore, existing indoor fire suppression methods have shortcomings in fire location and precise fire extinguishing. Indoor spaces often have complex environments with walls obstructing the view and piles of items, making it easy for single fire detection methods (such as smoke sensors or temperature sensors) to misjudge or deviate in location, resulting in fire extinguishing equipment being unable to accurately target the fire source. For enclosed fires requiring breaching the enclosure, the separate use of breaching tools and fire extinguishing equipment not only increases operational complexity but may also lead to a rapid escalation of the fire if fire extinguishing is not promptly followed up after breaching. These problems collectively result in the core pain points of current indoor fire suppression methods in dealing with enclosed or barrier-type fires: delayed response, incomplete coverage, and low handling efficiency, failing to meet the high-efficiency, precise, and comprehensive fire safety requirements of modern indoor spaces. Utility Model Content

[0003] In view of this, this utility model provides an automatic indoor space inspection and fire extinguishing robot to solve the problem that traditional indoor fire extinguishing methods are difficult to achieve rapid and accurate penetrating fire extinguishing for enclosed / isolated fires (such as fires inside vehicles or enclosed glass spaces), resulting in delayed fire response and incomplete fire extinguishing coverage.

[0004] This utility model provides an automatic indoor space inspection and fire extinguishing robot, including: a vehicle, and an information acquisition mechanism and a fire extinguishing mechanism disposed on the vehicle. The vehicle is also equipped with a controller for controlling the vehicle to automatically move to the accident area. The information acquisition mechanism is used to acquire external environmental information to assist the fire extinguishing mechanism in carrying out fire extinguishing operations in the accident area. The fire extinguishing mechanism includes a fire extinguishing cannon disposed on the top of the vehicle. The fire extinguishing cannon is connected to a fire extinguishing agent storage tank disposed on the vehicle through a pipe and provides fire extinguishing agent to the fire extinguishing cannon. The information acquisition mechanism includes one or more of a gas detection unit, a radar unit, and a camera unit.

[0005] Preferably, it also includes a piercing mechanism disposed on the vehicle; The puncture mechanism includes a puncture electric cylinder and a puncture gun connected to the puncture electric cylinder. The puncture gun can perform the puncture action based on the extension or retraction of the piston rod of the puncture electric cylinder.

[0006] Preferably, the piercing gun includes a connecting portion and a pointed portion disposed at one end of the connecting portion; The connecting part includes a puncture tube and a first connecting tube and a second connecting tube extending from the puncture tube, wherein the first connecting tube is connected to the piston rod of the puncture electric cylinder. The puncture tube is also equipped with a detection camera.

[0007] Preferably, the second connecting tube is connected to the puncture tube, and the second connecting tube is connected to the storage tank through a hose and provides fire extinguishing agent to the puncture tube through the storage tank. The tip is provided with a plurality of evenly distributed spray holes.

[0008] Preferably, the vehicle also includes a robotic arm assembly mounted on the vehicle. The robotic arm assembly includes a base, a first arm, a second arm, a third arm, and a fourth arm. The first arm can rotate based on the base, the second arm can rotate based on the first arm, the third arm can rotate based on the second arm, and the fourth arm can rotate based on the third arm. The puncture mechanism is connected to the fourth arm via a mounting plate.

[0009] Preferably, the fire extinguishing cannon is arranged parallel to one side of the piercing mechanism via the mounting plate; The fire extinguishing cannon includes a cannon barrel and a nozzle at the end of the cannon barrel, and the cannon barrel is connected to the storage tank through an elbow and a pipe.

[0010] Preferably, the carrier has at least one storage tank, and one side of the storage tank is also provided with a support base; The robotic arm assembly is mounted on the support base; The gas detection unit is disposed on the side of the support base, and the camera unit is disposed on the end of the support base away from the storage tank.

[0011] Preferably, the gas detection unit includes a first detection part and a second detection part respectively disposed on both sides of the support base; The first detection unit includes two detectors respectively disposed at both ends of the support base, and the two detectors are connected by a connecting rod; The first detection unit and the second detection unit have the same structural configuration.

[0012] Preferably, the vehicle body is provided with a plurality of light-diffusing plates evenly distributed, and the ends of the vehicle are also provided with anti-collision strips.

[0013] Preferably, the bottom of the vehicle is provided with a first set of wheels and a second set of wheels at both ends; The first set of moving wheels is configured as omnidirectional wheels, and the second set of moving wheels is configured as drive wheels, wherein the drive wheels can be driven independently; Furthermore, the second set of moving wheels is located at one end of the vehicle where the support base is located.

