CN115445125A - Reconnaissance fire-fighting operation method - Google Patents
Reconnaissance fire-fighting operation method Download PDFInfo
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- CN115445125A CN115445125A CN202211072517.2A CN202211072517A CN115445125A CN 115445125 A CN115445125 A CN 115445125A CN 202211072517 A CN202211072517 A CN 202211072517A CN 115445125 A CN115445125 A CN 115445125A
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- fire
- fire extinguishing
- fighting
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- chassis
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention provides a reconnaissance fire-fighting operation method, and relates to the technical field of fire fighting. The reconnaissance fire-fighting operation method can selectively carry out a reconnaissance fire-fighting operation mode or a continuous fire-fighting operation mode; under a reconnaissance fire extinguishing operation mode, the front chassis drives the rear chassis to automatically reconnaissance along a set route, the surrounding environment where the front chassis is located is shot in real time through a camera during reconnaissance, when a fire situation is found, the control unit triggers the power unit to act so as to provide fire extinguishing media stored in the fire extinguishing medium storage unit for the fire monitor assembly, and the fire extinguishing media are ejected by the fire monitor assembly to realize fire extinguishing operation; under the continuous fire extinguishing operation mode, the first joint assembly and the second joint assembly are disassembled, the first joint assembly is connected with the external power unit and the fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire monitor assembly by the external power unit and the fire extinguishing medium storage unit to carry out continuous fire extinguishing operation.
Description
Technical Field
The invention relates to the technical field of fire fighting, in particular to a reconnaissance fire fighting operation method.
Background
With the progress of society and the continuous development of technology, the fire-fighting robot is being used for the fire-fighting operation gradually to replace the fire fighter to get into the scene of a fire and put out a fire, when fire extinguishing efficiency improves greatly, also greatly ensured fire fighter's personal safety. At present, the fire-fighting robots on the market have single functions and are difficult to adapt to different working conditions. Particularly, in the initial stage of fire, if the robot can timely extinguish fire while detecting and discovering the fire, the robot can effectively control the fire and even extinguish the fire while discovering the fire, so that property loss caused by the fire can be effectively reduced.
Disclosure of Invention
The invention aims to provide a reconnaissance fire-fighting operation method, which is used for carrying out fire-fighting operation and continuous fire-fighting operation while reconnaissance and finding out a fire situation.
In order to achieve the above purpose, the technical solution adopted by the invention is as follows:
a reconnaissance fire-fighting operation method is characterized in that a cascading fire-fighting robot is applied, wherein the cascading fire-fighting robot comprises a front chassis, a crawler assembly, a camera, a fire monitor assembly, a rear chassis, a fire extinguishing medium storage unit, a power unit and a control unit;
the left side and the right side of the front vehicle chassis are both provided with the crawler assemblies, the crawler assemblies act to drive the front vehicle chassis to run, and the control ends of the crawler assemblies are in signal connection with the control unit;
the front chassis is provided with the camera and the fire monitor assembly;
the camera is used for shooting the surrounding environment where the front chassis is located in real time and is in signal connection with the control unit;
the outlet of the fire monitor assembly is used for spraying a fire extinguishing medium, and the inlet of the fire monitor assembly is connected with a first joint assembly through a pipeline;
the rear chassis is connected with the front chassis, and rollers are arranged on the left side and the right side of the rear chassis;
the rear vehicle chassis is provided with the fire extinguishing medium storage unit and the power unit;
the fire extinguishing medium storage unit is used for storing fire extinguishing medium;
an inlet of the power unit is connected with the fire extinguishing medium storage unit through a pipeline, and an outlet of the power unit is connected with a second connector assembly through a pipeline;
the first joint assembly is detachably connected with the second joint assembly through a pipeline;
the power unit is used for providing power for fire extinguishing media and spraying the fire extinguishing media from an outlet of the fire monitor assembly;
the method may optionally perform steps a and b as follows:
step a, reconnaissance fire extinguishing operation mode
The front chassis is connected with the rear chassis, the first joint assembly is connected with the second joint assembly through a pipeline, the rear chassis is driven by the front chassis to automatically detect along a set route, the surrounding environment where the front chassis is located is shot in real time through the camera during detection, the control unit triggers the power unit to act to supply the fire extinguishing medium stored by the fire extinguishing medium storage unit to the fire monitor assembly when the camera finds a fire, and the fire extinguishing medium is sprayed out by the fire monitor assembly to realize fire extinguishing operation;
step b, continuous fire extinguishing operation mode
The first joint assembly and the second joint assembly are disassembled, the first joint assembly is connected with the external power unit and the fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire monitor assembly by the external power unit and the fire extinguishing medium storage unit to carry out continuous fire extinguishing operation.
