CN-122009100-A - Elevating fire extinguishing robot and navigation method

CN122009100ACN 122009100 ACN122009100 ACN 122009100ACN-122009100-A

Abstract

The invention discloses a lifting fire-extinguishing robot and a navigation method, which belong to the technical field of intelligent fire-extinguishing robots and comprise a bearing substrate, a fire-extinguishing module, an autonomous navigation module and a supporting protection assembly; the fire extinguishing module is assembled at the upper end of the bearing substrate, the autonomous navigation module is assembled in the installation space of the bearing substrate, the supporting and protecting assembly is assembled in the installation space and corresponds to the autonomous navigation module, and the supporting and protecting assembly has a telescopic supporting function and a function of releasing protecting media to the periphery of the machine body. Through the high performance of a kind of accurate control of design, not only can satisfy the fire extinguishing needs, and its bottom sets up the support device with buffer function, has reduced the back impact force of the big gun machine effectively, improves overall stability, and the continuous release carbon dioxide gas of in the fire extinguishing process is in order to surround the organism nearby simultaneously, has solved the difficult problem that traditional high fire extinguishing robot appears spontaneous combustion easily in the fire extinguishing process, has improved the efficiency that the rescue was put out a fire.

Inventors

CHE HONGLEI
LI WEI
LIU JIAYIN
PAN LU
HAN SONG
Liu Zhongguan

Assignees

中国安全生产科学研究院
中国矿业大学
中国矿业大学(北京)