[0014] The automatic indoor space inspection and fire extinguishing robot provided by this utility model has the following beneficial effects: This invention significantly improves fire response and handling efficiency. The device relies on the autonomous navigation capabilities of the vehicle and controller, combined with a multi-dimensional information acquisition mechanism consisting of radar, cameras, and gas detection units. It can detect fires in real time without manual inspection and automatically drive to the incident area, eliminating the need for manual detection, feedback, and equipment transport. This effectively shortens the time from fire detection to response and reduces the risk of fire spread. It overcomes the bottleneck of handling enclosed / isolated fires. Through the coordinated design of the piercing mechanism and extinguishing function, the piercing gun can penetrate barriers such as vehicle bodies and glass, and then deliver the extinguishing agent directly to the enclosed space through the injection port of the piercing tube, precisely targeting the fire source. This solves the problem that traditional fire cannons cannot reach fires in enclosed spaces, preventing the fire from spreading. The fire completely destroys items and spreads the fire; it improves the accuracy and safety of fire extinguishing. The robotic arm component can flexibly adjust the position of the piercing mechanism and the fire extinguishing cannon to ensure that the piercing and demolition and the spraying of the extinguishing agent are accurately aimed at the fire source. At the same time, it eliminates the need for manual entry into the fire scene or close-range operation of demolition tools, avoiding the safety risks of high temperature and toxic gases faced by humans; fourth, it expands the coverage of indoor fire extinguishing. The device can move autonomously in complex indoor spaces such as large shopping malls, underground garages, and warehouses. Combined with multi-dimensional detection and flexible handling capabilities, it not only makes up for the limited coverage of fixed sprinkler systems, but also solves the problem of space limitations in manual fire extinguishing. It can achieve a comprehensive response and effective handling of fires in various indoor scenarios, and effectively protect the lives and property of people in indoor spaces. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of this utility model.

[0016] Figure 1 This is a structural diagram of an automatic indoor space inspection and fire extinguishing robot. Figure 2 This is a structural diagram of an indoor space automatic inspection and fire extinguishing robot from another angle. Figure 3 This is a structural diagram of the robotic arm assembly and the piercing gun; Figure 4 This is a structural diagram of a fire extinguishing cannon and a piercing gun; Parts and component numbers in the diagram: 100-Vehicle, 111-Light-diffusing plate, 112-Bumper strip, 120-First set of moving wheels, 130-Second set of moving wheels, 140-Housing body, 141-Housing door; 210-First detection unit, 211-Detector, 212-Connecting rod, 220-Second detection unit, 230-3D radar, 240-Camera unit, 250-LiDAR; 310 - Storage tank; 320 - Fire extinguishing cannon; 321 - Cannon barrel; 322 - Nozzle; 323 - Elbow. 410-Puncture cylinder, 420-Puncture gun, 421-Connecting part, 422-Puncture tube, 423-Detection camera, 424-First connecting tube, 425-Second connecting tube, 426-Tip part, 427-Injection hole; 500 - Robotic arm assembly, 511 - Base, 512 - First arm, 513 - Second arm, 514 - Third arm, 515 - Fourth arm; 600-Support base, 610-Controller, 620-Emergency stop assembly, 630-Mounting plate, 641-Pipe, 642-Hose. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, in this document, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Unless otherwise specified, embodiments of the present invention and the various features thereof can be combined with each other, all within the protection scope of the present invention. Example

[0018] Please see Figure 1This utility model provides an automatic indoor space inspection and fire extinguishing robot. With the rapid pace of urbanization, the scale and function of indoor spaces such as large shopping malls, underground parking garages, industrial plants, and warehousing centers are becoming increasingly complex, posing increasingly severe challenges to fire safety. Currently, manual inspection and operation remain the mainstream mode in indoor fire extinguishing. This is not only limited by the energy and coverage of inspection personnel, making 24-hour uninterrupted monitoring difficult, but also results in a slow response time when personnel carry fire extinguishing equipment to the scene of a fire. Especially in environments filled with dense smoke, high temperatures, and toxic gases, personnel safety is seriously threatened. Meanwhile, fixed automatic fire extinguishing systems such as sprinklers and gas extinguishing devices, while capable of responding automatically to fires to some extent, are limited by their fixed installation locations, making them unable to flexibly handle fires originating from mobile sources or in uncovered areas. Furthermore, they cannot solve the problem of fire handling in enclosed or isolated spaces such as vehicles, glass display cases, and sealed equipment compartments.