Preferably, the fire monitor assembly comprises a rear support, a front support, an upper arm support, a lower arm support, a lifting oil cylinder, a turnover oil cylinder, a fire fog monitor, a fire water monitor, a fire foam monitor and a dry powder gun;
the rear support is arranged at the rear end of the front vehicle chassis, one end of the upper arm support is hinged to the upper end of the rear support, the other end of the upper arm support is hinged to the upper end of the front support, one end of the lower arm support is hinged to the lower end of the rear support, the other end of the lower arm support is hinged to the lower end of the front support, one end of the lifting oil cylinder is hinged to the front vehicle chassis, the other end of the lifting oil cylinder is hinged to the lower arm support or the upper arm support, the rear end of the fire-fighting fog gun is hinged to the front support, one end of the overturning oil cylinder is hinged to the front support, the other end of the overturning oil cylinder is hinged to the fire-fighting fog gun, and the outer wall of the fire-fighting fog gun is provided with a fire-fighting water monitor, a fire-fighting foam monitor, a dry powder gun and a camera;
the first joint assembly is respectively connected with the fire-fighting fog gun, the fire-fighting water gun, the fire-fighting foam gun and the dry powder gun through pipelines.
Preferably, the fire extinguishing medium storage unit includes a water tank, a foam tank, and a dry powder tank; the power unit comprises a water pump and a nitrogen cylinder;
the fire extinguishing medium stored in the water tank is water, the fire extinguishing medium stored in the foam tank is fire-fighting foam liquid, and the fire extinguishing medium stored in the dry powder tank is dry powder fire extinguishing agent;
the water inlet end of the water pump is connected with the water tank through a pipeline, the water outlet end of the water pump is connected with the second connector assembly through a first pipeline and a second pipeline respectively, the foam tank is communicated with the second pipeline through a foam pipeline, the nitrogen cylinder is connected with the second connector assembly through a gas pipeline, and the dry powder tank is communicated with the gas pipeline through a dry powder pipeline.
Preferably, a control end of the lifting cylinder is in signal connection with the control unit, a control end of the turnover cylinder is in signal connection with the control unit, a control end of the water pump is in signal connection with the control unit, the first pipeline is provided with a first electromagnetic valve for controlling on and off of a first pipeline, a control end of the first electromagnetic valve is in signal connection with the control unit, the second pipeline is provided with a second electromagnetic valve for controlling on and off of a second pipeline, a control end of the second electromagnetic valve is in signal connection with the control unit, the gas pipeline is provided with a third electromagnetic valve for controlling on and off of a gas pipeline, and a control end of the third electromagnetic valve is in signal connection with the control unit.
Preferably, a battery is arranged on the rear vehicle chassis, the water pump is driven by the motor, and the battery is electrically connected with the motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.
Preferably, the front end of the front chassis is provided with an obstacle avoidance sensor, and the obstacle avoidance sensor is in signal connection with the control unit.
Preferably, an audible and visual alarm is arranged on the front vehicle chassis and is in signal connection with the control unit.
Preferably, a loudspeaker is arranged on the chassis of the front vehicle, and the loudspeaker is in signal connection with the control unit.
Preferably, the front end of the front chassis is provided with an illuminating lamp.
Preferably, an automatic electromagnetic release is arranged between the pipeline and the first connector assembly or between the pipeline and the second connector assembly, and a control end of the automatic electromagnetic release is in signal connection with the control unit.
