WO2020062623A1 - Fire-fighting reconnaissance robot - Google Patents

Abstract

Disclosed is a fire-fighting reconnaissance robot, comprising a sensor system, a control system (204) and an execution mechanism, and further comprising a heat insulating shell and a cooling system (206), wherein the heat insulating shell is arranged outside the reconnaissance robot and is provided with a heat insulating layer; the cooling system (206) is located inside the heat insulating shell for cooling the interior of the reconnaissance robot; and the sensor system and the control system (204) are located inside the heat insulating shell. The fire-fighting reconnaissance robot can not only work alone, but can also work in cooperation with a carrying robot, and works in the high-temperature field and has a great maneuvering characteristics.

Description

Fire detection reconnaissance robot Technical field

The invention relates to the technical field of robots, in particular to a fire-fighting robot.

Background technique

As a tool to assist firefighters in performing dangerous tasks, firefighting robots need to rush to the fire scene with the firefighters after the fire, and assist or replace the firefighters in the fire scene for information collection, auxiliary fire fighting and personnel search and rescue operations.

Due to the uncertainty of the time and place of the fire and the rapid spread of the fire, the robot needs to be quickly deployed to the incident area with the firefighters. Therefore, the flexibility of the robot in environments where the large transportation vehicles such as narrow lanes and stairs cannot be penetrated is proposed. At the same time, the collection of fire scene information, the suppression of fire sources on the scene and the search and rescue of personnel require that the robot can work in a high-temperature fire scene, which has high requirements for the protective performance of the robot. Due to the complex environment of the fire scene, the robot must Moving slowly, the requirements for mobility are relatively low. It can be seen that firefighting robots need to work in two environments with very different operating conditions. One is fast transportation outside the fire field, which requires high mobility and low protection requirements. One is to perform tasks in the fire field. At this time, the requirements for protection are high, and the requirements for mobility are low.

Many existing fire-fighting robots are mainly aimed at the first working condition to achieve rapid transportation, and perform auxiliary work such as remote fire suppression or hauling of water hoses around the fire scene. Since it is impossible to achieve deep fire protection functions on existing products, it is difficult to provide substantive assistance to firefighters in gathering field information, extinguishing fire sources, and searching and rescuing personnel.

For the protection of high temperature environment, although there are currently industrial applications of related technologies, it is necessary to cover the entire machine with a thermal protection layer. Therefore, it is difficult to provide reliable protection for auxiliary transmission mechanisms such as the crawler chassis used by high-mobility fire robots. .

Due to the above reasons, there is currently no fire-fighting robot on the market that can penetrate into the high-temperature fire scene and perform operations at the fire scene.

Summary of the Invention

In order to solve the shortcomings of the prior art, the object of the present invention is to provide a fire detection reconnaissance robot, instead of special operators, entering a high-temperature dangerous environment, and performing image acquisition, gas detection, and other information in fire scenes, metallurgical furnaces, and other scenarios. Reconnaissance work such as collection and identification of dangerous sources.

In order to achieve the above object, the fire detection reconnaissance robot provided by the present invention includes a sensor system, a control system, and an execution mechanism, and further includes a heat insulation shell and a cooling system;

The heat-insulating shell is provided outside the reconnaissance robot, and a heat-insulating layer is provided thereon;

The cooling system is located inside the heat-insulating casing, and is used for cooling and cooling the inside of the reconnaissance robot;

The sensor system and the control system are located inside the heat-insulating housing.

Further, the sensor system is used for image acquisition, danger source identification, and gas detection at a high temperature site; the control system is used to control the work of the reconnaissance robot and external communication;

The execution mechanism is configured to perform a movement or obstacle crossing operation of the reconnaissance robot.

Further, the sensor system is one or more of a thermal imager component, a binocular camera, and a gas sensor.

Further, the external casing further includes a thermal camera head, a casing upper cover and a thermal protection case, and the thermal camera head, the casing upper cover and a thermal protection case. Heat insulation layers are provided respectively.

Further, the thermal protection housing is provided with a docking locking block for positioning and locking the reconnaissance robot by the carrying robot.

Further, the actuator further includes a high temperature resistant transmission system, a DC motor, and a high temperature resistant wheel, wherein:

The DC motor is fixedly installed on the heat insulation case;

The high temperature resistant transmission system is drivingly connected to the DC motor and drivingly connected to the high temperature resistant wheels.

Further, each of the high temperature resistant wheels is independently moved under the driving of the high temperature resistant transmission system.

Furthermore, the cooling system further includes a cold source tank, a cooling liquid, and a circulation system thereof for cooling the inside of the heat-insulating casing.

The fire-fighting reconnaissance robot of the present invention can work alone or in cooperation with a carrying robot, enter a high-temperature site for operation, and has better maneuverability.

Other features and advantages of the present invention will be explained in the following description, and partly become apparent from the description, or be understood by implementing the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description. Together with the embodiments of the present invention, the accompanying drawings are used to explain the present invention, but not to limit the present invention. In the drawings:

1 is a schematic diagram of an external structure of a reconnaissance robot according to the present invention;

FIG. 2 is a schematic diagram of the internal structure of a reconnaissance robot according to the present invention.