[0019] Please see Figure 1 and Figure 2 In this embodiment, the automatic inspection and firefighting robot includes a vehicle 100 and an information acquisition mechanism and a firefighting mechanism mounted on the vehicle 100. The vehicle 100 also has a controller 610 inside for controlling the vehicle 100 to automatically proceed to the accident area. The information acquisition mechanism acquires external environmental information to assist the firefighting mechanism in firefighting operations in the accident area. The firefighting mechanism includes a fire extinguishing cannon 320 mounted on top of the vehicle 100. The fire extinguishing cannon 320 is connected to a fire extinguishing agent storage tank 310 mounted on the vehicle 100 via a pipe 641, which provides fire extinguishing agent to the fire extinguishing cannon 320. The information acquisition mechanism includes one or more of a gas detection unit, a radar unit, a camera unit 240, and a lidar unit 250. The lidar unit includes at least a 3D radar 230 and a lidar unit 250.

[0020] In practical applications, the operation of this automated inspection and firefighting robot revolves around the logic of information acquisition, intelligent decision-making, and precise firefighting, as detailed below: The robot initiates environmental detection through an information acquisition mechanism mounted on the vehicle 100. The gas detection unit monitors key fire indicators such as combustible gas concentration and smoke concentration in the indoor space in real time, promptly capturing early signs of fire. The radar unit can penetrate some obstructions to accurately locate the fire source, making it particularly suitable for complex obstructed scenarios such as shopping mall shelves and warehouse stacks. The camera unit 240 can directly collect on-site images to assist in determining the scale of the fire and the type of burning material. The lidar 250 and / or 3D radar 230 can accurately measure the distance to the fire source and the speed of fire spread. These detection components can work individually or in combination to comprehensively acquire external environmental information and transmit the data in real time to the controller 610 inside the vehicle 100. After receiving environmental data transmitted by the information acquisition mechanism, the controller 610 will perform comprehensive analysis of the data. If a fire is detected, it will combine the fire source location located by the radar unit, camera unit 240 and other units to plan the optimal movement path. At the same time, based on the severity of the fire fed back by the gas detector, lidar 250 and / or 3D radar 230, it will determine the spray intensity and angle parameters of the fire extinguishing cannon 320. If no fire is detected, the controller 610 will drive the vehicle 100 to continuously inspect the indoor space according to the preset inspection route or put it into hibernation at a designated location. After the controller 610 drives the vehicle 100 to automatically move to the accident area, it will adjust the attitude of the fire extinguishing cannon 320 according to preset parameters. At this time, the extinguishing agent in the storage tank 310 is delivered to the fire extinguishing cannon 320 through the pipeline 641. The fire extinguishing cannon 320 sprays the extinguishing agent accurately to the fire source according to the set intensity and angle, so as to achieve rapid control of the fire. During the fire extinguishing process, the information acquisition mechanism will continuously monitor the changes in the fire situation. If the fire spreads or the fire extinguishing effect is not good, it will feed back the data to the controller 610 in real time. The controller 610 will further adjust the parameters of the fire extinguishing cannon 320 or the position of the vehicle 100 to ensure the efficient advancement of the fire extinguishing operation.

[0021] In this embodiment, the robot features a fully automated design that combines automatic detection by the information acquisition mechanism, autonomous decision-making by the controller 610, and automatic movement by the vehicle 100. This eliminates the need for manual inspection to detect the fire and manual operation of equipment, significantly reducing the time difference between fire detection, equipment arrival, and fire suppression initiation. Especially in unattended warehouses and underground parking garages at night, this design effectively prevents the fire from spreading due to delayed human response. Please see Figure 1 and Figure 2During operation, the information acquisition mechanism, with its multiple components working collaboratively, can accurately depict the fire situation from multiple dimensions such as concentration, location, image, and distance, avoiding misjudgment or positioning deviations caused by single detection methods. The controller 610 adjusts the parameters of the fire extinguishing cannon 320 based on precise data, allowing the extinguishing agent to directly act on the core area of ​​the fire source, reducing waste caused by spray deviation and avoiding unnecessary pollution to non-fire areas. The combined design of the gas detection, radar unit, and camera unit 240 can meet the detection needs of different indoor environments. For example, in scenarios with dense smoke, the 3D radar 230 and lidar 250 can compensate for the insufficient field of view of the camera unit 240; and in scenarios of flammable and explosive gas leaks, the lidar 250 can provide early warning from the gas detection unit, preventing the fire from escalating. The design of the pipe 641 connecting the fire cannon 320 and the storage tank 310 ensures a stable supply of extinguishing agent, meeting the needs of continuous fire suppression. It is suitable for handling small initial fires to medium-sized fires. The entire operation does not require personnel to enter the fire scene or operate the equipment at close range. Especially in dangerous fire scenarios with toxic gases and high-temperature radiation, it can completely avoid the safety risks brought by human intervention, making fire suppression operations safer and more reliable. Furthermore, the extinguishing agent sprayed by conventional 320mm fire cannons is difficult to penetrate the barrier layer to reach the internal fire source, causing the fire to continue burning in the enclosed space, which can easily lead to the spread of the fire and cause greater property damage or even casualties. In addition, some existing inspection equipment only has fire detection functions and lacks synergy with fire extinguishing functions. Even if a fire is detected, it still requires manual follow-up, which further prolongs the fire extinguishing cycle. These problems highlight the urgent need to develop an intelligent fire extinguishing device that can autonomously inspect, accurately detect, and flexibly handle various indoor fires, especially enclosed and barrier-type fires.