The beneficial technical effects of the invention are as follows:
the reconnaissance fire-fighting operation method of the invention can selectively carry out a reconnaissance fire-fighting operation mode or a continuous fire-fighting operation mode; under a reconnaissance fire extinguishing operation mode, the front chassis drives the rear chassis to automatically reconnaissance along a set route, the surrounding environment where the front chassis is located is shot in real time through the camera during reconnaissance, when a fire is found, the control unit triggers the power unit to act so as to provide fire extinguishing media stored in the fire extinguishing medium storage unit to the fire monitor assembly, and the fire extinguishing medium is ejected by the fire monitor assembly to achieve fire extinguishing operation; under the continuous fire extinguishing operation mode, the first joint assembly and the second joint assembly are disassembled, the first joint assembly is connected with the external power unit and the fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire monitor assembly by the external power unit and the fire extinguishing medium storage unit to carry out continuous fire extinguishing operation. According to the reconnaissance fire-fighting operation method, the cascade fire-fighting robot is applied, the front-stage robot (the front vehicle chassis and the upper part of the front vehicle chassis) reconnaissance the disaster in the fire scene and returns field data, and reference is provided for designing fire-fighting schemes of other rear fire-fighting robots; the robot adopts a multi-layer liftable fire monitor assembly and adopts a modularized structure to design a plurality of fire extinguishing medium injection devices, so that fire extinguishing points with different heights and different fire extinguishing media can be accurately extinguished; the preceding-stage robot is cascaded with the rear-stage unit (a rear vehicle chassis and the upper part of the rear-stage unit), the preceding-stage robot can drive the rear-stage unit to move rapidly, and the rear-stage unit provides fire extinguishing media and power for the fire extinguishing operation of the preceding-stage robot, so that the cruising ability of the preceding-stage robot for fire extinguishing is improved.
Drawings
FIG. 1 is a flow chart of a method for monitoring fire-fighting operations according to an embodiment of the present invention;
FIG. 2 is a side view of a cascading fire fighting robot according to an embodiment of the present invention;
FIG. 3 is a perspective view of a front chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 4 is a front view of a chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 5 is a rear view of a front chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 6 is a top view of a front chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 7 is a right side view of a front chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 8 is a left side view of a front chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 9 is a perspective view of a rear chassis portion of a tandem type fire-fighting robot according to an embodiment of the invention;
FIG. 10 is a front view of a rear chassis portion of a tandem type fire-fighting robot according to an embodiment of the present invention;
FIG. 11 is a rear view of a rear chassis portion of a tandem type fire-fighting robot according to an embodiment of the present invention;
FIG. 12 is a top view of a rear chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention;
FIG. 13 is a right side view of a rear chassis portion of a tandem type fire-fighting robot according to an embodiment of the present invention;
fig. 14 is a left side view of a rear chassis portion of a cascading fire-fighting robot in accordance with an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings in combination with the specific embodiments. Certain embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Indeed, various embodiments of the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In an embodiment of the present invention, a cascading fire-fighting robot is provided, please refer to fig. 2 to 14.
A cascading fire-fighting robot comprises a front vehicle chassis 11, a track assembly 2, a camera 3, a fire monitor assembly, a rear vehicle chassis 12, a fire extinguishing medium storage unit, a power unit and a control unit.
The left side and the right side of the front chassis 11 are both provided with the crawler assemblies 2, and the crawler assemblies 2 act to drive the front chassis 11 to run. The chassis 11 of the front vehicle adopts a crawler walking assembly, so that the robot has higher trafficability characteristic and can adapt to complex road conditions in a fire-fighting site. The left and right crawler assemblies 2 rotate forwards or backwards in the same direction to realize the forward and backward movement of the robot; the left crawler assembly 2 and the right crawler assembly 2 are opposite in rotation direction, or the crawler walking assembly on one side is not rotated, so that the robot can turn.
The control end of the crawler assembly 2 is in signal connection with the control unit, and the upper computer is in signal connection with the control unit so that the upper computer controls the action of the crawler assembly 2 through the control unit to realize remote control of the advancing, retreating and turning of the robot.
The front chassis 11 is provided with a camera 3 and a fire monitor assembly.