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. The elevating fire extinguishing robot is characterized by comprising a bearing substrate, a fire extinguishing module (3), an autonomous navigation module (4) and a supporting protection assembly (6); The fire extinguishing module (3) is assembled at the upper end of the bearing matrix; the autonomous navigation module (4) is assembled in the installation space of the bearing matrix; the support protection component (6) is assembled in the installation space and corresponds to the autonomous navigation module (4), and the support protection component (6) has the functions of telescopic support and release of protection media to the periphery of the machine body.
2. The elevating fire truck as set forth in claim 1, wherein the carrying base comprises a chassis (1) and wheels, the installation space is an installation groove formed in the lower end of the chassis (1), the wheels are arranged at corners of the chassis (1), a protective cover (7) is arranged on the outer side of the installation groove, a connecting column (8) is clamped at the upper end of the protective cover (7) close to the outer edge, and the upper end of the connecting column (8) is screwed at the lower end of the chassis (1).
3. The elevating fire truck as set forth in claim 1, wherein said autonomous navigation module (4) is provided with a heat insulation protection structure outside, said heat insulation protection structure is a heat insulation cylinder (5), and said support protection assembly (6) is assembled inside said heat insulation cylinder (5).
4. The elevating fire truck as set forth in claim 1, wherein the fire extinguishing module (3) comprises a base (31), the base (31) is fixedly arranged at the upper end of the base (1), a control assembly is arranged in the base (31), an extension mechanical arm assembly (32) is fixedly arranged at the upper end of the base (31), a fire monitor machine (33) is fixedly arranged at the end, far away from the base (31), of the extension mechanical arm assembly (32), an infrared detector (34) is arranged on the side wall of the fire monitor machine (33), a fire hose (35) is arranged at the lower end of the fire monitor machine (33), and the fire hose (35) is supported by the extension mechanical arm assembly (32) and extends to the tail of the fire hose; The device is characterized in that a monitoring pile (41) is fixedly arranged at the upper end of the base (31) close to the edge, a camera is matched with the upper end of the monitoring pile (41), and the camera is connected with an electric signal of the autonomous navigation module (4).
5. A lifting fire extinguishing robot according to claim 3, characterized in that the supporting and protecting assembly (6) comprises: the air supply unit (61) is fixedly arranged at the top of the mounting groove; The middle part of the lower end of the air supply unit (61) is fixedly provided with an electric push rod (62); the lower end of the electric push rod (62) is fixedly connected with the extension unit (63); The lower end of the stretching unit (63) is connected with the supporting device (64), and the outer edge of the stretching unit (63) is slidably arranged on the side wall of the supporting device (64); the protection shower nozzle (65), extension unit (63) outer edge fixedly connected with protection shower nozzle (65).
6. The elevating fire truck as set forth in claim 5, wherein said air supply unit (61) comprises a supply tank (611), the supply tank (611) is fixedly installed at the top of the installation groove and at the inner side of the autonomous navigation module (4), and the supply pipes (612) are uniformly installed at the lower end of the supply tank (611) near the edge along the circumferential direction thereof.
7. The elevating fire truck as set forth in claim 5, wherein said extension unit (63) comprises an abutment plate (631), the lower end of the electric push rod (62) is fixedly connected with the abutment plate (631), the edge of the abutment plate (631) is uniformly hinged with a transition rod (632), the lower end of the transition rod (632) is hinged with a T-shaped rod (633), the T-shaped rod (633) is sleeved with a return spring (634) and the end of the return spring penetrates through the outer side of the side wall of the support (64), the middle part of the lower end of the abutment plate (631) is fixedly connected with a telescopic slide rod (635), and the lower end of the telescopic slide rod (635) is fixedly connected with the bottom of the support (64); A transverse plate (641) is fixedly arranged on the lower end surface of the support (64) corresponding to the position of the container (651), a reset protrusion (642) is fixedly arranged at the upper end of the transverse plate (641), a female base plate (643) is arranged on the side part of the reset protrusion (642), and a sub base plate (644) is arranged on the side part of the female base plate (643); the height of the sub-shim plate (644) is smaller than that of the parent shim plate (643) and both are made of refractory materials; the support device (64) is of a hollow truncated cone-shaped structure with a small upper part and a large lower part, and support protrusions are uniformly arranged on the lower end face of the support device.
8. The elevating fire truck as set forth in claim 7, wherein heat dissipating grooves are formed in the side wall of said heat insulating cylinder (5) at positions near the lower end, a sealing plate (51) is hinged to the top of the heat dissipating grooves, a pull tab (52) is fixedly connected to the lower end of the sealing plate (51), the lower end of the pull tab (52) penetrates through the bottom of the heat dissipating grooves and is fixedly connected to the upper end of a locking plate device (53), the locking plate device (53) is fixedly mounted on the upper end of an abutting plate (631), and the pull tab (52) is an elastic steel sheet.
9. The elevating fire truck as set forth in claim 7, wherein said protective nozzle (65) comprises a container (651), the end of said T-shaped rod (633) is fixedly connected with said container (651), the inside of the upper end of said container (651) is connected with said supply pipe (612), a ball piston rod (653) is slidably mounted on the top of said container (651) via a contact spring (652), said ball piston rod (653) extends below said container (651), and said gas outlet channels (654) are uniformly provided on the side wall of said container (651) near the upper end.
10. The navigation method of the elevating fire extinguishing robot is characterized by comprising the following steps of: S1, environmental awareness, namely acquiring and processing surrounding environmental information including the position, shape and size of an obstacle in real time by using a camera arranged on the elevating fire-extinguishing robot; s2, constructing and updating the map, namely constructing an environment map according to the environment information acquired in the S1 and by utilizing a positioning and mapping technology, and updating in real time at the same time, so that the elevating fire-extinguishing robot can accurately know the change of the environment and the surrounding environment; s3, self-positioning, namely combining a global positioning system GPS, an inertial measurement or a wheel speed meter to realize the accurate positioning of the elevating fire-extinguishing robot; And S4, path planning and execution, namely planning an optimal path from the current position to the target position by adopting a path planning algorithm according to the current position determined in the S3, the environment map constructed in the S2 and the preset position, and controlling the elevating fire-extinguishing robot to navigate and advance according to the planned path and execute a fire-extinguishing task.