[0022] Further, please see Figure 1 , Figure 3 and Figure 4 In this embodiment, the automatic inspection and fire extinguishing robot also includes a piercing mechanism disposed on the carrier 100; the piercing mechanism includes a piercing electric cylinder 410 and a piercing gun 420 connected to the piercing electric cylinder 410, and the piercing gun 420 can perform a piercing action based on the extension or retraction of the piston rod of the piercing electric cylinder 410.

[0023] Furthermore, the puncture gun 420 includes a connecting portion 421 and a tip portion 426 disposed at one end of the connecting portion 421; the connecting portion 421 includes a puncture tube 422 and a first connecting tube 425 and a second connecting tube 424 extending from the puncture tube 422, the first connecting tube 425 being connected to the piston rod of the puncture electric cylinder 410; the puncture tube 422 is also provided with a detection camera 423.

[0024] Furthermore, the second connecting pipe 424 is connected to the puncture pipe 422, and the second connecting pipe 424 is connected to the storage tank 310 through the hose 642 and provides fire extinguishing agent to the puncture pipe 422 through the storage tank 310. The tip 426 is provided with a plurality of evenly distributed spray holes 427.

[0025] When the automated inspection and extinguishing robot operates on enclosed / isolated fires (such as fires inside vehicles or glass display cases), the puncture mechanism works in conjunction with the existing information acquisition mechanism, controller 610, and extinguishing mechanism. The specific process is as follows: First, the information acquisition units (radar unit, camera unit 240, etc.) detect the fire. Camera unit 240 captures the appearance and location of enclosed barriers (such as vehicle windows or cabinet glass). The radar unit assists in confirming the thickness of the barriers and the precise coordinates of the internal fire source. The gas detection unit analyzes the gas leaking from the gaps in the barriers to determine the intensity of the fire inside. After this data is transmitted to the controller 610 in real time, the controller 610 will comprehensively determine that the current fire is an enclosed fire that cannot be penetrated by conventional fire cannons 320, and the penetration mechanism needs to be activated. Based on the detection data, the controller 610 drives the vehicle 100 to a suitable position relative to the obstacle, while simultaneously adjusting the orientation of the piercing mechanism to ensure that the tip 426 of the piercing gun 420 is aligned with the weakest area of ​​the obstacle (such as the edge of glass or non-metallic parts of the vehicle body), preventing the obstacle from shattering or failing to pierce due to improper piercing position. The controller 610 sends an action command to the piercing cylinder 410, causing the piston rod of the piercing cylinder 410 to extend, driving the connected piercing gun 420 to advance uniformly towards the obstacle. Since the extension force of the piston rod can be precisely controlled by the controller 610 (adapting to obstacles of different thicknesses, such as thin glass or thick vehicle body steel plates), the piercing gun 420 will continuously apply pressure to the obstacle under the driving force of the piston rod until it penetrates the obstacle and forms a channel; if it is necessary to adjust the piercing depth or withdraw the piercing gun 420, the controller 610 can command the piston rod to retract, driving the piercing gun 420 back to the initial position, flexibly adapting to different operational needs. After puncture, the channel formed by the puncture gun 420 can serve as a delivery path for the extinguishing agent (in conjunction with the puncture tube 422 and the spray hole 427). At this time, the storage tank 310 of the fire extinguishing mechanism delivers the extinguishing agent to the puncture gun 420 through the hose 642. The extinguishing agent is sprayed directly into the enclosed space through the puncture channel, accurately targeting the fire source and effectively extinguishing the enclosed fire. During the fire extinguishing process, if it is necessary to adjust the puncture position to cover different fire sources, the controller 610 can repeat the above-mentioned "piston rod extension and retraction" action to drive the puncture gun 420 to move or re-puncture.