The camera 3 is used for shooting the surrounding environment where the front chassis 11 is located in real time, and the camera 3 is in signal connection with the control unit. The camera 3 transmits the shot images to the control unit in real time, and transmits the shot images to the upper computer through the control unit, and the upper computer monitors the surrounding environment and discovers the fire.
The front end of the front chassis 11 is provided with an obstacle avoidance sensor 111, and the obstacle avoidance sensor 111 is in signal connection with the control unit. The obstacle avoidance sensor 111 is specifically set as an ultrasonic sensor to monitor whether an obstacle exists in front of the front chassis 11 in real time, and upload a signal to the control unit and the upper computer in real time.
The rear end of the front chassis 11 is provided with an audible and visual alarm 112 on the rear support 511, and the audible and visual alarm 112 is in signal connection with the control unit. The upper computer controls the audible and visual alarm 112 to start through the control unit so as to prompt the field personnel of fire.
The rear end of the front chassis 11 is provided with a loudspeaker 113 on a rear support 511, and the loudspeaker 113 is in signal connection with the control unit. The upper computer controls the loudspeaker 113 to start through the control unit so as to realize voice calling on the fire scene.
The front end of the front chassis 11 is provided with an illumination lamp 114 to realize the illumination function of the front chassis 11.
The outlet of the fire monitor assembly is used for spraying fire extinguishing medium, and the inlet of the fire monitor assembly is connected with a first joint assembly 41 through a pipeline.
The rear chassis 12 is detachably connected with the front chassis 11, and the left side and the right side of the rear chassis 12 are both provided with rollers 121. The rear chassis 12 is in rolling contact with the ground through the rollers 121, so that the rear chassis 12 runs. The front chassis 11 can drive the rear chassis 12 to run together, and the rear chassis 12 can be detached to enable the front chassis 11 to run independently.
The rear chassis 12 is provided with a fire extinguishing medium storage unit and a power unit.
The fire extinguishing medium storage unit is used for storing fire extinguishing medium.
The inlet of the power unit is connected with the fire extinguishing medium storage unit through a pipeline, and the outlet of the power unit is connected with a second connector assembly 42 through a pipeline. The first connector assembly 41 is detachably connected to the second connector assembly 42 via a pipe. The power unit is used for providing power for the fire extinguishing medium and spraying the fire extinguishing medium from the outlet of the fire monitor assembly.
An automatic electromagnetic release 43 is arranged between the pipeline and the first joint assembly 41 or between the pipeline and the second joint assembly 42, and a control end of the automatic electromagnetic release 43 is in signal connection with the control unit. When the first joint assembly 41 and the second joint assembly 42 need to be disassembled, the upper computer can control the automatic electromagnetic release 43 to operate through the control unit, so as to automatically realize the disassembly between the first joint assembly 41 and the second joint assembly 42.
The fire monitor assembly comprises a rear support 511, a front support 512, an upper arm bracket 521, a lower arm bracket 522, a lifting oil cylinder 53, a turnover oil cylinder 54, a fire mist monitor 55, a fire water monitor 56, a fire foam monitor 57 and a dry powder gun 58. The first joint assembly 41 is connected with a fire-fighting fog gun 55, a fire-fighting water gun 56, a fire-fighting foam gun 57 and a dry powder gun 58 through pipelines respectively.
Wherein, a fan 551 is arranged in the fire-fighting fog gun 55, a fog gun joint 552 is arranged on the side wall of the fire-fighting fog gun 55, the water inlet of the fog gun joint 552 is connected with the first joint assembly 41 through a pipeline, and the water outlet of the fog gun joint 552 is positioned in front of the fan 551. After fan 551 starts, fan 551's blade rotates to spout away the rivers that spout from fog gun joint 552 water inlet and form the water smoke, the water smoke is used for the dust fall, cools down, falls the cigarette and puts out a fire. The fire-fighting water monitor 56 and the fire-fighting foam monitor 57 are used for remotely fighting fire, the fire-fighting water monitor 56 is used for spraying water to remotely fighting general solid fire, and the fire-fighting foam monitor 57 is used for spraying fire-fighting foam to remotely fighting liquid fire of the class A, the class B and the class C. The dry powder gun 58 is used for spraying dry powder to extinguish flammable liquid, gas, electrical equipment and the like.