Description

Elevating fire extinguishing robot and navigation method Technical Field The invention relates to the technical field of intelligent fire extinguishing robots, in particular to a lifting fire extinguishing robot and a navigation method. Background The extra-high voltage converter station is a key facility of the high-voltage direct current transmission system, and faces fire safety risks while meeting the requirements of power transmission and distribution. The extra-high voltage converter station has a plurality of internal devices and complex structures, and comprises large-scale devices such as a converter transformer, a converter valve, a smoothing reactor and the like, and a large number of cables and connecting lines. These devices may rapidly become a source of fire or comburent in a fire, causing the fire to spread rapidly. The inside of equipment such as transformers in an extra-high voltage converter station is filled with high temperature insulating oil, which burns rapidly and generates high temperature in case of fire. In addition, the hot oil fire can cause explosion, further aggravate fire and dangerous degree, and increase fire extinguishing difficulty. Based on this, elevating fire-extinguishing robots have been developed. At present, the existing elevating fire-extinguishing robot is easy to shake in the fire-extinguishing process due to overlarge reverse impact force when the gun machine sprays the fire-extinguishing agent, so that the deviation of the position of the gun machine is easy to cause, the deviation correcting system is required to continuously adjust the direction of the gun machine, the stability of the elevating fire-extinguishing robot in fire extinguishing is easy to influence, the fire-extinguishing efficiency is influenced, and in addition, the elevating fire-extinguishing robot penetrating into a fire scene is easy to generate internal spontaneous combustion phenomenon due to overhigh temperature around the machine body, thereby being incapable of meeting the requirements of rescue and further influencing the timeliness of fire extinguishing. Disclosure of Invention The invention aims to solve the technical problems, and provides the elevating fire-extinguishing robot and the navigation method, which not only can meet the fire-extinguishing requirement by designing the precisely controlled high-performance elevating fire-extinguishing robot, but also can effectively reduce the counter-impact force of a gun machine, improve the overall stability, simultaneously continuously release carbon dioxide gas to surround the vicinity of a machine body in the fire-extinguishing process, solve the problem that the traditional elevating fire-extinguishing robot is easy to cause spontaneous combustion in the fire-extinguishing process, and improve the rescue fire-extinguishing efficiency. In order to solve the technical problems, the technical scheme provided by the invention is as follows: the elevating fire-extinguishing robot comprises a bearing substrate, a fire-extinguishing module, an autonomous navigation module and a supporting and protecting assembly, wherein the bearing substrate is a bearing structure with an installation space at the lower end, and the fire-extinguishing module is assembled at the upper end of the bearing substrate; The autonomous navigation module is assembled in the installation space of the bearing matrix; the support protection component is assembled in the installation space and corresponds to the autonomous navigation module, and the support protection component has the functions of telescopic support and protection medium release to the periphery of the machine body. Preferably, the bearing substrate comprises a chassis and wheels, the installation space is an installation groove formed in the lower end of the chassis, the wheels are arranged at corners of the chassis, a protective cover is arranged on the outer side of the installation groove, a connecting column is clamped at the upper end of the protective cover close to the outer edge, and the upper end of the connecting column is in threaded connection with the lower end of the chassis. Preferably, the outside cover of autonomous navigation module is equipped with thermal-insulated protective structure, thermal-insulated protective structure is thermal-insulated barrel, support the protection subassembly and assemble in thermal-insulated barrel inboard. Preferably, the fire extinguishing module comprises a base, a base is fixedly arranged at the upper end of the base, a control assembly is arranged in the base, an extension mechanical arm assembly is fixedly arranged at the upper end of the base, a fire monitor machine is fixedly arranged at the end, far away from the base, of the extension mechanical arm assembly, an infrared detector is arranged on the side wall of the fire monitor machine, a fire pipe belt is arranged at the lower end of the fire monitor machine, and is supported by the ex