[0026] In this embodiment, for glass-type barriers that conventional fire extinguishing cannons 320 cannot penetrate, the piercing mechanism, driven by the piercing electric cylinder 410 and the structure of the piercing gun 420, can directly break through the glass barrier, allowing the extinguishing agent to reach the fire source inside the enclosed space. This completely solves the core problem of traditional fire extinguishing methods that can only act on the outside and cannot reach the fire source inside, thus preventing the fire from continuing to burn in the enclosed space and causing the losses to expand.

[0027] The extension / retraction force and speed of the piston rod of the puncture cylinder 410 can be precisely adjusted by the controller 610. This allows it to adapt to barriers of different thicknesses, such as thin glass (small force and slow advance to avoid glass shattering and injuring people) and thick steel plates (large force and stable advance to ensure successful puncture). It can also precisely control the puncture depth to prevent the puncture gun 420 from excessively extending and causing secondary damage to the internal items, while reducing the risk of operational errors that may occur during manual demolition.

[0028] Furthermore, the puncture mechanism does not require independent operation. Instead, it is linked with the information acquisition and fire extinguishing mechanisms via the controller 610. From determining whether puncture is necessary due to the fire situation to calibrating the puncture position, and then coordinating with fire extinguishing after puncture, the entire process is automated and seamless, requiring no manual intervention. This significantly shortens the time required to handle a closed fire and prevents the fire from spreading due to the separation of demolition and fire extinguishing. The core of the puncture mechanism consists of a puncture electric cylinder 410 and a puncture gun 420. With fewer components and a simpler transmission structure, it not only has a low probability of failure, but subsequent maintenance only requires checking the sealing of the electric cylinder and the wear of the puncture gun 420. The maintenance difficulty and cost are significantly lower than those of complex multi-component demolition equipment.

[0029] The puncture tube 422 is also equipped with a detection camera 423, which is a depth camera for intelligent identification. The puncture gun 420 can intelligently identify the glass part through the depth camera of the puncture tube 422, that is, it can intelligently identify the part of the glass to achieve precise puncture operation of the puncture gun 420.

[0030] Furthermore, the device also includes a robotic arm assembly 500 disposed on the carrier 100; the robotic arm assembly 500 includes a base 511, a first arm 512, a second arm 513, a third arm 514, and a fourth arm 515. The first arm 512 can rotate based on the base 511, the second arm 513 can rotate based on the first arm 512, the third arm 514 can rotate based on the second arm 513, and the fourth arm 515 can rotate based on the third arm 514; the puncture mechanism is connected to the fourth arm 515 through a mounting plate 630.

[0031] Furthermore, the fire extinguishing cannon 320 is arranged parallel to one side of the piercing mechanism via the mounting plate 630; the fire extinguishing cannon 320 includes a cannon barrel 321 and a nozzle 322 at the end of the cannon barrel 321, and the cannon barrel 321 is connected to the storage tank 310 via a bend 323 and a pipe 641.

[0032] The robotic arm assembly 500 is fixed to the carrier 100 by the base 511. Through multi-joint linkage, the piercing mechanism can be flexibly adjusted. When a closed fire is detected, the controller 610 drives the first arm 512 to rotate horizontally relative to the base 511, adjusting the lateral range of the piercing operation. The second arm 513 rotates vertically based on the first arm 512, adapting to barriers of different heights (such as car windows or the upper part of glass display cases). The third arm 514 and the fourth arm 515 further fine-tune their angles, allowing the piercing gun 420 to accurately align with the target position of the barrier (such as the edge of glass or a weak point in the vehicle body) via the mounting plate 630. During the piercing process, the robotic arm can compensate for deviations caused by slight shaking of the carrier 100 or deformation of the barrier in real time, ensuring a stable piercing direction. After piercing, it can also move the piercing gun 420 slightly, allowing the spray nozzle 427 to cover different fire sources inside.