The rear support 511 is arranged at the rear end of the front vehicle chassis 11, one end of the upper arm support 521 is hinged with the upper end of the rear support 511, the other end of the upper arm support 511 is hinged with the upper end of the front support 512, one end of the lower arm support 522 is hinged with the lower end of the rear support 511, the other end of the lower arm support 522 is hinged with the lower end of the front support 512, one end of the lifting oil cylinder 53 is hinged with the front vehicle chassis 11, the other end of the lifting oil cylinder 53 is hinged with the middle position of the lower arm support 522, the rear end of the fire-fighting fog gun 55 is hinged with the front support 512, one end of the turnover oil cylinder 54 is hinged with the front support 512, the other end of the turnover oil cylinder 54 is hinged with the fire-fighting fog gun 55, and the fire-fighting water gun 56, the fire-fighting foam gun 57, the dry powder gun 58 and the camera 3 are arranged on the outer wall of the fire-fighting fog gun 55.
The rear support 511, the front support 512, the upper arm bracket 521 and the lower arm bracket 522 form a parallelogram four-bar linkage mechanism, and the front support 512 can swing greatly in front of and above the rear support 511 relative to the rear support 511 through the extension and contraction of the lifting oil cylinder 53, so that the heights of the fire-fighting fog gun 55, the fire-fighting water gun 56, the fire-fighting foam gun 57, the dry powder gun 58 and the camera 3 are adjusted. The tilting angle of the fire-fighting fog gun 55 is adjusted through the extension and contraction of the turning cylinder 54, so that the fire-fighting fog gun 55, the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 on the fire-fighting fog gun 55 face to an object to be extinguished, and the camera 3 faces to the surrounding environment where the front chassis 11 is located along with the straight movement and turning movement of the crawler assembly 2 and the swinging and tilting movement of the fire-fighting fog gun 55.
The fire extinguishing medium storage unit comprises a water tank 61, a foam tank 62 and a dry powder tank 63, and the power unit comprises a water pump 71 and a nitrogen gas cylinder 72. The fire extinguishing medium stored in the water tank 61 is water, the fire extinguishing medium stored in the foam tank 62 is fire-fighting foam liquid, and the fire extinguishing medium stored in the dry powder tank 63 is dry powder fire extinguishing agent. The water inlet end of the water pump 71 is connected with the water tank 61 through a pipeline, and the water outlet end of the water pump 71 is connected with the second connector assembly 42 through a first pipeline and a second pipeline respectively. Foam case 62 is through foam pipeline intercommunication second pipeline, is provided with the check valve group on the foam pipeline, and the check valve group makes the direction one-way conduction to the second pipeline by foam case 62. The nitrogen gas bottle 72 is connected with the second connector assembly 42 through a gas pipeline, the dry powder tank 63 is communicated with the gas pipeline through the dry powder pipeline, and a check valve group is arranged on the dry powder pipeline and enables the dry powder tank 63 to be communicated with the gas pipeline in a one-way mode. The water pump 71 provides high pressure water through a first pipeline, and the first pipeline is connected with the fire-fighting fog gun 55 and the fire-fighting water gun 56 through the second joint assembly 42 and the first joint assembly 41 so as to provide high pressure water for the fire-fighting fog gun 55 and the fire-fighting water gun 56. The water pump 71 pumps the fire-fighting foam liquid in the foam tank 62 through the second pipeline and the foam pipeline, and is connected with the fire-fighting foam gun 57 through the second joint assembly 42 and the first joint assembly 41 to provide the fire-fighting foam with pressure for the fire-fighting foam gun 57. The nitrogen gas bottle 72 pumps the dry powder extinguishing agent in the dry powder tank 63 through a gas pipeline and a dry powder pipeline, and is connected with the dry powder gun 58 through the second joint assembly 42 and the first joint assembly 41 so as to provide the dry powder extinguishing agent with pressure for the dry powder gun 58.