101 is the thermal camera pan / tilt case, 102 is the upper cover of the case, 103 is the power switch, 104 is the antenna opening, 105 is the upper cover lock of the case, 106 is the thermal protection case, 107 is the docking lock block, 108 is High temperature resistant wheels; 201 is a thermal imager component, 202 is a body frame, 203 is a cold source box, 204 is a control system, 205 is a motor drive component, 206 is a cooling system, 207 is a gas sensor, 208 is a battery pack, and 209 is High temperature resistant transmission system, 210 is motor, 211 is binocular sensor.

detailed description

The following describes preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

FIG. 1 is a schematic diagram of an external structure of a reconnaissance robot according to the present invention, and FIG. 2 is a schematic diagram of an internal structure of a reconnaissance robot according to the present invention. As shown in FIGS. 1 and 2, the reconnaissance robot of the present invention includes,

In the figure, the thermal imaging camera head casing 101, thermal imaging camera module 101, casing upper cover 102, body frame 202, cold source box 203, power switch 103, antenna opening 104, casing upper cover lock 105, thermal protection Housing 106, docking lock block 107, high temperature resistant wheels 108, control system 204, motor drive assembly 205, cooling system 206, gas sensor 207, battery pack 208, high temperature resistant transmission system 209, DC motor 210, and binocular camera 211 ,among them,

The thermal imager pan / tilt casing 101, the casing upper cover 102, and the thermal protection casing 106 are all provided with a heat insulation layer, and together with the body frame 202, constitute a heat insulation casing of the present invention.

The casing upper cover lock 105 is installed on the thermal protection casing 106 for locking the thermal protection casing 106 and the casing upper cover 102;

The antenna opening 104 is located on the housing upper cover 102 and is configured to receive the antenna;

The docking and locking block 107 is located on the thermal protection housing 106 and is used for the positioning and locking of the reconnaissance robot by the carrying robot;

The thermal imager assembly 101 is disposed on the body frame 202;

The battery pack 208 is disposed on the body frame 202 for providing energy to the system;

The control system 204 is disposed inside the body frame 202 and is used to control the communication between the reconnaissance robot and the outside world;

The DC motor 210 is fixedly mounted on the body frame 202 and is electrically connected to the battery pack 208;

The high-temperature resistant transmission system 209 is installed on the body frame 202 and is drivingly connected to the DC motor 210;

Four high temperature resistant wheels 108, drivingly connected with high temperature resistant transmission system 209;

The four high-temperature resistant wheels 108, the high-temperature resistant transmission system 209, and the DC motor 210 constitute an execution mechanism of the present invention, and are used to perform a movement of a reconnaissance robot or to overcome obstacles. The cooling system 206 is disposed between the control system 204 and the thermal imager module 201;

The motion of the reconnaissance robot is jointly driven by four high temperature resistant wheels 108, and each high temperature resistant wheel 108 is connected to a DC motor 210 through a high temperature resistant transmission system 109, which can independently control the movement.

The sensor system is mainly used for external information collection, and includes a thermal imaging camera head 201, a thermal imaging camera module 101, a binocular camera 211, and a gas sensor 207.

The gas sensors 207 are all arranged inside the casing. Thermal imaging cameras and binocular cameras need to use a lens group with a thermal insulation structure that passes through a thermally insulated housing to ensure that the light path is unobstructed and will not be damaged by high ambient temperatures.

The gas sensor 207 needs to use a separate gas pipeline to draw external air through the thermal protection layer and cool the external air so that the sensor can work normally. The gimbal is used to drive the sensor to move in order to increase the detection range of the sensor. The gimbal itself has independent thermal protection and internal cooling functions to protect the sensor from working normally at high temperatures.

The cooling system 206 is used for cooling the heating elements such as the motor and the circuit board inside the casing. The cooling system 206 includes a cold source box 203 for absorbing heat, a cooling liquid for transferring heat from the heating components to the cold source, and a circulation system thereof. .

The control system 204 is used to control the robot to communicate with the outside world, and the battery is used to provide energy.

A person of ordinary skill in the art may understand that the foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, It can still modify the technical solutions described in the foregoing embodiments, or replace some of the technical features equivalently. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (8)

A fire-fighting reconnaissance robot includes a sensor system, a control system, and an execution mechanism, which is characterized in that it further includes a heat-insulating casing and a cooling system; The heat-insulating shell is provided outside the reconnaissance robot, and a heat-insulating layer is provided thereon; The cooling system is located inside the heat-insulating casing, and is used for cooling and cooling the inside of the reconnaissance robot; The sensor system and the control system are located inside the heat-insulating housing. The fire-fighting reconnaissance robot according to claim 1, wherein the sensor system is used for image acquisition, danger source identification, and gas detection at a high-temperature site; The control system is used to control the work of the reconnaissance robot and external communication; The execution mechanism is configured to perform a movement or obstacle crossing operation of the reconnaissance robot. The fire-fighting reconnaissance robot according to claim 1, wherein the sensor system is one or more of a thermal imager assembly, a binocular camera, and a gas sensor. The fire-fighting reconnaissance robot according to claim 1, wherein the heat-insulating housing further comprises a thermal imager gimbal housing, a housing cover, and a thermal protection housing, The gimbal casing, the casing upper cover and the thermal protection casing are respectively provided with a heat insulation layer. The fire-fighting reconnaissance robot according to claim 4, wherein the thermal protection housing is provided with a docking locking block for positioning and locking the reconnaissance robot by the carrying robot. The reconnaissance robot for firefighting according to claim 1, wherein the actuator further comprises a high temperature resistant transmission system, a DC motor, and a high temperature resistant wheel, wherein: The DC motor is fixedly installed on the heat insulation case; The high temperature resistant transmission system is drivingly connected to the DC motor and drivingly connected to the high temperature resistant wheels. The fire-fighting reconnaissance robot according to claim 6, wherein each of the high-temperature resistant wheels is independently moved under the driving of the high-temperature resistant transmission system. The fire-fighting reconnaissance robot according to claim 1, wherein the cooling system further comprises a cold source box, a cooling liquid, and a circulation system thereof for cooling the inside of the heat-insulating casing.

Images