[0033] Furthermore, the fire extinguishing cannon 320 and the piercing mechanism are fixed in parallel via the same mounting plate 630, and can share the movement capability of the robotic arm assembly 500. When dealing with conventional fires, the robotic arm assembly 500 drives the fourth arm 515 to rotate, enabling the fire extinguishing cannon 320 to achieve multi-angle adjustments such as pitch (e.g., aiming at a ceiling fire) and sway (e.g., aiming at a fire between shelves). If it is necessary to coordinate with the piercing operation, the robotic arm assembly 500 can coordinate the positions of the two simultaneously. When the piercing mechanism penetrates the barrier, the fire extinguishing cannon 320 remains on standby outside. After the internal fire is controlled, the robotic arm assembly 500 rotates to make the fire extinguishing cannon 320 aim at the opening of the barrier and spray the surrounding remaining fire, forming a coordinated fire extinguishing effect inside and outside.

[0034] Furthermore, the carrier 100 has at least one storage tank 310, and a support base 600 is provided on one side of the storage tank 310; the robotic arm assembly 500 is disposed on the support base 600; the gas detection unit is disposed on the side of the support base 600; and the camera unit 240 is disposed on the end of the support base 600 away from the storage tank 310.

[0035] Furthermore, the gas detection unit includes a first detection part 210 and a second detection part 220 respectively disposed on both sides of the support base 600; the first detection part 210 includes two detectors 211 respectively disposed at both ends of the support base 600, and the two detectors 211 are connected by a connecting rod 212; the first detection part 210 and the second detection part 220 have the same structural configuration.

[0036] The gas detection unit, through the height difference arrangement of the first detection unit 210 and the second detection unit 220, essentially constructs a three-dimensional gas sampling space, rather than a single planar detection. Its core function revolves around covering the gas distribution characteristics and improving detection accuracy. Different types of hazardous gases (such as toxic gases, combustible gases like methane, toxic gases like carbon monoxide, and corrosive gases like chlorine that may be involved in fire extinguishing scenarios) have significant differences in density. Gases with a density greater than air (such as chlorine and vapors from liquefied petroleum gas leaks) will sink due to gravity and accumulate on the ground or in low-altitude areas. Gases with a density less than air (such as methane and hydrogen) will float upward and accumulate in mid-to-high-altitude areas. Some gases (such as carbon monoxide) have a density close to that of air and may diffuse uniformly in space, but they may also have local differences in distribution between high and low layers due to environmental airflow (such as airflow during fire extinguishing).

[0037] The arrangement of one high and one low detector 211 can cover the low-altitude (close to the ground) and mid-to-high-altitude regions respectively, ensuring that the gas can be captured by the corresponding detector 211 regardless of the gas density, avoiding the problem of low-altitude gas not being detected or high-altitude gas being missed due to detection at a single altitude.

[0038] After a hazardous gas leak, it may not immediately distribute evenly in space, but rather form a concentration gradient. That is, as the gas diffuses from the leak source to the surrounding area, the gas concentration varies at different heights and locations. For example, if the leak source is on the ground (such as a ruptured pipe 641), the concentration value of the low-altitude detection unit will rise first and be higher than that of the high-altitude detection unit; if the leak source is at a high place (such as a gas pipe 641 inside a suspended ceiling), the high-altitude detection unit will detect the gas first, and the concentration value will be even higher.

[0039] By comparing the detection data from the high and low detection units, such as the time difference of concentration change and the concentration difference, the controller 610 can infer the approximate height of the leak source and determine the direction of gas diffusion, providing data support for the robot to locate the leak point and plan the fire extinguishing / disposal path.

[0040] In firefighting scenarios, various factors can interfere with single-height detection. Ground conditions may include water and dust; if detector 211 is only positioned at low altitude, water immersion or dust clogging the sensor could cause detection failure. Conversely, mid-to-high altitudes may contain extinguishing agent droplets from the fire cannon 320 and hot air currents; if detector 211 is only positioned at high altitude, droplet adhesion or hot air currents could affect sensor sensitivity. Positioning both detectors at high and low altitudes provides complementary anti-interference capabilities. When the low-altitude detector 211 is affected by water, the high-altitude detector 211 can still function normally; conversely, when the high-altitude detector 211 is affected by extinguishing agent droplets, the low-altitude detector 211 can maintain detection, preventing the entire gas detection unit from failing due to interference from a single location and ensuring the continuity of detection data.

[0041] Furthermore, the carrier 100 has a plurality of light-diffusing plates 111 evenly distributed on its body, and the end of the carrier 100 is also provided with anti-collision strips 112.