The control end of the lifting oil cylinder 53 is in signal connection with the control unit, and the control end of the overturning oil cylinder 54 is in signal connection with the control unit. The upper computer controls the telescopic action of the lifting oil cylinder 53 and the overturning oil cylinder 54 through the control unit. The control end of the water pump 71 is in signal connection with the control unit, and the upper computer controls the on and off of the water pump 71 through the control unit. The first pipeline is provided with a first electromagnetic valve for controlling the opening and closing of the first pipeline, the control end of the first electromagnetic valve is in signal connection with the control unit, the second pipeline is provided with a second electromagnetic valve for controlling the opening and closing of the second pipeline, and the control end of the second electromagnetic valve is in signal connection with the control unit. The upper computer controls the actions of the first electromagnetic valve and the second electromagnetic valve through the control unit to realize the on-off control of the first pipeline and the on-off control of the second pipeline. And a third electromagnetic valve for controlling the opening and closing of the gas pipeline is arranged on the gas pipeline, and the control end of the third electromagnetic valve is in signal connection with the control unit. The upper computer controls the action of the third electromagnetic valve through the control unit to realize the on-off control of the gas pipeline.
Wherein, be provided with battery 122 on the rear truck chassis 12, water pump 71 is by motor drive, and battery 122 electricity connection motor, first solenoid valve, second solenoid valve and third solenoid valve for motor, first solenoid valve, second solenoid valve and third solenoid valve provide electric power.
As shown in fig. 1, the method for reconnaissance fire-fighting operation according to the present invention, using the cascade fire-fighting robot, may selectively perform the following steps a and b:
step a, reconnaissance fire extinguishing operation mode
The front chassis 11 is connected with the rear chassis 12, and the first joint assembly 41 is connected with the second joint assembly 42 through a pipeline. The rear chassis 12 is driven by the front chassis 11 to automatically reconnoiter along the set route of the upper computer in a fire scene, the surrounding environment where the front chassis 11 is located is shot in real time through the camera 3 during reconnoitering, when the camera 3 finds a fire, the control unit triggers the power unit to act so as to provide the fire extinguishing medium stored by the fire extinguishing medium storage unit for the fire monitor assembly, and the fire extinguishing operation is realized by spraying the fire extinguishing medium through the fire monitor assembly.
Specifically, the upper computer controls the action of the crawler belt assembly 2 through the control unit to remotely control the advancing, retreating and turning of the robot, so that the front chassis 11 drives the rear chassis 12 to automatically reconnoiter along the set route of the upper computer. The upper computer controls the telescopic actions of the lifting oil cylinder 53 and the overturning oil cylinder 54 through the control unit, the front support 512 swings relative to the rear support 511 in the front upper direction of the rear support 511 through the telescopic action of the lifting oil cylinder 53, the pitching angle of the fire-fighting fog gun 55 is adjusted through the telescopic action of the overturning oil cylinder 54, and the camera 3 on the fire-fighting fog gun 55 shoots the surrounding environment where the front chassis 11 is located. The camera 3 transmits the shot image to the control unit in real time, and transmits the shot image to the upper computer through the control unit, and the upper computer monitors the surrounding environment and discovers the fire.
When the camera 3 finds a fire, the upper computer controls the telescopic action of the lifting oil cylinder 53 and the overturning oil cylinder 54 through the control unit, and the front support 512 swings relative to the rear support 511 in the front upper direction of the rear support 511 through the telescopic action of the lifting oil cylinder 53, so that the heights of the fire-fighting fog gun 55, the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 on the fire-fighting fog gun 55 are adjusted. The pitch angle of the fire-fighting fog gun 55 is adjusted by the extension and contraction of the turning cylinder 54, so that the fire-fighting fog gun 55 and the fire-fighting water gun 56, the fire-fighting foam gun 57 and the dry powder gun 58 on the fire-fighting fog gun 55 face to an object to be extinguished. The upper computer controls the water pump 71 to be opened through the control unit, and controls the first electromagnetic valve and the second electromagnetic valve to act through the control unit, so that the first pipeline and/or the second pipeline are/is opened. The action of the third electromagnetic valve is controlled by the upper computer through the control unit, and the opening of the gas pipeline is realized.