[0042] In this indoor space automatic inspection and fire extinguishing robot, the design of the anti-collision strip 112 and the light distribution plate 111 are both based on the indoor operation adaptability of the vehicle 100. The anti-collision strip 112 is set at the end of the vehicle 100, and its core function is to buffer and protect. Indoor spaces often have fixed obstacles such as wall corners, shelf columns, and equipment bases. When the robot autonomously navigates to the fire area or during inspection, it may experience minor collisions due to complex environments (such as smoke obscuring the field of vision or turning in narrow passages). The anti-collision strip 112 can absorb the impact force of the collision through its own elastic deformation, so as to prevent the body of the vehicle 100, the information acquisition mechanism at the end, or the connecting parts of the fire extinguishing cannon 320 from being damaged by the collision. At the same time, it reduces the impact of the collision on the movement posture of the vehicle 100, ensuring that it can move steadily towards the target area.

[0043] The light diffuser 111 is evenly distributed on the body of the vehicle 100, and its main function is to optimize the lighting environment. On the one hand, indoor fire scenarios may be accompanied by dense smoke, resulting in dim lighting. The light diffuser 111 can evenly diffuse the light from the internal light source of the vehicle 100 to the surrounding environment, improve the shooting clarity of the camera unit 240, and assist the information acquisition mechanism in accurately identifying fire sources and obstacles. On the other hand, the evenly diffused light can avoid the visual interference of local strong light direct glare to the surrounding people. At the same time, in routine inspections without fire, the soft light diffuses the light, making the robot more suitable for indoor spaces such as shopping malls and warehouses that have certain requirements for the lighting environment, reducing the impact of equipment operation on the environment.

[0044] Furthermore, the bottom of the vehicle 100 is provided with a first set of moving wheels 120 and a second set of moving wheels 130 at both ends; the first set of moving wheels 120 are set as omnidirectional wheels, and the second set of moving wheels 130 are set as drive wheels, and each drive wheel can be driven independently; and the second set of moving wheels 130 is located at the end of the vehicle 100 where the support base 600 is located.

[0045] In this embodiment, the first set of moving wheels 120 are set as omnidirectional wheels, and the second set of wheels 130 are set as independently drivable power wheels. The power wheels are positioned at one end of the support base 600. The omnidirectional wheels allow the robot to easily turn and adjust its direction in narrow spaces such as gaps between shopping mall shelves and underground parking garage passages, meeting the path flexibility requirements during inspection and firefighting. Furthermore, the independent drive characteristics of the power wheels allow for on-the-spot turning and precise speed adjustment by differentially controlling the rotation speed of the two power wheels, avoiding the problems of large turning radius and inconvenient adjustment of traditional fixed wheel sets, ensuring that the robot can quickly align with the fire area or pierce the target. At the same time, the support base 600 carries heavy components such as the robotic arm assembly 500 and the piercing mechanism. Positioning the power wheels at this end allows the center of gravity of the vehicle 100 to be closer to the power wheels, improving the stability of power output and preventing slippage and tilting of the vehicle body due to the lighter weight at the front end. This ensures that the robot can still move stably when carrying heavy work components, adapting to diverse indoor movement and work scenarios.

[0046] The carrier 100 is also equipped with a compartment 140 specifically for placing the storage tank 310. This compartment 140 is designed to safely and securely store the storage tank 310, ensuring it will not be accidentally moved or damaged during transportation or storage. Furthermore, the compartment 140 is equipped with a door 141 that can be opened and closed. This door 141 allows users to easily open the compartment 140 to place or remove the storage tank 310, while effectively protecting the storage tank 310 from external environmental influences when closed, thereby further improving the safety and reliability of storage and transportation.

[0047] The vehicle 100 is also equipped with an emergency stop component 620, which is used to control the vehicle 100 to stop urgently in case of emergencies to ensure operational safety. This emergency stop component 620 typically includes an emergency stop button installed on the vehicle 100's control panel and trigger sensors distributed at key locations on the vehicle 100. When the operator detects an abnormality, they can manually press the emergency stop button. Alternatively, when the sensors detect dangerous signals such as a violent collision between the vehicle 100 and an obstacle, or an overload in the power system, the emergency stop component 620 will immediately cut off the power output circuit, stopping the rotation of the vehicle 100's power wheels. Simultaneously, it triggers the locking mechanisms of the robotic arm assembly 500, the piercing mechanism, and other working components to prevent them from continuing to move under inertia, thus avoiding further escalation of the accident. Furthermore, the emergency stop component 620 also has a status feedback function. After triggering an emergency stop, it will alert the operator through flashing indicator lights or a buzzer alarm, facilitating timely troubleshooting and subsequent handling, effectively improving the robot's safety protection level in complex working environments.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic indoor space inspection and fire extinguishing robot, characterized in that, include: Vehicle (100) And information acquisition mechanisms and fire extinguishing mechanisms installed on the vehicle (100), The vehicle (100) is also equipped with a controller (610) for controlling the vehicle (100) to automatically move to the accident area. The information acquisition mechanism is used to acquire external environmental information to assist the fire extinguishing mechanism in carrying out fire extinguishing operations in the accident area. The fire extinguishing mechanism includes a fire extinguishing cannon (320) disposed on the top of the vehicle (100). The fire extinguishing cannon (320) is connected to a storage tank (310) of fire extinguishing agent disposed on the vehicle (100) via a pipe (641) and provides fire extinguishing agent to the fire extinguishing cannon (320). The information acquisition mechanism includes one or more of a gas detection unit, a radar unit, and a camera unit (240).