The water pump 71 provides high pressure water through a first pipeline, and the first pipeline is connected with the fire-fighting fog gun 55 and the fire-fighting water gun 56 through the second joint assembly 42 and the first joint assembly 41 so as to provide high pressure water for the fire-fighting fog gun 55 and the fire-fighting water gun 56. The water pump 71 pumps the fire-fighting foam liquid in the foam tank 62 through the second pipeline and the foam pipeline, and the fire-fighting foam gun 57 is connected through the second joint assembly 42 and the first joint assembly 41 to provide the fire-fighting foam with pressure for the fire-fighting foam gun 57. The nitrogen gas bottle 72 pumps the dry powder extinguishing agent in the dry powder tank 63 through a gas pipeline and a dry powder pipeline, and is connected with the dry powder gun 58 through the second joint assembly 42 and the first joint assembly 41 so as to provide the dry powder extinguishing agent with pressure for the dry powder gun 58. Fire extinguishing work is performed by selectively spraying fire extinguishing medium using the fire mist monitor 55, the fire water monitor 56, the fire foam monitor 57, and the dry powder gun 58.
Step b, continuous fire extinguishing operation mode
The first joint assembly 41 and the second joint assembly 42 are disassembled. The first joint assembly 41 is connected with an external power unit and a fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire monitor assembly by the external power unit and the fire extinguishing medium storage unit to carry out continuous fire extinguishing operation.
The upper computer controls the automatic electromagnetic release 43 to act through the control unit, so that the first joint assembly 41 and the second joint assembly 42 are disassembled automatically, and the disassembling efficiency is improved.
Up to this point, the present embodiment has been described in detail with reference to the accompanying drawings. From the above description, those skilled in the art should have clear recognition of the cascade-type fire fighting robot of the present invention. The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A reconnaissance fire-fighting operation method is characterized in that: the method comprises the following steps that a cascading fire-fighting robot is applied, wherein the cascading fire-fighting robot comprises a front vehicle chassis, a crawler assembly, a camera, a fire monitor assembly, a rear vehicle chassis, a fire extinguishing medium storage unit, a power unit and a control unit;
the left side and the right side of the front vehicle chassis are both provided with the crawler assemblies, the crawler assemblies act to drive the front vehicle chassis to run, and the control ends of the crawler assemblies are in signal connection with the control unit;
the front chassis is provided with the camera and the fire monitor assembly;
the camera is used for shooting the surrounding environment where the front chassis is located in real time and is in signal connection with the control unit;
the outlet of the fire monitor assembly is used for spraying a fire extinguishing medium, and the inlet of the fire monitor assembly is connected with a first joint assembly through a pipeline;
the rear chassis is connected with the front chassis, and rollers are arranged on the left side and the right side of the rear chassis;
the rear vehicle chassis is provided with the fire extinguishing medium storage unit and the power unit;
the fire extinguishing medium storage unit is used for storing fire extinguishing medium;
an inlet of the power unit is connected with the fire extinguishing medium storage unit through a pipeline, and an outlet of the power unit is connected with a second connector assembly through a pipeline;
the first joint assembly is detachably connected with the second joint assembly through a pipeline;
the power unit is used for providing power for fire extinguishing media and spraying the fire extinguishing media from an outlet of the fire monitor assembly;
the method may optionally perform steps a and b as follows:
step a, reconnaissance fire extinguishing operation mode
The front chassis is connected with the rear chassis, the first joint assembly is connected with the second joint assembly through a pipeline, the rear chassis is driven by the front chassis to automatically detect along a set route, the surrounding environment where the front chassis is located is shot in real time through the camera during detection, the control unit triggers the power unit to act to supply the fire extinguishing medium stored by the fire extinguishing medium storage unit to the fire monitor assembly when the camera finds a fire, and the fire extinguishing medium is sprayed out by the fire monitor assembly to realize fire extinguishing operation;
step b, continuous fire extinguishing operation mode
The first joint assembly and the second joint assembly are disassembled, the first joint assembly is connected with an external power unit and a fire extinguishing medium storage unit, and the fire extinguishing medium is provided for the fire monitor assembly by the external power unit and the fire extinguishing medium storage unit to carry out continuous fire extinguishing operation.
2. The method of claim 1, wherein the method comprises: the fire monitor assembly comprises a rear support, a front support, an upper arm support, a lower arm support, a lifting oil cylinder, a turnover oil cylinder, a fire fog monitor, a fire water monitor, a fire foam monitor and a dry powder gun;
the rear support is arranged at the rear end of the front vehicle chassis, one end of the upper arm support is hinged to the upper end of the rear support, the other end of the upper arm support is hinged to the upper end of the front support, one end of the lower arm support is hinged to the lower end of the rear support, the other end of the lower arm support is hinged to the lower end of the front support, one end of the lifting oil cylinder is hinged to the front vehicle chassis, the other end of the lifting oil cylinder is hinged to the lower arm support or the upper arm support, the rear end of the fire-fighting fog gun is hinged to the front support, one end of the overturning oil cylinder is hinged to the front support, the other end of the overturning oil cylinder is hinged to the fire-fighting fog gun, and the outer wall of the fire-fighting fog gun is provided with a fire-fighting water gun, a fire-fighting foam gun, a dry powder gun and a camera;
the first joint assembly is respectively connected with the fire-fighting fog gun, the fire-fighting water gun, the fire-fighting foam gun and the dry powder gun through pipelines.
3. A method of reconnaissance fire-fighting operations according to claim 2, wherein: the fire extinguishing medium storage unit comprises a water tank, a foam tank and a dry powder tank; the power unit comprises a water pump and a nitrogen cylinder;
the fire extinguishing medium stored in the water tank is water, the fire extinguishing medium stored in the foam tank is fire-fighting foam liquid, and the fire extinguishing medium stored in the dry powder tank is dry powder fire extinguishing agent;
the water inlet end of the water pump is connected with the water tank through a pipeline, the water outlet end of the water pump is connected with the second connector assembly through a first pipeline and a second pipeline respectively, the foam tank is communicated with the second pipeline through a foam pipeline, the nitrogen cylinder is connected with the second connector assembly through a gas pipeline, and the dry powder tank is communicated with the gas pipeline through a dry powder pipeline.
4. A method of reconnaissance fire-fighting operations according to claim 3, wherein: the control end of the lifting oil cylinder is in signal connection with the control unit, the control end of the overturning oil cylinder is in signal connection with the control unit, the control end of the water pump is in signal connection with the control unit, the first pipeline is provided with a first electromagnetic valve for controlling the opening and closing of a first pipeline, the control end of the first electromagnetic valve is in signal connection with the control unit, the second pipeline is provided with a second electromagnetic valve for controlling the opening and closing of a second pipeline, the control end of the second electromagnetic valve is in signal connection with the control unit, the gas pipeline is provided with a third electromagnetic valve for controlling the opening and closing of a gas pipeline, and the control end of the third electromagnetic valve is in signal connection with the control unit.
5. The method of claim 4, wherein the method comprises: the rear vehicle chassis is provided with a battery, the water pump is driven by a motor, and the battery is electrically connected with the motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.
6. A method of reconnaissance fire-fighting operations according to claim 1, wherein: and the front end of the front vehicle chassis is provided with an obstacle avoidance sensor which is in signal connection with the control unit.
7. The method of claim 1, wherein the method comprises: and the front vehicle chassis is provided with an audible and visual alarm which is in signal connection with the control unit.
8. The method of claim 1, wherein the method comprises: and a loudspeaker is arranged on the front vehicle chassis and is in signal connection with the control unit.
9. The method of claim 1, wherein the method comprises: and the front end of the front chassis is provided with an illuminating lamp.
10. The method of claim 1, wherein the method comprises: an automatic electromagnetic release is arranged between the pipeline and the first joint assembly or between the pipeline and the second joint assembly, and a control end of the automatic electromagnetic release is in signal connection with the control unit.
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| CN202211072517.2A CN115445125A (en) | 2022-09-02 | 2022-09-02 | Reconnaissance fire-fighting operation method |
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| CN202211072517.2A CN115445125A (en) | 2022-09-02 | 2022-09-02 | Reconnaissance fire-fighting operation method |
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