2. The indoor space automatic inspection and fire extinguishing robot according to claim 1, characterized in that, It also includes a piercing mechanism disposed on the vehicle (100); The puncture mechanism includes a puncture cylinder (410) and a puncture gun (420) connected to the puncture cylinder (410). The puncture gun (420) can perform a puncture action based on the extension or retraction of the piston rod of the puncture cylinder (410).

3. The indoor space automatic inspection and fire extinguishing robot according to claim 2, characterized in that, The piercing gun (420) includes a connecting part (421) and a tip (426) disposed at one end of the connecting part (421). The connecting part (421) includes a puncture tube (422) and a first connecting tube (425) and a second connecting tube (424) extending from the puncture tube (422), wherein the first connecting tube (425) is connected to the piston rod of the puncture electric cylinder (410); The puncture tube (422) is also equipped with a detection camera (423).

4. The indoor space automatic inspection and fire extinguishing robot according to claim 3, characterized in that, The second connecting tube (424) is connected to the puncture tube (422), and the second connecting tube (424) is connected to the storage tank (310) through the hose (642) and provides fire extinguishing agent to the puncture tube (422) through the storage tank (310). The tip (426) is provided with a plurality of evenly distributed spray holes (427).

5. The indoor space automatic inspection and fire extinguishing robot according to claim 2, characterized in that, It also includes a robotic arm assembly (500) mounted on the carrier (100). The robotic arm assembly (500) includes a base (511), a first arm (512), a second arm (513), a third arm (514), and a fourth arm (515). The first arm (512) can rotate based on the base (511), the second arm (513) can rotate based on the first arm (512), the third arm (514) can rotate based on the second arm (513), and the fourth arm (515) can rotate based on the third arm (514). The puncture mechanism is connected to the fourth arm (515) via a mounting plate (630).

6. The indoor space automatic inspection and fire extinguishing robot according to claim 5, characterized in that, The fire extinguishing cannon (320) is arranged parallel to one side of the piercing mechanism via the mounting plate (630); The fire extinguishing cannon (320) includes a cannon barrel (321) and a nozzle (322) at the end of the cannon barrel (321), and the cannon barrel (321) is connected to the storage tank (310) through an elbow (323) and a pipe (641).

7. The indoor space automatic inspection and fire extinguishing robot according to claim 5, characterized in that, The carrier (100) has at least one storage tank (310), and a support base (600) is provided on one side of the storage tank (310). The robotic arm assembly (500) is mounted on the support base (600); The gas detection unit is disposed on the side of the support base (600), and the camera unit (240) is disposed on the end of the support base (600) away from the storage tank (310).

8. The indoor space automatic inspection and fire extinguishing robot according to claim 7, characterized in that, The gas detection unit includes a first detection part (210) and a second detection part (220) respectively disposed on both sides of the support base (600); The first detection unit (210) includes two detectors (211) respectively disposed at both ends of the support base (600), and the two detectors (211) are connected by a connecting rod (212); The first detection unit (210) and the second detection unit (220) have the same structural configuration.

9. The indoor space automatic inspection and fire extinguishing robot according to claim 1, characterized in that, The vehicle (100) has a plurality of light-diffusing plates (111) evenly distributed on its body, and the end of the vehicle (100) is also provided with anti-collision strips (112).

10. An automatic indoor space inspection and fire extinguishing robot according to claim 7, characterized in that, The bottom of the vehicle (100) is provided with a first set of moving wheels (120) and a second set of moving wheels (130) at both ends respectively. The first set of casters (120) are configured as omnidirectional wheels, and the second set of casters (130) are configured as drive wheels, wherein the drive wheels can be driven independently; The second set of moving wheels (130) is located at one end of the vehicle (100) where the support base (600) is located.

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